diff --git a/objects/objaverse/apple/apple_1/collision/model_normalized_collision_0.obj b/objects/objaverse/apple/apple_1/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4a93f0c2e4fc0c3f8b8fb52723f8dd5cd2053b2
--- /dev/null
+++ b/objects/objaverse/apple/apple_1/collision/model_normalized_collision_0.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.14645082 -0.01570535 0.45065294
+v 0.26515150 0.09052500 0.26234305
+v 0.25847696 0.22211416 0.41815876
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_1/collision/model_normalized_collision_1.obj b/objects/objaverse/apple/apple_1/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12210c3e87b941bcc206de9df5903f201c5eea07
--- /dev/null
+++ b/objects/objaverse/apple/apple_1/collision/model_normalized_collision_1.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.11096814 -0.45158583 0.18149408
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_1/collision/model_normalized_collision_10.obj b/objects/objaverse/apple/apple_1/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6c9a89c5a4aeef98cf650585e5a504d446a23c7
--- /dev/null
+++ b/objects/objaverse/apple/apple_1/collision/model_normalized_collision_10.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.23074321 -0.38681511 0.22838734
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_1/collision/model_normalized_collision_11.obj b/objects/objaverse/apple/apple_1/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cfd01679082c67c0a4c405b32d138e3435f2e360
--- /dev/null
+++ b/objects/objaverse/apple/apple_1/collision/model_normalized_collision_11.obj
@@ -0,0 +1,165 @@
+# https://github.com/mikedh/trimesh
+v 0.09504231 -0.46751889 0.10850164
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+v 0.28954520 -0.37055075 0.13942616
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+f 56 9 55
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_1/collision/model_normalized_collision_12.obj b/objects/objaverse/apple/apple_1/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fddcbb2638f267fbc020722c3562707c0e106000
--- /dev/null
+++ b/objects/objaverse/apple/apple_1/collision/model_normalized_collision_12.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.26515150 -0.22765684 -0.22250546
+v 0.28830029 -0.02024669 -0.42627236
+v 0.26515150 0.19658561 -0.22250546
+v 0.14393937 0.19658561 -0.22250546
+v 0.15041754 -0.23829336 -0.40415992
+v 0.29173069 0.21713114 -0.37132310
+v 0.25615827 -0.21763257 -0.36328006
+v 0.14393937 -0.22765684 -0.22250546
+v 0.10510996 -0.02127989 -0.41932596
+v 0.25684871 -0.20217167 -0.37554830
+v 0.14393937 0.19658561 -0.34371758
+v 0.24118593 -0.21518841 -0.37395499
+f 1 3 4
+f 6 4 3
+f 6 1 2
+f 6 3 1
+f 7 2 1
+f 7 1 5
+f 8 5 1
+f 8 1 4
+f 9 8 4
+f 9 5 8
+f 9 6 2
+f 9 2 5
+f 10 5 2
+f 10 2 7
+f 11 9 4
+f 11 4 6
+f 11 6 9
+f 12 10 7
+f 12 7 5
+f 12 5 10
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_1/collision/model_normalized_collision_13.obj b/objects/objaverse/apple/apple_1/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24e4cd7318cc217df10c0c14b93b434d0e2dcd57
--- /dev/null
+++ b/objects/objaverse/apple/apple_1/collision/model_normalized_collision_13.obj
@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
+v 0.14118971 -0.44511098 -0.08426842
+v 0.26068190 -0.22293635 -0.35399508
+v 0.26515150 -0.25795987 -0.08614181
+v 0.14393937 -0.22765684 -0.22250546
+v 0.13819738 -0.26405256 -0.39139932
+v 0.26515150 -0.22765684 -0.22250546
+v 0.14393937 -0.25795987 -0.08614181
+v 0.25834543 -0.38410044 -0.08323619
+v 0.16510981 -0.36026724 -0.27116009
+v 0.14266946 -0.22557177 -0.41653712
+v 0.22862312 -0.21873162 -0.37830663
+v 0.12373873 -0.36487226 -0.28897501
+v 0.24098160 -0.39592895 -0.08229172
+v 0.16456692 -0.30245590 -0.34237290
+v 0.25239083 -0.33193299 -0.22622311
+v 0.16962354 -0.22007312 -0.40878904
+v 0.13851989 -0.43932340 -0.11177006
+v 0.12538161 -0.33980137 -0.32136136
+v 0.15379218 -0.44081800 -0.08384688
+v 0.20686131 -0.30217447 -0.31427030
+v 0.16438584 -0.27185137 -0.37236720
+v 0.25169400 -0.36118481 -0.16861840
+v 0.13940866 -0.40911225 -0.20009472
+v 0.13992014 -0.23620916 -0.41017632
+v 0.12859283 -0.33319828 -0.32815356
+v 0.15261231 -0.34677421 -0.29971143
+v 0.15216175 -0.43497613 -0.11046784
+v 0.25213671 -0.30154784 -0.27169039
+v 0.25099712 -0.24301096 -0.34343399
+v 0.17944875 -0.24412010 -0.38663246
+v 0.25270176 -0.37562336 -0.12628137
+v 0.22321653 -0.36089268 -0.21158588
+v 0.12834908 -0.37748953 -0.26698667
+v 0.17813075 -0.33131594 -0.29987625
+v 0.22506307 -0.22877912 -0.37209305
+v 0.15157787 -0.26125852 -0.38741304
+v 0.17877333 -0.40485748 -0.16944864
+v 0.13861010 -0.36153523 -0.28602834
+v 0.16687422 -0.23071051 -0.40242824
+v 0.22282609 -0.39019017 -0.14103416
+v 0.15019760 -0.40496646 -0.19881222
+v 0.23778024 -0.38987357 -0.11063733
+f 6 4 3
+f 7 3 4
+f 8 6 3
+f 8 2 6
+f 11 6 2
+f 11 4 6
+f 13 8 3
+f 13 3 7
+f 15 2 8
+f 16 10 4
+f 16 4 11
+f 16 5 10
+f 17 1 7
+f 17 7 12
+f 18 12 7
+f 18 7 4
+f 19 13 7
+f 19 7 1
+f 22 15 8
+f 24 18 4
+f 24 4 10
+f 24 10 5
+f 24 5 18
+f 25 18 5
+f 25 21 14
+f 25 5 21
+f 26 12 18
+f 26 18 25
+f 26 25 14
+f 26 14 20
+f 27 19 1
+f 27 1 17
+f 27 17 23
+f 27 13 19
+f 28 15 9
+f 28 9 20
+f 28 2 15
+f 29 11 2
+f 29 20 14
+f 29 14 21
+f 29 28 20
+f 29 2 28
+f 30 16 11
+f 31 22 8
+f 31 8 13
+f 32 9 15
+f 32 15 22
+f 33 23 17
+f 33 17 12
+f 33 9 23
+f 34 26 20
+f 34 20 9
+f 34 9 26
+f 35 29 21
+f 35 11 29
+f 35 30 11
+f 35 21 30
+f 36 30 21
+f 36 21 5
+f 37 27 23
+f 38 26 9
+f 38 9 33
+f 38 33 12
+f 38 12 26
+f 39 16 30
+f 39 30 36
+f 39 36 5
+f 39 5 16
+f 40 22 31
+f 40 13 27
+f 40 27 37
+f 40 37 32
+f 40 32 22
+f 41 37 23
+f 41 23 9
+f 41 9 32
+f 41 32 37
+f 42 40 31
+f 42 31 13
+f 42 13 40
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_1/collision/model_normalized_collision_14.obj b/objects/objaverse/apple/apple_1/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..605ff1f0d69179f1e95a6c61dedc4afe5d10ad54
--- /dev/null
+++ b/objects/objaverse/apple/apple_1/collision/model_normalized_collision_14.obj
@@ -0,0 +1,120 @@
+# https://github.com/mikedh/trimesh
+v 0.00830174 -0.47359063 0.12451694
+v 0.00789208 -0.41256616 -0.23243368
+v 0.00757573 -0.25795987 0.23204002
+v -0.23484853 -0.25795987 0.23204002
+v -0.22566795 -0.40732105 -0.09709208
+v 0.00757573 -0.25795987 -0.23765697
+v -0.23620197 -0.38113033 0.23303868
+v -0.05142009 -0.46762441 -0.02354586
+v -0.23484853 -0.25795987 -0.23765697
+v 0.00807600 -0.44047176 -0.15740257
+v 0.00757573 -0.37917200 0.23204002
+v -0.15269711 -0.45052410 0.12289020
+v -0.22444215 -0.35947598 -0.22828893
+v 0.00777031 -0.47014793 -0.02397326
+v -0.10844548 -0.43573787 -0.14092880
+v -0.22417362 -0.42139231 0.09402889
+v -0.15285192 -0.45061563 -0.02251834
+v -0.09622300 -0.46834488 0.04983477
+v -0.06610303 -0.46793209 0.12402680
+v -0.09642986 -0.40672696 -0.23068846
+v -0.22504572 -0.38983524 -0.15556080
+v 0.00780061 -0.45400180 -0.11187378
+v -0.19658488 -0.42389996 0.16827709
+v -0.22602285 -0.42108544 -0.00823610
+v -0.08121619 -0.45148678 -0.09652919
+v -0.16688867 -0.43497149 -0.08147953
+v -0.09604787 -0.46827034 0.03653437
+v -0.08124161 -0.46782448 0.10886314
+v -0.15205193 -0.39051303 -0.22961491
+v -0.08053517 -0.43544013 -0.15620781
+v -0.20960974 -0.42060493 0.15206475
+v -0.18250331 -0.43622840 -0.05147012
+v -0.19685397 -0.43649951 0.07902734
+v -0.08083505 -0.46784365 0.00626817
+v -0.05086759 -0.45108655 -0.11157816
+v -0.16600259 -0.41978626 -0.13991156
+v -0.10912317 -0.42107187 -0.18516810
+v -0.21010150 -0.42012587 -0.06759041
+v -0.19650450 -0.43588780 0.00639910
+v -0.19732994 -0.42019513 -0.09671869
+v -0.12326344 -0.40609720 -0.21459173
+f 6 4 3
+f 6 3 1
+f 7 3 4
+f 9 4 6
+f 9 7 4
+f 9 5 7
+f 9 6 2
+f 10 6 1
+f 10 2 6
+f 11 7 1
+f 11 1 3
+f 11 3 7
+f 14 10 1
+f 18 12 17
+f 19 1 7
+f 20 9 2
+f 21 5 9
+f 21 9 13
+f 22 14 8
+f 22 10 14
+f 23 19 7
+f 23 12 19
+f 24 16 7
+f 24 7 5
+f 26 25 17
+f 26 15 25
+f 27 14 1
+f 27 1 18
+f 27 18 17
+f 28 18 1
+f 28 1 19
+f 28 19 12
+f 28 12 18
+f 29 13 9
+f 29 9 20
+f 29 21 13
+f 30 25 15
+f 30 20 2
+f 30 2 10
+f 31 12 23
+f 31 23 7
+f 31 7 16
+f 32 26 17
+f 33 17 12
+f 33 16 24
+f 33 31 16
+f 33 12 31
+f 34 25 8
+f 34 17 25
+f 34 27 17
+f 34 8 14
+f 34 14 27
+f 35 22 8
+f 35 8 25
+f 35 25 30
+f 35 30 10
+f 35 10 22
+f 36 15 26
+f 36 21 29
+f 37 30 15
+f 37 20 30
+f 37 15 36
+f 38 32 24
+f 38 24 5
+f 38 5 32
+f 39 32 17
+f 39 24 32
+f 39 33 24
+f 39 17 33
+f 40 32 5
+f 40 26 32
+f 40 36 26
+f 40 5 21
+f 40 21 36
+f 41 37 36
+f 41 36 29
+f 41 29 20
+f 41 20 37
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_1/collision/model_normalized_collision_15.obj b/objects/objaverse/apple/apple_1/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..94c95d5f4615fa4ab1e70a7adacec1f7cff9d5a3
--- /dev/null
+++ b/objects/objaverse/apple/apple_1/collision/model_normalized_collision_15.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v -0.04042884 -0.28257964 0.41815603
+v 0.00693365 -0.14783398 0.43013382
+v -0.12814886 -0.19441858 0.44231198
+v -0.23127851 0.09120242 0.44715694
+v -0.23484853 0.09052500 0.36840367
+v -0.10490971 0.09614996 0.44232759
+v -0.06975414 -0.19584456 0.44213847
+v 0.00720396 -0.06383923 0.36582194
+v -0.23865728 -0.26233325 0.37384460
+v -0.03782376 -0.25457840 0.42939707
+v -0.06578843 0.06647117 0.40852084
+v -0.18332842 -0.24871544 0.41062707
+v -0.12561306 -0.24844481 0.42612501
+v 0.00879995 -0.11559334 0.41458572
+v -0.23007420 -0.08839483 0.44052183
+v -0.18375353 -0.21951210 0.42367566
+v 0.00747894 -0.13756586 0.42726376
+v 0.00728127 -0.09347679 0.39936762
+v -0.19984777 -0.13409644 0.44127861
+v -0.15645553 -0.17937193 0.44196816
+v -0.22559746 -0.17545695 0.42446618
+v -0.22424832 -0.21716597 0.41011647
+v -0.21150078 -0.24899228 0.39861977
+v -0.20945039 -0.23159742 0.40995921
+v -0.22887784 -0.25045133 0.38840618
+f 6 5 4
+f 7 2 6
+f 7 6 4
+f 7 4 3
+f 8 2 1
+f 9 4 5
+f 9 8 1
+f 9 5 8
+f 10 1 2
+f 10 2 7
+f 10 7 3
+f 11 8 5
+f 11 5 6
+f 12 9 1
+f 13 10 3
+f 13 1 10
+f 13 12 1
+f 14 11 6
+f 14 2 8
+f 15 4 9
+f 16 12 13
+f 17 14 6
+f 17 6 2
+f 17 2 14
+f 18 14 8
+f 18 8 11
+f 18 11 14
+f 19 4 15
+f 20 16 13
+f 20 13 3
+f 20 3 4
+f 20 4 19
+f 21 15 9
+f 21 19 15
+f 21 20 19
+f 21 16 20
+f 22 21 9
+f 22 16 21
+f 23 9 12
+f 24 12 16
+f 24 16 22
+f 24 23 12
+f 25 22 9
+f 25 9 23
+f 25 24 22
+f 25 23 24
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_1/collision/model_normalized_collision_16.obj b/objects/objaverse/apple/apple_1/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed5836ed9710391511fd09df97db8ff037b9c43c
--- /dev/null
+++ b/objects/objaverse/apple/apple_1/collision/model_normalized_collision_16.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v 0.21595474 -0.22229167 -0.38264061
+v 0.28830029 -0.02024669 -0.42627236
+v 0.26664593 0.19782260 -0.40678080
+v 0.08501231 0.21657823 -0.45135486
+v 0.07940083 -0.19201214 -0.45348307
+v 0.21446560 0.10394708 -0.46165546
+v 0.08111987 -0.01590874 -0.39116930
+v 0.25897463 -0.19197402 -0.38019860
+v 0.25611665 0.10056461 -0.44586372
+v 0.19767797 0.18760666 -0.44655244
+v 0.08544528 0.16433938 -0.46425236
+v 0.20514029 0.03149257 -0.46420755
+v 0.09404047 -0.24827287 -0.41987796
+v 0.08328344 0.19504213 -0.45787054
+v 0.24476904 -0.20510560 -0.38014111
+v 0.22477356 -0.12982384 -0.43033341
+v 0.18503075 0.16163548 -0.46026187
+v 0.25485022 0.16014538 -0.43025936
+v 0.15700338 0.17491993 -0.46185003
+v 0.25889882 0.00221813 -0.44614938
+v 0.08037193 -0.22331480 -0.43945260
+v 0.16833700 -0.18800685 -0.43026163
+v 0.25487258 -0.12968363 -0.41478815
+v 0.19759015 -0.11772383 -0.44478598
+v 0.25529268 0.18842511 -0.41841673
+v 0.21211400 0.17559193 -0.44549743
+v 0.09835441 0.17739800 -0.46162193
+v 0.25738517 -0.07140211 -0.43043371
+v 0.21443644 0.04544345 -0.46237368
+v 0.19461840 -0.21342455 -0.40214889
+v 0.10869531 -0.22041218 -0.43255004
+v 0.25328554 -0.18701907 -0.38708522
+v 0.16943614 -0.14557223 -0.44465134
+v 0.24061978 0.13067224 -0.44513493
+v 0.24039601 -0.19891948 -0.38774275
+f 7 3 4
+f 8 2 3
+f 8 3 7
+f 9 3 2
+f 10 4 3
+f 12 5 11
+f 13 1 7
+f 14 7 4
+f 14 5 7
+f 14 11 5
+f 15 8 7
+f 15 7 1
+f 17 9 6
+f 18 3 9
+f 19 12 11
+f 19 6 12
+f 19 17 6
+f 19 14 4
+f 19 4 10
+f 19 10 17
+f 20 9 2
+f 20 6 9
+f 21 13 7
+f 21 7 5
+f 22 21 5
+f 23 2 8
+f 24 5 12
+f 24 12 20
+f 24 16 22
+f 25 10 3
+f 25 3 18
+f 26 17 10
+f 26 25 18
+f 26 10 25
+f 27 19 11
+f 27 11 14
+f 27 14 19
+f 28 20 2
+f 28 24 20
+f 28 16 24
+f 28 23 16
+f 28 2 23
+f 29 20 12
+f 29 12 6
+f 29 6 20
+f 30 1 13
+f 30 13 22
+f 31 22 13
+f 31 13 21
+f 31 21 22
+f 32 22 16
+f 32 16 23
+f 32 23 8
+f 33 24 22
+f 33 22 5
+f 33 5 24
+f 34 26 18
+f 34 18 9
+f 34 9 17
+f 34 17 26
+f 35 30 22
+f 35 22 32
+f 35 15 1
+f 35 1 30
+f 35 32 8
+f 35 8 15
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_1/collision/model_normalized_collision_19.obj b/objects/objaverse/apple/apple_1/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a79b5cb983133c502aeb5eabc75f64d7b5b240a
--- /dev/null
+++ b/objects/objaverse/apple/apple_1/collision/model_normalized_collision_19.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v 0.00757573 -0.33371745 -0.23765697
+v 0.00837428 -0.34117212 -0.34941547
+v 0.00729903 0.41431659 -0.23347457
+v -0.11169042 0.41139048 -0.23238443
+v -0.24051607 -0.34360075 -0.24327223
+v -0.25426498 0.21403772 -0.38481077
+v -0.22838756 0.36623931 -0.23080651
+v 0.00757573 0.19658561 -0.35886910
+v 0.00746638 0.36123521 -0.33283341
+v -0.24647843 -0.24453048 -0.37467141
+v -0.16798469 0.39643012 -0.23143791
+v 0.00757573 -0.22765684 -0.35886910
+v -0.09525676 0.37578861 -0.30296673
+v -0.19488961 -0.31567431 -0.33104090
+v 0.00713759 0.40874955 -0.24618591
+v -0.10908631 0.40619706 -0.24344148
+v -0.12328236 0.34761594 -0.33168029
+v -0.22791733 -0.29262104 -0.33601033
+v -0.16726773 0.39116411 -0.24168557
+v -0.06662258 0.35997030 -0.33111982
+v -0.22458756 0.30280221 -0.32875589
+v -0.22553483 -0.31730782 -0.30248190
+v -0.15140346 0.35973650 -0.30109305
+v -0.16642636 0.33189208 -0.33103685
+v -0.22471564 0.34480945 -0.27055370
+v -0.12313052 0.36012985 -0.31516942
+v -0.19490187 0.35979190 -0.27209145
+v -0.22555375 0.36090390 -0.24295337
+v -0.19511941 0.32975652 -0.31564939
+v -0.22216581 0.31540904 -0.31546384
+f 1 2 3
+f 5 2 1
+f 7 1 3
+f 7 5 1
+f 7 6 5
+f 9 8 6
+f 9 3 2
+f 9 2 8
+f 10 5 6
+f 11 7 3
+f 11 3 4
+f 12 8 2
+f 12 6 8
+f 12 10 6
+f 12 2 10
+f 14 10 2
+f 14 2 5
+f 15 4 3
+f 15 3 9
+f 15 9 13
+f 16 15 13
+f 16 4 15
+f 18 5 10
+f 18 10 14
+f 19 16 13
+f 19 11 4
+f 19 4 16
+f 19 7 11
+f 20 17 13
+f 20 13 9
+f 20 9 6
+f 20 6 17
+f 22 18 14
+f 22 14 5
+f 22 5 18
+f 24 17 6
+f 24 6 21
+f 25 21 6
+f 25 6 7
+f 26 23 19
+f 26 19 13
+f 26 13 17
+f 26 24 23
+f 26 17 24
+f 27 19 23
+f 28 27 25
+f 28 25 7
+f 28 7 19
+f 28 19 27
+f 29 27 23
+f 29 23 24
+f 29 24 21
+f 30 29 21
+f 30 21 25
+f 30 25 27
+f 30 27 29
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_1/collision/model_normalized_collision_2.obj b/objects/objaverse/apple/apple_1/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56a88645938e31ffff312443ea1001f196f93a30
--- /dev/null
+++ b/objects/objaverse/apple/apple_1/collision/model_normalized_collision_2.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v 0.30480438 -0.29391420 0.28618805
+v 0.27770650 -0.16522872 0.40959143
+v -0.04042884 -0.28257964 0.41815603
+v 0.14661709 0.09161034 0.46304109
+v 0.26515150 0.09052500 0.26234305
+v 0.15903692 -0.17968273 0.44225358
+v 0.26143840 0.08973963 0.45099764
+v 0.00757573 -0.25795987 0.26234305
+v -0.03782376 -0.25457840 0.42939707
+v 0.18416789 -0.24926222 0.40981447
+v 0.23213801 -0.04463404 0.45700884
+v 0.00767296 -0.01595361 0.26221393
+v 0.09698904 -0.25179553 0.42525793
+v 0.25236726 -0.24687072 0.38048791
+v 0.21493448 -0.14690048 0.44054985
+v 0.25940932 -0.10301019 0.44050789
+v 0.24507795 0.08904236 0.45619796
+v 0.17751356 -0.04503619 0.45861979
+v 0.14393937 0.09052500 0.26234305
+v -0.03957956 -0.13850597 0.43468802
+v -0.03787882 -0.15189926 0.36840367
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+f 29 10 23
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+f 30 23 24
+f 30 28 29
+f 30 24 2
+f 30 2 28
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_1/collision/model_normalized_collision_20.obj b/objects/objaverse/apple/apple_1/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..266e26a6b9b4ff977949eb9b240e1bf9b6b12bae
--- /dev/null
+++ b/objects/objaverse/apple/apple_1/collision/model_normalized_collision_20.obj
@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
+v -0.10490971 0.09614996 0.44232759
+v -0.09848488 0.09052500 0.26234305
+v -0.09388131 0.33466118 0.39945176
+v -0.09823243 0.43732628 0.24651167
+v -0.23484853 0.22688864 0.24719154
+v -0.09607921 0.42179159 0.28554145
+v -0.09678677 0.25273363 0.44465994
+v -0.23484853 0.09052500 0.26234305
+v -0.09848488 0.22688864 0.24719154
+v -0.22339799 0.36003702 0.31066004
+v -0.09515939 0.29356936 0.42669768
+v -0.23127851 0.09120242 0.44715694
+v -0.22687798 0.39439140 0.24090310
+v -0.13899015 0.37671648 0.34027804
+v -0.22724456 0.27495065 0.39579424
+v -0.15545502 0.42531904 0.24176078
+v -0.09492327 0.36356725 0.37151027
+v -0.16659069 0.28895749 0.41066907
+v -0.22697055 0.17685174 0.43983579
+v -0.21212281 0.34604533 0.33768841
+v -0.19803368 0.40956965 0.24093353
+v -0.10877482 0.42004318 0.28483055
+v -0.15141215 0.34695917 0.36662406
+v -0.10927504 0.29059931 0.42541013
+v -0.22768943 0.22058115 0.42604601
+v -0.16872739 0.23367571 0.44043246
+v -0.19611525 0.37565108 0.30929081
+v -0.12458379 0.39053702 0.32668105
+v -0.10901257 0.36254223 0.36860672
+v -0.10816452 0.33239090 0.39694260
+v -0.21113940 0.31706929 0.36589382
+v -0.19893636 0.24868456 0.42495891
+v -0.13988531 0.24880670 0.44009088
+v -0.16717412 0.40575775 0.28156071
+v -0.22452533 0.38993336 0.25403365
+v -0.13876169 0.41880975 0.26917078
+v -0.13877685 0.40506527 0.29701690
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+v -0.15415509 0.42042428 0.25497069
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+f 32 24 18
+f 33 26 7
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+f 34 27 14
+f 34 14 28
+f 35 13 10
+f 35 10 27
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+f 35 21 13
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+f 36 22 16
+f 37 34 28
+f 37 28 22
+f 37 22 34
+f 38 35 34
+f 38 34 21
+f 38 21 35
+f 39 36 16
+f 39 16 34
+f 39 34 36
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_1/collision/model_normalized_collision_22.obj b/objects/objaverse/apple/apple_1/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65e8b06901d92ff05853c532916f81a910e22259
--- /dev/null
+++ b/objects/objaverse/apple/apple_1/collision/model_normalized_collision_22.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.16637456 -0.37510872 -0.24566760
+v 0.16203966 -0.25737574 -0.38559413
+v 0.14065437 0.39864245 -0.21804762
+v 0.00730948 0.41911912 -0.22074164
+v 0.00915172 -0.34842973 -0.33981121
+v 0.00751002 0.36808672 -0.32202546
+v 0.00757573 -0.33371745 -0.22250546
+v 0.14253805 -0.32998706 -0.32560207
+v 0.14006230 0.34704998 -0.31840187
+v 0.06505146 0.38918667 -0.27419732
+v 0.00757573 0.19658561 -0.34371758
+v 0.09630789 0.40991380 -0.21662823
+v 0.00713759 0.40874955 -0.24618591
+v 0.05070441 0.37567361 -0.30341633
+v 0.13763475 0.37422916 -0.27345685
+v 0.00757573 -0.22765684 -0.34371758
+v 0.14393937 0.19658561 -0.34371758
+v 0.05004503 0.40524287 -0.24430743
+v 0.09412562 0.35920003 -0.31628749
+v 0.00748482 0.37928224 -0.30436601
+v 0.10924929 0.38882929 -0.25811971
+v 0.09547851 0.40460109 -0.22954059
+v 0.10878102 0.37387203 -0.28715601
+v 0.13744617 0.38835236 -0.24342696
+f 1 2 3
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+f 13 7 4
+f 15 3 9
+f 16 11 2
+f 16 2 5
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+f 16 7 13
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+f 17 2 11
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+f 17 6 9
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+f 18 13 4
+f 18 4 12
+f 19 9 6
+f 19 6 14
+f 20 13 10
+f 20 10 14
+f 20 14 6
+f 20 6 13
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+f 22 10 18
+f 22 21 10
+f 22 12 3
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+f 23 15 9
+f 23 9 19
+f 23 21 15
+f 23 10 21
+f 23 19 14
+f 23 14 10
+f 24 21 3
+f 24 3 15
+f 24 15 21
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_1/collision/model_normalized_collision_23.obj b/objects/objaverse/apple/apple_1/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e10f55dd830355b0963bd454c02af15a3a4ef3e8
--- /dev/null
+++ b/objects/objaverse/apple/apple_1/collision/model_normalized_collision_23.obj
@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
+v 0.11027892 -0.40996329 -0.21645669
+v 0.18818667 -0.37694472 -0.22125909
+v -0.22975995 -0.35438939 -0.23307612
+v -0.23154959 -0.32796463 -0.27984302
+v 0.00837428 -0.34117212 -0.34941547
+v 0.00757573 -0.33371745 -0.22250546
+v 0.12859283 -0.33319828 -0.32815356
+v -0.10831708 -0.39056423 -0.25908172
+v -0.24051607 -0.34360075 -0.24327223
+v 0.18318796 -0.38250098 -0.21617177
+v -0.21233425 -0.36465692 -0.23084607
+v 0.10756544 -0.36301096 -0.30057371
+v 0.18532679 -0.37166844 -0.23345805
+v -0.16946594 -0.32450797 -0.33707686
+v -0.00775217 -0.39138905 -0.27342596
+v 0.00755835 -0.41772722 -0.21983074
+v -0.19385830 -0.34472702 -0.28684480
+v -0.20957098 -0.36000658 -0.24369281
+v 0.15108745 -0.37631874 -0.25648494
+v -0.10770079 -0.36072674 -0.31765255
+v 0.03712701 -0.40662163 -0.24301537
+v -0.13939128 -0.39422033 -0.23114182
+v -0.03731515 -0.40604170 -0.24476037
+v -0.22401727 -0.34513249 -0.25722867
+v 0.15084226 -0.39124007 -0.22973443
+v 0.10827681 -0.40528591 -0.22770271
+v 0.16637456 -0.37510872 -0.24566760
+v 0.15254019 -0.35807600 -0.28378149
+v -0.12260157 -0.34679174 -0.33212940
+v 0.00613483 -0.35186398 -0.33543368
+v -0.19623937 -0.35918615 -0.25838583
+v -0.13755155 -0.35955726 -0.30334403
+v -0.03761981 -0.39143670 -0.27299477
+v -0.03716611 -0.41156934 -0.23200629
+v -0.22628902 -0.33394254 -0.27463098
+v 0.15297934 -0.39596445 -0.21663551
+v 0.12390236 -0.37559034 -0.27227413
+v 0.08092016 -0.37670585 -0.28683376
+v 0.12217038 -0.34640445 -0.31456915
+v 0.03639864 -0.36180164 -0.31623731
+v -0.13787367 -0.38913019 -0.24411938
+v -0.16581482 -0.33092225 -0.33074640
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+f 36 1 25
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+f 39 7 28
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+f 41 31 32
+f 42 32 17
+f 42 14 29
+f 42 29 32
+f 42 17 4
+f 42 4 14
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_1/collision/model_normalized_collision_24.obj b/objects/objaverse/apple/apple_1/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75e8de0724356efabba84427a7b41b25d6dc744a
--- /dev/null
+++ b/objects/objaverse/apple/apple_1/collision/model_normalized_collision_24.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.22734532 -0.41104256 0.15328308
+v -0.22950077 -0.36905037 -0.20253977
+v -0.23484853 -0.22765684 0.23204002
+v -0.40668636 -0.22133234 0.21308368
+v -0.37072561 -0.31906987 -0.02501557
+v -0.23484853 -0.22765684 -0.22250546
+v -0.23074321 -0.38681511 0.22838734
+v -0.26946484 -0.39141740 -0.06645622
+v -0.37109263 -0.30281612 0.15048543
+v -0.38878315 -0.22050649 -0.20113603
+v -0.22883042 -0.38226632 -0.17315954
+v -0.22799267 -0.39560911 0.21165585
+v -0.39651914 -0.22434429 0.22956305
+v -0.29764401 -0.37714133 0.09287485
+v -0.43384784 -0.22062111 0.12265906
+v -0.41807745 -0.22018858 0.18246553
+v -0.26441878 -0.33268477 -0.23703012
+v -0.22836631 -0.41103050 -0.06870851
+v -0.31137326 -0.34638301 0.17955871
+v -0.38354348 -0.26015692 0.20751853
+v -0.25465048 -0.40641543 0.06376746
+v -0.29865865 -0.37593595 -0.03862228
+v -0.35697627 -0.33237723 0.06306363
+v -0.43446906 -0.22132458 -0.05396680
+v -0.41880883 -0.22029520 -0.12658831
+v -0.41228360 -0.24640523 0.15207990
+v -0.37862039 -0.22330818 -0.21872389
+v -0.23228926 -0.35917658 -0.22020154
+v -0.25952522 -0.33905752 -0.23208254
+v -0.24101510 -0.39147384 -0.12578661
+v -0.25214942 -0.37551041 0.22244617
+v -0.32669179 -0.34627178 0.13666677
+v -0.28221184 -0.37613929 0.15234186
+v -0.38459810 -0.24674329 0.22365279
+v -0.35314897 -0.30365904 0.19462575
+v -0.23908236 -0.40486090 0.15191816
+v -0.25473543 -0.40607010 0.00576076
+v -0.32541055 -0.33185293 -0.13995277
+v -0.35735394 -0.33247073 -0.02391833
+v -0.41400177 -0.26253517 0.09319413
+v -0.39917689 -0.27601648 -0.06655325
+v -0.38285642 -0.27432012 0.18030716
+v -0.41302541 -0.23094984 0.17961783
+v -0.24087211 -0.36388115 -0.20077619
+v -0.24077455 -0.40527666 -0.06774286
+v -0.22865287 -0.39706211 -0.12759019
+v -0.23744194 -0.39050385 0.21124582
+v -0.35583087 -0.31655034 0.15225262
+v -0.31242403 -0.36062304 0.12225880
+v -0.32432348 -0.31750882 0.22200479
+v -0.31198877 -0.36277300 -0.06741296
+v -0.31234127 -0.31633105 -0.19985659
+v -0.28396219 -0.37517599 -0.09648559
+v -0.36921049 -0.30494614 -0.09645240
+v -0.38415976 -0.30489093 0.06393447
+v -0.42767127 -0.23139340 0.12182767
+v -0.40024895 -0.27615683 0.12107414
+v -0.42846834 -0.23343641 -0.05306818
+v -0.40068309 -0.23253122 0.21021562
+v -0.28235520 -0.34541047 -0.18369649
+v -0.37120624 -0.31726753 0.07742597
+v -0.34035936 -0.31589189 0.19431197
+v -0.33932660 -0.30221229 0.22191501
+v -0.26915310 -0.33380918 -0.22911171
+f 6 3 1
+f 10 3 6
+f 11 6 1
+f 11 2 6
+f 12 1 3
+f 12 3 7
+f 13 7 3
+f 13 3 4
+f 16 4 3
+f 16 3 10
+f 18 11 1
+f 21 18 1
+f 22 21 14
+f 25 16 10
+f 25 15 16
+f 25 24 15
+f 26 16 15
+f 27 10 6
+f 27 6 17
+f 28 17 6
+f 28 6 2
+f 29 17 28
+f 33 19 32
+f 34 13 4
+f 36 21 1
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+f 37 18 21
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+f 39 23 5
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+f 42 20 26
+f 42 35 20
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+f 44 2 11
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+f 46 45 30
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+f 47 12 7
+f 47 7 31
+f 47 31 19
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+f 47 1 12
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+f 54 51 39
+f 54 38 51
+f 54 5 41
+f 54 52 38
+f 54 10 27
+f 54 27 52
+f 54 41 25
+f 54 25 10
+f 55 5 23
+f 55 41 5
+f 55 40 41
+f 56 26 15
+f 56 15 40
+f 57 56 40
+f 57 26 56
+f 57 42 26
+f 57 9 42
+f 57 40 55
+f 58 24 25
+f 58 25 41
+f 58 41 40
+f 58 40 24
+f 59 43 20
+f 59 4 43
+f 59 34 4
+f 59 20 34
+f 60 29 44
+f 60 38 52
+f 60 44 11
+f 60 53 38
+f 60 11 30
+f 60 30 53
+f 61 48 9
+f 61 23 32
+f 61 32 48
+f 61 55 23
+f 61 57 55
+f 61 9 57
+f 62 48 19
+f 62 35 9
+f 62 9 48
+f 62 50 35
+f 62 19 50
+f 63 50 13
+f 63 13 34
+f 63 34 20
+f 63 20 35
+f 63 35 50
+f 64 52 17
+f 64 17 29
+f 64 60 52
+f 64 29 60
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_1/collision/model_normalized_collision_25.obj b/objects/objaverse/apple/apple_1/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba2a728fbd083e6cfd9103e088232264ff581f2f
--- /dev/null
+++ b/objects/objaverse/apple/apple_1/collision/model_normalized_collision_25.obj
@@ -0,0 +1,174 @@
+# https://github.com/mikedh/trimesh
+v 0.25847696 0.22211416 0.41815876
+v 0.26515150 0.22688864 0.24719154
+v 0.25462994 0.37771938 0.24120995
+v -0.09582592 0.43921582 0.24260312
+v -0.09848488 0.22688864 0.24719154
+v 0.06671672 0.36190913 0.38457534
+v 0.22313481 0.34443142 0.34131172
+v 0.08141792 0.44081941 0.24253184
+v -0.09782270 0.22590784 0.45206117
+v 0.19631167 0.28785091 0.41160010
+v 0.25305972 0.34390192 0.31198197
+v 0.15491799 0.42419367 0.24120241
+v -0.05116368 0.40528261 0.32707460
+v 0.20013113 0.22178870 0.44332565
+v 0.16771021 0.35943013 0.35594785
+v 0.25423469 0.26219075 0.39738516
+v 0.19510911 0.40393335 0.25540726
+v -0.03628800 0.43531890 0.26969766
+v 0.06536754 0.42041586 0.29970266
+v -0.09388131 0.33466118 0.39945176
+v 0.22429032 0.24523264 0.42466059
+v 0.05155020 0.28036298 0.44067235
+v 0.16720384 0.31866435 0.39734851
+v 0.22577238 0.28796635 0.39628661
+v 0.25222957 0.37410660 0.25499684
+v 0.19696558 0.40785333 0.24162027
+v 0.18291770 0.37403783 0.32550161
+v -0.06489520 0.42128792 0.29730607
+v 0.03645317 0.37693046 0.36968318
+v 0.05025774 0.43584302 0.26951963
+v 0.09440782 0.39076999 0.34303374
+v 0.10942861 0.41940542 0.28328590
+v -0.09452461 0.37705808 0.35501055
+v 0.19899821 0.23563134 0.43922262
+v 0.25498921 0.23372540 0.41438960
+v 0.14000463 0.26177714 0.44131625
+v -0.03619712 0.27899243 0.44099087
+v 0.12522420 0.33356909 0.39658132
+v 0.06618089 0.40539673 0.32609639
+v -0.03600683 0.34810775 0.39734850
+v 0.12406296 0.36118860 0.36792788
+v 0.13808107 0.40519153 0.29994190
+v 0.08075304 0.43618808 0.25606586
+v -0.09626744 0.26413336 0.44067523
+v -0.09450161 0.40664301 0.31212941
+v 0.08167198 0.30455236 0.42676344
+v 0.03592198 0.35036302 0.39691624
+v -0.05175725 0.30675646 0.42587754
+v -0.03621452 0.36193059 0.38422627
+v 0.15301631 0.37416411 0.34055607
+v 0.18240842 0.40358600 0.26864159
+v 0.10933932 0.40495353 0.31217926
+v -0.09515939 0.29356936 0.42669768
+v -0.09554213 0.43453685 0.25441830
+v -0.07898748 0.39197529 0.34071359
+v 0.11015728 0.31876255 0.41214298
+v -0.08056877 0.32094661 0.41220166
+v -0.02104589 0.37691264 0.36892580
+v 0.15352993 0.41926524 0.25436172
+f 1 2 3
+f 5 2 1
+f 5 3 2
+f 5 4 3
+f 9 4 5
+f 11 1 3
+f 12 3 4
+f 12 4 8
+f 14 9 5
+f 14 5 1
+f 16 11 7
+f 16 1 11
+f 18 8 4
+f 23 7 15
+f 24 16 7
+f 24 21 16
+f 24 10 21
+f 24 23 10
+f 24 7 23
+f 25 11 3
+f 26 3 12
+f 26 12 17
+f 26 25 3
+f 26 17 25
+f 27 15 7
+f 27 25 17
+f 27 7 11
+f 27 11 25
+f 28 18 4
+f 28 13 19
+f 30 8 18
+f 30 28 19
+f 30 18 28
+f 31 29 6
+f 33 4 9
+f 34 14 1
+f 34 1 21
+f 34 21 10
+f 35 21 1
+f 35 1 16
+f 35 16 21
+f 36 22 9
+f 36 9 14
+f 36 14 34
+f 36 34 10
+f 37 9 22
+f 38 23 15
+f 39 19 13
+f 39 13 29
+f 39 31 19
+f 39 29 31
+f 41 31 6
+f 41 15 31
+f 41 38 15
+f 41 6 38
+f 42 12 32
+f 42 32 19
+f 43 32 12
+f 43 12 8
+f 43 8 30
+f 43 30 19
+f 43 19 32
+f 44 33 9
+f 44 9 37
+f 46 22 36
+f 47 6 29
+f 47 46 6
+f 48 37 22
+f 48 22 46
+f 48 47 40
+f 48 46 47
+f 48 44 37
+f 49 33 20
+f 49 20 40
+f 49 47 29
+f 49 40 47
+f 50 42 31
+f 50 31 15
+f 50 15 27
+f 50 27 42
+f 51 42 27
+f 51 27 17
+f 51 17 12
+f 52 42 19
+f 52 19 31
+f 52 31 42
+f 53 20 33
+f 53 33 44
+f 53 44 48
+f 54 45 28
+f 54 28 4
+f 54 4 33
+f 54 33 45
+f 55 45 33
+f 55 13 28
+f 55 28 45
+f 55 33 49
+f 56 38 6
+f 56 6 46
+f 56 23 38
+f 56 10 23
+f 56 46 36
+f 56 36 10
+f 57 48 40
+f 57 40 20
+f 57 53 48
+f 57 20 53
+f 58 49 29
+f 58 29 13
+f 58 55 49
+f 58 13 55
+f 59 51 12
+f 59 12 42
+f 59 42 51
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_1/collision/model_normalized_collision_26.obj b/objects/objaverse/apple/apple_1/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f8f6292ab917564fdb5b17942d7c57db33aaf76
--- /dev/null
+++ b/objects/objaverse/apple/apple_1/collision/model_normalized_collision_26.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.44761712 0.11615185 0.24077612
+v 0.48211134 0.11766941 -0.08423185
+v 0.45886880 0.18822008 0.12257983
+v 0.41097147 0.20140447 0.25139199
+v 0.40151514 0.12082803 -0.08614181
+v 0.44219195 0.17215167 0.20931999
+v 0.47631171 0.11731587 0.13764653
+v 0.43361283 0.13127188 0.26135862
+v 0.43393834 0.21815819 -0.09405974
+v 0.44490252 0.18797574 0.18042685
+v 0.47424489 0.16097025 0.07876414
+v 0.45997877 0.17368274 0.15131796
+v 0.42872286 0.17542195 0.23976475
+v 0.42866703 0.18761248 0.22517887
+v 0.45779576 0.18748520 -0.06661954
+v 0.45804660 0.13150755 0.19623105
+v 0.47321074 0.14538855 0.12333540
+v 0.44383297 0.13002898 0.23911959
+v 0.42047616 0.19080582 0.24215347
+v 0.47455881 0.15774879 -0.05346795
+v 0.46069588 0.17368873 -0.08242186
+v 0.46114861 0.11707756 0.19711940
+v 0.47329358 0.13180950 0.13699384
+v 0.47336224 0.14450018 -0.08171579
+v 0.45214735 0.19121174 -0.08344653
+f 5 2 1
+f 7 1 2
+f 8 5 1
+f 8 4 5
+f 9 2 5
+f 9 5 4
+f 9 4 3
+f 10 3 4
+f 11 7 2
+f 12 10 6
+f 12 3 10
+f 12 11 3
+f 13 4 8
+f 14 10 4
+f 14 6 10
+f 14 13 6
+f 15 9 3
+f 15 3 11
+f 16 12 6
+f 16 6 1
+f 17 7 11
+f 17 11 12
+f 18 1 6
+f 18 6 13
+f 18 13 8
+f 18 8 1
+f 19 14 4
+f 19 4 13
+f 19 13 14
+f 20 15 11
+f 20 11 2
+f 21 15 20
+f 22 16 1
+f 22 1 7
+f 22 12 16
+f 23 17 12
+f 23 7 17
+f 23 22 7
+f 23 12 22
+f 24 2 9
+f 24 9 21
+f 24 21 20
+f 24 20 2
+f 25 21 9
+f 25 9 15
+f 25 15 21
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_1/collision/model_normalized_collision_27.obj b/objects/objaverse/apple/apple_1/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e36208e89b948d2f797d3d433d8accad4e4b438
--- /dev/null
+++ b/objects/objaverse/apple/apple_1/collision/model_normalized_collision_27.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v 0.26515150 0.19658561 -0.22250546
+v 0.26096931 0.19312385 -0.41259877
+v 0.25724966 0.35000284 -0.21627318
+v 0.14065437 0.39864245 -0.21804762
+v 0.14393937 0.19658561 -0.22250546
+v 0.22604424 0.28394203 -0.36036417
+v 0.17125002 0.19049526 -0.45378180
+v 0.15456680 0.39484622 -0.21636615
+v 0.25330182 0.29934141 -0.31759737
+v 0.24359366 0.19128286 -0.42409336
+v 0.14197115 0.20585981 -0.45159609
+v 0.15257543 0.34464440 -0.31584431
+v 0.25590018 0.21681362 -0.40253635
+v 0.14300339 0.19366484 -0.45675534
+v 0.13897290 0.39349087 -0.23091735
+v 0.14110783 0.25925616 -0.41975551
+v 0.24069454 0.29921185 -0.33000532
+v 0.19729948 0.21659717 -0.43252940
+v 0.18160406 0.35982997 -0.27229466
+v 0.15456983 0.30066708 -0.37513457
+v 0.14006230 0.34704998 -0.31840187
+v 0.16761410 0.32917060 -0.33077549
+v 0.22384163 0.24305166 -0.40386578
+v 0.21540221 0.19097040 -0.43828551
+v 0.16962879 0.20234712 -0.44774205
+v 0.18282495 0.37342973 -0.24389423
+v 0.25455428 0.34548334 -0.22929882
+v 0.14036821 0.30365144 -0.37594986
+v 0.24145468 0.20243098 -0.41898055
+v 0.19707266 0.27245000 -0.38867870
+v 0.16899837 0.22985311 -0.43179863
+v 0.19843672 0.37958753 -0.21623130
+v 0.19630003 0.37470190 -0.22918825
+v 0.21221067 0.20240202 -0.43383967
+v 0.19741190 0.28409037 -0.37451311
+f 1 2 3
+f 5 1 3
+f 7 1 5
+f 8 5 3
+f 8 4 5
+f 9 3 2
+f 10 2 1
+f 10 1 7
+f 13 9 2
+f 13 2 10
+f 14 11 7
+f 14 7 5
+f 14 5 11
+f 15 11 5
+f 15 5 4
+f 17 13 6
+f 17 9 13
+f 21 19 12
+f 21 15 19
+f 22 17 6
+f 22 19 17
+f 22 12 19
+f 22 6 20
+f 22 21 12
+f 22 20 21
+f 23 6 13
+f 23 18 16
+f 24 10 7
+f 24 7 18
+f 25 18 7
+f 25 7 11
+f 26 19 15
+f 26 15 4
+f 26 4 8
+f 27 3 9
+f 27 9 17
+f 27 17 19
+f 28 15 21
+f 28 16 11
+f 28 11 15
+f 28 21 20
+f 28 20 16
+f 29 23 13
+f 29 13 10
+f 30 6 23
+f 30 23 16
+f 30 16 20
+f 31 25 11
+f 31 11 16
+f 31 16 18
+f 31 18 25
+f 32 26 8
+f 32 8 3
+f 32 3 27
+f 33 27 19
+f 33 19 26
+f 33 32 27
+f 33 26 32
+f 34 18 23
+f 34 23 29
+f 34 24 18
+f 34 29 10
+f 34 10 24
+f 35 30 20
+f 35 20 6
+f 35 6 30
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_1/collision/model_normalized_collision_28.obj b/objects/objaverse/apple/apple_1/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a891b3ed9463be66ed0080f20d1877956962a922
--- /dev/null
+++ b/objects/objaverse/apple/apple_1/collision/model_normalized_collision_28.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.00955393 -0.28167901 0.41939234
+v 0.00757573 -0.25795987 -0.23765697
+v 0.01035481 -0.01141162 0.25009776
+v -0.23484853 -0.01553562 0.36840367
+v -0.23484853 -0.25795987 -0.23765697
+v 0.00743332 -0.06014522 0.36083696
+v 0.01146532 -0.03365027 0.31559044
+v -0.23865728 -0.26233325 0.37384460
+v 0.00757573 -0.01553562 -0.23765697
+v -0.03789794 -0.03085572 0.35883443
+v -0.23484853 -0.01553562 -0.23765697
+f 5 2 1
+f 7 1 2
+f 7 6 1
+f 8 5 1
+f 8 1 4
+f 9 2 5
+f 9 7 2
+f 9 3 7
+f 10 4 1
+f 10 1 6
+f 10 6 7
+f 10 7 3
+f 10 3 4
+f 11 8 4
+f 11 5 8
+f 11 9 5
+f 11 4 3
+f 11 3 9
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_1/collision/model_normalized_collision_29.obj b/objects/objaverse/apple/apple_1/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d653b67f1c5f421f95cb744ec3e1a327135d7cb1
--- /dev/null
+++ b/objects/objaverse/apple/apple_1/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.30480438 -0.29391420 0.28618805
+v 0.29529039 -0.28722414 -0.24195297
+v 0.26515150 0.22688864 -0.22250546
+v 0.00757573 0.22688864 0.26234305
+v 0.00757573 -0.25795987 0.26234305
+v 0.26515150 0.22688864 0.26234305
+v 0.00757573 -0.25795987 -0.22250546
+v 0.00757573 0.22688864 -0.22250546
+f 1 2 3
+f 5 1 4
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 2 1
+f 7 1 5
+f 7 5 4
+f 8 3 2
+f 8 2 7
+f 8 7 4
+f 8 4 3
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_1/collision/model_normalized_collision_30.obj b/objects/objaverse/apple/apple_1/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fba4cfd7301f0cc7bae15e4643fa94279c3ba74e
--- /dev/null
+++ b/objects/objaverse/apple/apple_1/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00767296 -0.01595361 0.26221393
+v 0.00757573 -0.01553562 -0.23765697
+v 0.00757573 0.22688864 0.26234305
+v -0.23484853 0.22688864 0.26234305
+v -0.23484853 -0.01553562 -0.23765697
+v -0.23484853 0.22688864 -0.23765697
+v -0.23484853 -0.01553562 0.26234305
+v 0.00757573 0.22688864 -0.23765697
+f 5 2 1
+f 6 4 3
+f 6 5 4
+f 6 2 5
+f 7 1 3
+f 7 3 4
+f 7 5 1
+f 7 4 5
+f 8 1 2
+f 8 3 1
+f 8 6 3
+f 8 2 6
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_1/collision/model_normalized_collision_31.obj b/objects/objaverse/apple/apple_1/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88b1a45f8b338543366cac49e823d91792b75ef5
--- /dev/null
+++ b/objects/objaverse/apple/apple_1/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.15759162 -0.41268329 0.24961146
+v 0.14989052 -0.39232799 -0.22822134
+v 0.14393937 -0.25795987 0.23204002
+v 0.00757573 -0.25795987 0.23204002
+v 0.00674381 -0.41088707 -0.23624109
+v 0.00757573 -0.25795987 -0.22250546
+v 0.14393937 -0.25795987 -0.22250546
+v 0.00757573 -0.37917200 0.23204002
+f 1 3 4
+f 5 2 1
+f 6 4 3
+f 6 5 4
+f 7 1 2
+f 7 3 1
+f 7 6 3
+f 7 2 5
+f 7 5 6
+f 8 5 1
+f 8 1 4
+f 8 4 5
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_1/collision/model_normalized_collision_4.obj b/objects/objaverse/apple/apple_1/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..411e652298bc3f715a594e20c137d63017c6529c
--- /dev/null
+++ b/objects/objaverse/apple/apple_1/collision/model_normalized_collision_4.obj
@@ -0,0 +1,150 @@
+# https://github.com/mikedh/trimesh
+v 0.26515150 -0.01553562 -0.34371758
+v 0.27780225 -0.02328573 -0.43147668
+v 0.29173069 0.21713114 -0.37132310
+v -0.09537226 0.35319822 -0.33634693
+v -0.23150201 -0.01465300 -0.47071951
+v 0.11109769 0.35206868 -0.32141545
+v -0.23484853 -0.01553562 -0.35886910
+v 0.14300339 0.19366484 -0.45675534
+v 0.14192880 0.34235865 -0.32464032
+v -0.16221997 -0.01681620 -0.47893529
+v -0.25989916 0.21910190 -0.37718688
+v -0.22879572 0.29380056 -0.33489188
+v 0.26664593 0.19782260 -0.40678080
+v 0.08055391 0.27309166 -0.41790360
+v -0.20192034 -0.01595602 -0.47897855
+v 0.00751002 0.36808672 -0.32202546
+v -0.09477375 0.27417102 -0.41707550
+v 0.00757573 0.19658561 -0.32856607
+v 0.14110783 0.25925616 -0.41975551
+v -0.20179705 0.01432727 -0.47821521
+v -0.18351124 0.32095360 -0.33429630
+v 0.09506486 0.31682487 -0.37370376
+v -0.18045778 0.28686930 -0.37385955
+v 0.00746638 0.36123521 -0.33283341
+v 0.14116047 0.21859055 -0.44610418
+v 0.14393937 0.19658561 -0.32856607
+v 0.13728898 0.32961463 -0.34512465
+v -0.16256496 0.01396187 -0.47721911
+v -0.09435339 0.21837387 -0.44504242
+v -0.22616903 0.12774292 -0.44695912
+v 0.09587109 0.28745013 -0.40269926
+v -0.22364634 0.25762929 -0.37271841
+v -0.18036924 0.31454665 -0.34441586
+v -0.10754796 0.33080898 -0.36070891
+v 0.03639918 0.36702851 -0.32220579
+v 0.12635079 0.24476800 -0.43207688
+v 0.10959183 0.34543486 -0.33232541
+v -0.18551214 0.11676587 -0.46192943
+v -0.22892106 0.07108949 -0.46234989
+v -0.13910898 0.23241798 -0.43005479
+v -0.22459705 0.28766457 -0.34392126
+v -0.10797318 0.28887980 -0.40177486
+v -0.09326682 0.34639743 -0.34651279
+v -0.15288312 0.31548274 -0.35988238
+v 0.03496663 0.36156790 -0.33058193
+v -0.18242025 0.17292551 -0.44457168
+v -0.20928355 0.23060435 -0.40127290
+v -0.15124463 0.28691622 -0.38721068
+v 0.06506788 0.34524987 -0.34482331
+v -0.18085516 0.23001599 -0.41510672
+v -0.22471780 0.21576331 -0.40176709
+f 1 2 3
+f 7 2 1
+f 9 6 1
+f 9 1 3
+f 10 2 7
+f 10 8 2
+f 11 5 7
+f 12 11 7
+f 13 3 2
+f 13 2 8
+f 15 10 7
+f 15 7 5
+f 18 12 7
+f 18 7 1
+f 18 16 12
+f 18 6 16
+f 19 3 13
+f 20 10 15
+f 20 15 5
+f 21 16 4
+f 21 12 16
+f 24 4 16
+f 24 22 14
+f 24 14 17
+f 25 17 14
+f 25 19 13
+f 25 13 8
+f 26 18 1
+f 26 1 6
+f 26 6 18
+f 27 9 3
+f 27 3 19
+f 27 19 22
+f 28 20 8
+f 28 8 10
+f 28 10 20
+f 29 25 8
+f 29 17 25
+f 31 22 19
+f 31 19 14
+f 31 14 22
+f 32 11 12
+f 33 23 12
+f 33 12 21
+f 35 24 16
+f 35 16 6
+f 36 25 14
+f 36 14 19
+f 36 19 25
+f 37 6 9
+f 37 9 27
+f 37 35 6
+f 37 27 22
+f 38 29 8
+f 38 8 20
+f 39 20 5
+f 39 5 11
+f 39 11 30
+f 39 38 20
+f 39 30 38
+f 40 17 29
+f 41 32 12
+f 41 12 23
+f 41 23 32
+f 43 24 17
+f 43 42 34
+f 43 17 42
+f 43 4 24
+f 44 23 33
+f 44 33 21
+f 44 21 4
+f 44 43 34
+f 44 4 43
+f 44 34 42
+f 45 22 24
+f 45 24 35
+f 45 35 37
+f 46 38 30
+f 46 40 29
+f 46 29 38
+f 47 32 23
+f 47 11 32
+f 48 44 42
+f 48 23 44
+f 48 42 17
+f 48 17 40
+f 49 45 37
+f 49 37 22
+f 49 22 45
+f 50 40 46
+f 50 46 47
+f 50 48 40
+f 50 47 23
+f 50 23 48
+f 51 47 46
+f 51 46 30
+f 51 30 11
+f 51 11 47
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_1/collision/model_normalized_collision_5.obj b/objects/objaverse/apple/apple_1/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9f86fa5e948299c5c3c2b405df688b82d718ea5
--- /dev/null
+++ b/objects/objaverse/apple/apple_1/collision/model_normalized_collision_5.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.26515150 0.22688864 0.24719154
+v 0.26515150 0.22688864 -0.22250546
+v 0.23988046 0.42148211 0.10776351
+v -0.09627360 0.46661673 0.13854408
+v -0.40681793 0.29477064 -0.00937919
+v 0.00729903 0.41431659 -0.23347457
+v 0.10900000 0.43597082 0.24100096
+v 0.25414370 0.40426743 -0.06573754
+v -0.23484853 0.22688864 -0.23765697
+v -0.21237345 0.43525639 -0.06635996
+v 0.25462994 0.37771938 0.24120995
+v 0.09536399 0.46644407 0.10862189
+v -0.34361771 0.30514858 0.24873032
+v 0.25724966 0.35000284 -0.21627318
+v 0.00757573 0.22688864 -0.23765697
+v -0.33252807 0.29427369 -0.21653363
+v 0.19513774 0.41902418 0.21045179
+v 0.25336670 0.40582750 0.15262090
+v 0.02212494 0.46694127 0.16761904
+v 0.16995894 0.45041606 -0.00801121
+v -0.09783177 0.46779980 -0.03828696
+v -0.23484853 0.22688864 0.24719154
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_1/collision/model_normalized_collision_6.obj b/objects/objaverse/apple/apple_1/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3253bc62a5ccef325d3ca35506641e4f1f7c4156
--- /dev/null
+++ b/objects/objaverse/apple/apple_1/collision/model_normalized_collision_6.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_1/collision/model_normalized_collision_7.obj b/objects/objaverse/apple/apple_1/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98fbee6be1c389ac8f7edd411c557f2b9a7f153a
--- /dev/null
+++ b/objects/objaverse/apple/apple_1/collision/model_normalized_collision_7.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.37734258 -0.24299738 0.24313585
+v -0.36675609 -0.23550857 -0.22824191
+v -0.35606065 -0.01553562 0.24719154
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+v -0.45948074 -0.15916242 0.13754410
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+v -0.45793526 0.15987825 0.15268381
+v -0.45748736 -0.13147640 -0.11164626
+v -0.42817434 -0.21757909 0.15152648
+v -0.44396865 -0.12953866 0.22528744
+v -0.49109622 -0.01566072 0.12295022
+v -0.47409065 -0.13190532 -0.00903539
+v -0.44326809 0.18921356 -0.11298825
+v -0.49093742 0.05820449 -0.02369587
+v -0.45930516 -0.01364129 -0.18679586
+v -0.44214921 0.08673419 -0.21310716
+v -0.44233608 0.11620674 0.23831975
+v -0.45879104 0.19012911 0.09244359
+v -0.44190518 -0.17456927 -0.11165421
+v -0.44275561 -0.20391929 0.12207535
+v -0.41475316 -0.20144982 0.22340259
+v -0.47451325 -0.05970035 0.18178925
+v -0.47300566 -0.11627152 -0.05258418
+v -0.48959210 -0.07319338 0.07842964
+v -0.47484881 0.05913465 -0.12746629
+v -0.47301212 0.11597873 -0.08228345
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_1/collision/model_normalized_collision_8.obj b/objects/objaverse/apple/apple_1/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..246a6cdd8f0ce57863f8a3e35620819cc51e7229
--- /dev/null
+++ b/objects/objaverse/apple/apple_1/collision/model_normalized_collision_8.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v 0.14246259 -0.45041286 0.14015494
+v 0.26496427 -0.37889078 -0.08606188
+v 0.25313867 -0.33152181 0.29649908
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+v 0.14064230 -0.39354121 0.29839419
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+v 0.18133447 -0.33209473 0.35180405
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+v 0.14013154 -0.30973877 0.38730071
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+v 0.16902764 -0.44176691 0.13946161
+v 0.19502141 -0.36108150 0.30816673
+v 0.13800146 -0.41005114 0.26985205
+v 0.25381606 -0.37632496 0.21058089
+v 0.22322316 -0.28962469 0.36665438
+v 0.23003994 -0.25167837 0.38979629
+v 0.16536604 -0.37562311 0.30883524
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+v 0.25122191 -0.36165175 0.25218446
+v 0.19429186 -0.41993003 0.18154766
+v 0.25477424 -0.26080207 0.36846879
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+v 0.15140777 -0.40576730 0.26760584
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+v 0.15233258 -0.43731626 0.18160833
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_1/collision/model_normalized_collision_9.obj b/objects/objaverse/apple/apple_1/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8cd0af1cd010029bed1d8a38bf16c2844210895f
--- /dev/null
+++ b/objects/objaverse/apple/apple_1/collision/model_normalized_collision_9.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.08116785 -0.35351884 -0.32004242
+v 0.14253805 -0.32998706 -0.32560207
+v 0.14393937 -0.01553562 -0.34371758
+v -0.23484853 -0.01553562 -0.35886910
+v -0.09652869 -0.19154686 -0.47723734
+v 0.00757573 -0.22765684 -0.32856607
+v 0.14393937 -0.22765684 -0.32856607
+v 0.00362921 -0.24441225 -0.44727679
+v -0.22791733 -0.29262104 -0.33601033
+v -0.16221997 -0.01681620 -0.47893529
+v 0.12538161 -0.33980137 -0.32136136
+v 0.13879542 -0.21921097 -0.42272572
+v -0.07960458 -0.31837249 -0.38939654
+v 0.00501216 -0.00973740 -0.36667184
+v -0.23150201 -0.01465300 -0.47071951
+v 0.09298282 -0.27203276 -0.40271695
+v 0.10510996 -0.02127989 -0.41932596
+v 0.00434258 -0.16454281 -0.47813927
+v -0.09499823 -0.35318550 -0.33730684
+v -0.15010588 -0.24508589 -0.43185777
+v -0.07988246 -0.23341516 -0.46126646
+v -0.25063640 -0.25056320 -0.36516959
+v -0.20192034 -0.01595602 -0.47897855
+v 0.09479605 -0.33097989 -0.34434944
+v 0.13609398 -0.28729047 -0.37167617
+v 0.04768605 -0.23329285 -0.44477048
+v 0.08315771 -0.10975350 -0.44918846
+v 0.00696261 -0.35884772 -0.32504115
+v -0.12406300 -0.31650562 -0.37598277
+v -0.20985200 -0.17587335 -0.44586884
+v -0.02682739 -0.28761359 -0.41828211
+v -0.01240407 -0.19214464 -0.47617864
+v -0.13759476 -0.20395400 -0.46105300
+v -0.12217334 -0.25975255 -0.43257969
+v -0.16869501 -0.11793941 -0.47845273
+v 0.13721943 -0.31830275 -0.34251597
+v 0.12083059 -0.26055765 -0.40156462
+v 0.03438868 -0.27255986 -0.41838207
+v 0.06280912 -0.16493136 -0.46168746
+v -0.01280208 -0.11178166 -0.47606369
+v -0.00948001 -0.34624409 -0.34528195
+v -0.13995816 -0.33778127 -0.33625991
+v -0.09396417 -0.34755251 -0.34624976
+v -0.18023319 -0.30154194 -0.36118193
+v -0.22337502 -0.10152491 -0.46063522
+v -0.22402121 -0.22929305 -0.40366051
+v -0.02478889 -0.23389025 -0.46004320
+v -0.06691243 -0.28830360 -0.41841194
+v 0.03480336 -0.31710079 -0.37515600
+v 0.04822300 -0.19484415 -0.46250125
+v -0.16467185 -0.21433306 -0.44663310
+v -0.20359818 -0.03063717 -0.47848313
+v -0.14086576 -0.16477389 -0.47660499
+v 0.12341024 -0.33299546 -0.33056345
+v 0.13604610 -0.22984837 -0.41636492
+v 0.06131119 -0.14169086 -0.46138402
+v 0.00237014 -0.12691203 -0.47613962
+v -0.13764409 -0.33133669 -0.34707675
+v -0.22433520 -0.28811246 -0.34446363
+v -0.22262460 -0.18896383 -0.43140374
+v -0.20982992 -0.13040461 -0.46097760
+v -0.20806794 -0.24344376 -0.40248945
+v -0.04020308 -0.30243181 -0.40493563
+v -0.10858793 -0.24552902 -0.44795931
+f 6 3 4
+f 7 6 1
+f 7 3 6
+f 9 6 4
+f 9 1 6
+f 11 7 1
+f 11 2 7
+f 12 7 2
+f 12 3 7
+f 14 4 3
+f 15 4 14
+f 17 3 12
+f 17 14 3
+f 17 10 14
+f 22 9 4
+f 22 4 15
+f 23 15 14
+f 23 14 10
+f 23 10 18
+f 24 11 1
+f 25 12 2
+f 27 17 12
+f 28 1 9
+f 32 21 5
+f 32 5 18
+f 33 5 21
+f 34 13 29
+f 35 23 18
+f 35 18 5
+f 36 2 11
+f 36 25 2
+f 36 24 16
+f 36 16 25
+f 37 25 16
+f 37 26 12
+f 37 16 26
+f 38 26 16
+f 38 8 26
+f 38 31 8
+f 39 27 12
+f 40 10 17
+f 41 1 28
+f 42 28 9
+f 42 19 28
+f 43 29 13
+f 43 19 42
+f 43 13 41
+f 43 41 28
+f 43 28 19
+f 44 34 29
+f 44 20 34
+f 44 42 9
+f 45 22 15
+f 45 15 35
+f 47 8 31
+f 47 21 32
+f 47 26 8
+f 48 47 31
+f 48 21 47
+f 49 24 1
+f 49 1 41
+f 49 31 38
+f 49 38 16
+f 49 16 24
+f 50 12 26
+f 50 47 32
+f 50 26 47
+f 50 39 12
+f 50 32 18
+f 50 18 39
+f 52 35 15
+f 52 15 23
+f 52 23 35
+f 53 51 30
+f 53 33 51
+f 53 35 5
+f 53 5 33
+f 54 36 11
+f 54 11 24
+f 54 24 36
+f 55 37 12
+f 55 12 25
+f 55 25 37
+f 56 39 18
+f 56 27 39
+f 57 40 17
+f 57 17 27
+f 57 27 56
+f 57 56 18
+f 57 18 10
+f 57 10 40
+f 58 43 42
+f 58 29 43
+f 58 44 29
+f 58 42 44
+f 59 44 9
+f 59 9 22
+f 60 45 30
+f 60 22 45
+f 60 46 22
+f 60 51 46
+f 60 30 51
+f 61 45 35
+f 61 30 45
+f 61 53 30
+f 61 35 53
+f 62 22 46
+f 62 59 22
+f 62 44 59
+f 62 20 44
+f 62 51 20
+f 62 46 51
+f 63 48 31
+f 63 13 48
+f 63 31 49
+f 63 49 41
+f 63 41 13
+f 64 21 48
+f 64 34 20
+f 64 20 51
+f 64 51 33
+f 64 33 21
+f 64 48 13
+f 64 13 34
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_1/model.xml b/objects/objaverse/apple/apple_1/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..dada2ce58d83a33556c8db567d60061759fd92b2
--- /dev/null
+++ b/objects/objaverse/apple/apple_1/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="apple_3">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="Solid.001" texture="image0" specular="0.5" shininess="0.489999983"/>
+  </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="Solid.001"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_22._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_23._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_21._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_20._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_24._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_30._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_18._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_19._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_31._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_25._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_27._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_26._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_9._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_8._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_6._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_7._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_5._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_4._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_0._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_1._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_3._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_2._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_17._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_16._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_28._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_14._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_15._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_29._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_11._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_10._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_12._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_13._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+      </body>
+      <site rgba="0 0 0 0" size="0.005" pos="-4.977525000000039e-05 -0.0001907647000000004 -0.033528498500000004" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="-4.977525000000039e-05 -0.0001907647000000004 0.03406707360000001" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.03427718490000001 0.0327698147 0.00026928755000000057" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/apple/apple_9/visual/material.mtl b/objects/objaverse/apple/apple_9/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0c5bd6256ac65417ea4fe07a83c3c2e2658e0a75
--- /dev/null
+++ b/objects/objaverse/apple/apple_9/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 187.34514200
+map_Kd material_0.png
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_0/collision/model_normalized_collision_0.obj b/objects/objaverse/chips/chips_0/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..845cff37fea68cc8a650e6818641be5851d97f90
--- /dev/null
+++ b/objects/objaverse/chips/chips_0/collision/model_normalized_collision_0.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.15854589 -0.19705519 -0.33525494
+v 0.14543180 -0.19590099 -0.35790690
+v 0.16296887 0.17223469 -0.33730695
+v -0.12399135 0.17330797 -0.35688472
+v -0.12508391 -0.22992443 -0.34159615
+v 0.06291197 0.17115474 -0.41790197
+v 0.13860849 -0.16594007 -0.37369047
+v 0.01869828 -0.21312371 -0.43968946
+v 0.02105509 -0.21077398 -0.32575758
+v 0.10204541 0.17159974 -0.40083366
+v -0.07910806 -0.21297634 -0.40724290
+v -0.04874223 0.17050875 -0.41778837
+v 0.13481863 0.16861980 -0.37646981
+v -0.02117162 -0.21424477 -0.43305812
+v -0.07499542 0.17067887 -0.40102079
+v -0.06150326 -0.21389251 -0.41847420
+f 7 1 2
+f 7 3 1
+f 8 2 1
+f 8 1 5
+f 8 7 2
+f 9 5 1
+f 9 1 3
+f 9 3 4
+f 9 4 5
+f 10 6 4
+f 10 4 3
+f 10 8 6
+f 10 7 8
+f 11 5 4
+f 12 4 6
+f 12 6 8
+f 13 10 3
+f 13 3 7
+f 13 7 10
+f 14 8 5
+f 14 12 8
+f 15 12 11
+f 15 11 4
+f 15 4 12
+f 16 14 5
+f 16 5 11
+f 16 11 12
+f 16 12 14
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_0/collision/model_normalized_collision_1.obj b/objects/objaverse/chips/chips_0/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9224642087b2ee78b2044745c85be4b75ed6c56b
--- /dev/null
+++ b/objects/objaverse/chips/chips_0/collision/model_normalized_collision_1.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.17653192 0.15962842 0.26033750
+v 0.15528896 0.22692885 -0.09590964
+v 0.14354871 0.22499435 0.25140057
+v -0.13479770 0.25632956 0.25921973
+v -0.10015703 0.13771086 -0.09848486
+v 0.14459472 0.22911670 0.14422760
+v 0.00590358 0.21346843 0.26515149
+v 0.12711569 0.13771086 -0.09848486
+v -0.12636819 0.24121101 -0.09734738
+v -0.10015703 0.13771086 0.26515149
+v -0.12417499 0.25135401 0.14178430
+v 0.00590358 0.13771086 0.26515149
+f 1 2 3
+f 6 3 2
+f 6 2 4
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 8 2 1
+f 9 5 4
+f 9 8 5
+f 9 2 8
+f 10 5 8
+f 10 7 4
+f 10 4 5
+f 11 9 4
+f 11 4 2
+f 11 2 9
+f 12 1 7
+f 12 7 10
+f 12 10 8
+f 12 8 1
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_0/collision/model_normalized_collision_10.obj b/objects/objaverse/chips/chips_0/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f15b3bbec545da0c9e3bc3e0027dd15447abef04
--- /dev/null
+++ b/objects/objaverse/chips/chips_0/collision/model_normalized_collision_10.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.10245979 -0.19767640 0.38850916
+v 0.12601691 -0.19539469 0.35531192
+v 0.11646900 -0.00992825 0.37448926
+v -0.10022020 -0.01534373 0.36284554
+v -0.08154993 -0.18355638 0.41620966
+v 0.13019978 -0.01487566 0.35917111
+v 0.00590358 -0.19562246 0.35606058
+v 0.00344595 -0.19895499 0.43342884
+v 0.11231808 -0.19255491 0.37628116
+v -0.11422563 -0.11812542 0.38178206
+v 0.05779833 -0.19861811 0.41894070
+v -0.03701914 -0.03943687 0.40103806
+v 0.01814103 -0.19957391 0.43091403
+v -0.08320364 -0.18091506 0.41438753
+v -0.08843712 -0.03903903 0.38807194
+v 0.04999774 -0.04074949 0.40006656
+v 0.09238344 -0.01605735 0.38554122
+v -0.02050110 -0.18477417 0.43264148
+v -0.08198957 -0.02634825 0.38417410
+v -0.05241594 -0.04505294 0.39931517
+f 6 4 3
+f 6 3 1
+f 7 2 1
+f 7 6 2
+f 7 4 6
+f 8 5 7
+f 9 6 1
+f 9 1 2
+f 9 2 6
+f 10 4 7
+f 11 1 3
+f 13 8 7
+f 13 7 1
+f 13 1 11
+f 14 10 7
+f 14 7 5
+f 14 5 10
+f 15 10 5
+f 15 4 10
+f 16 8 13
+f 17 3 4
+f 17 12 16
+f 17 11 3
+f 17 16 13
+f 17 13 11
+f 18 5 8
+f 18 16 12
+f 18 8 16
+f 19 15 12
+f 19 4 15
+f 19 17 4
+f 19 12 17
+f 20 15 5
+f 20 5 18
+f 20 18 12
+f 20 12 15
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_0/collision/model_normalized_collision_11.obj b/objects/objaverse/chips/chips_0/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9ae920e8a052da43ee8cb624cf2082a131e745f
--- /dev/null
+++ b/objects/objaverse/chips/chips_0/collision/model_normalized_collision_11.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.03955097 0.21346843 0.26515149
+v -0.03955097 0.21346843 -0.23484849
+v -0.03748335 0.28807994 0.22720102
+v -0.03915071 0.30120745 0.26576344
+v -0.13479770 0.25632956 0.25921973
+v -0.03827113 0.27829003 -0.09931160
+v -0.03955097 0.19831692 0.14393937
+v -0.07936183 0.29129054 0.26760471
+v -0.11971937 0.24861163 -0.23504762
+v -0.03955097 0.19831692 -0.09848486
+v -0.09755668 0.28319613 0.26628182
+v -0.05461085 0.27455288 -0.22081029
+v -0.12636819 0.24121101 -0.09734738
+v -0.10959469 0.25524714 -0.23331957
+v -0.13101093 0.24698540 0.14117093
+f 1 3 4
+f 6 3 2
+f 6 4 3
+f 7 3 1
+f 7 1 5
+f 8 1 4
+f 10 2 3
+f 10 3 7
+f 10 9 2
+f 11 5 1
+f 11 1 8
+f 11 9 5
+f 12 8 4
+f 12 4 6
+f 12 6 2
+f 13 10 7
+f 13 5 9
+f 13 9 10
+f 14 11 8
+f 14 9 11
+f 14 8 12
+f 14 12 2
+f 14 2 9
+f 15 13 7
+f 15 7 5
+f 15 5 13
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_0/collision/model_normalized_collision_12.obj b/objects/objaverse/chips/chips_0/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd88f2bcee5d7174e1e5f8e972da81546cdc00bc
--- /dev/null
+++ b/objects/objaverse/chips/chips_0/collision/model_normalized_collision_12.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v -0.10015703 0.13771086 0.26515149
+v -0.10015703 0.13771086 -0.23484849
+v -0.09450998 0.27613751 0.22219997
+v -0.09755668 0.28319613 0.26628182
+v -0.20773453 0.13311104 -0.14157202
+v -0.19948511 0.13629127 0.26275471
+v -0.09488402 0.26766280 -0.23570273
+v -0.20737813 0.13412271 0.23236714
+v -0.13320885 0.25872853 0.26727529
+v -0.19078737 0.13446272 -0.23110721
+v -0.10950859 0.27749283 0.26678841
+v -0.15823276 0.23147007 0.26447572
+v -0.10398646 0.26030746 -0.23668269
+v -0.18819186 0.17627842 0.26114448
+v -0.16296241 0.20276761 -0.23284562
+v -0.14234064 0.23081903 -0.21809699
+v -0.20359275 0.14790406 0.23200121
+v -0.18760155 0.15891089 -0.21521419
+v -0.18824582 0.18678776 0.02347174
+v -0.15056348 0.24088370 0.19287637
+v -0.20334404 0.15673487 -0.06748420
+v -0.18789601 0.14900559 -0.23040616
+v -0.17586889 0.19803584 -0.06773692
+v -0.18747398 0.18926834 0.23326108
+v -0.16000656 0.22853427 0.16098003
+v -0.20168180 0.16050164 0.21654914
+v -0.20326320 0.14675461 -0.14081457
+v -0.18755128 0.17244874 -0.15676319
+v -0.17270736 0.18933975 -0.21527615
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 7 3 2
+f 7 4 3
+f 8 5 1
+f 8 1 6
+f 9 6 1
+f 10 2 5
+f 11 9 1
+f 11 1 4
+f 11 4 7
+f 12 6 9
+f 13 7 2
+f 13 2 10
+f 14 6 12
+f 15 13 10
+f 16 7 13
+f 16 11 7
+f 16 9 11
+f 16 13 15
+f 17 8 6
+f 17 6 14
+f 20 12 9
+f 20 9 16
+f 21 5 8
+f 22 18 15
+f 22 15 10
+f 22 10 5
+f 22 5 18
+f 23 16 15
+f 23 21 19
+f 23 15 21
+f 24 14 12
+f 24 19 21
+f 25 12 20
+f 25 24 12
+f 25 19 24
+f 25 23 19
+f 25 20 16
+f 25 16 23
+f 26 21 8
+f 26 8 17
+f 26 24 21
+f 26 17 14
+f 26 14 24
+f 27 18 5
+f 27 5 21
+f 28 27 21
+f 28 21 15
+f 29 15 18
+f 29 18 27
+f 29 28 15
+f 29 27 28
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_0/collision/model_normalized_collision_13.obj b/objects/objaverse/chips/chips_0/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4eb7258c37cc0d217e449705084fa9d8f57ac122
--- /dev/null
+++ b/objects/objaverse/chips/chips_0/collision/model_normalized_collision_13.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v -0.18592293 -0.17975068 -0.16052812
+v -0.11530854 -0.10471338 -0.23484849
+v -0.11530854 -0.10471338 -0.09848486
+v -0.20758709 0.14324007 -0.09975125
+v -0.20166554 0.09014922 -0.22901888
+v -0.11530854 0.13771086 -0.09848486
+v -0.22357381 -0.10215029 -0.09714342
+v -0.17896288 -0.17250416 -0.23906808
+v -0.11530854 0.13771086 -0.23484849
+v -0.22782738 0.07537073 -0.09741363
+v -0.21829804 -0.05673391 -0.18577682
+v -0.20155817 -0.14860138 -0.15851500
+v -0.19078737 0.13446272 -0.23110721
+v -0.20345205 -0.08706342 -0.22973457
+v -0.21871561 0.04597500 -0.18581623
+v -0.18970165 -0.17322744 -0.15987847
+v -0.20316036 0.11752409 -0.20219337
+v -0.20271042 -0.11464472 -0.21535459
+v -0.20543483 0.13233520 -0.15632424
+v -0.21749859 0.07371737 -0.17042025
+v -0.19033826 -0.14572533 -0.23115293
+v -0.21898635 -0.10165092 -0.14180323
+v -0.20290835 0.13260591 -0.17185779
+v -0.18158830 -0.16755924 -0.23616393
+v -0.20380394 -0.13012919 -0.18642826
+v -0.20779595 -0.13045301 -0.15741326
+f 6 3 2
+f 7 1 3
+f 7 3 6
+f 8 2 3
+f 8 3 1
+f 9 4 6
+f 9 6 2
+f 9 2 8
+f 10 7 6
+f 10 6 4
+f 11 7 10
+f 13 4 9
+f 13 9 8
+f 13 8 5
+f 14 5 8
+f 15 11 10
+f 15 14 11
+f 15 5 14
+f 16 12 8
+f 16 8 1
+f 16 1 7
+f 16 7 12
+f 17 13 5
+f 17 5 15
+f 18 11 14
+f 19 17 10
+f 19 10 4
+f 20 17 15
+f 20 15 10
+f 20 10 17
+f 21 18 14
+f 21 14 8
+f 22 7 11
+f 22 11 18
+f 23 19 4
+f 23 4 13
+f 23 13 17
+f 23 17 19
+f 24 21 8
+f 24 8 12
+f 25 18 21
+f 25 22 18
+f 25 24 12
+f 25 21 24
+f 26 12 7
+f 26 7 22
+f 26 25 12
+f 26 22 25
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_0/collision/model_normalized_collision_14.obj b/objects/objaverse/chips/chips_0/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82902ab6c04a7c9cb69b9588e8bc7623c172d8d6
--- /dev/null
+++ b/objects/objaverse/chips/chips_0/collision/model_normalized_collision_14.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.14545113 0.22869444 0.20741482
+v 0.15528896 0.22692885 -0.09590964
+v 0.06188403 0.27579002 -0.09977462
+v -0.03904855 0.28526578 0.22152040
+v -0.03955097 0.19831692 -0.09848486
+v 0.10304681 0.25845141 0.20443356
+v 0.15160177 0.22175047 0.14511415
+v -0.03955097 0.21346843 0.21969695
+v 0.12188041 0.25031071 -0.09929511
+v -0.03827113 0.27829003 -0.09931160
+v 0.00508098 0.28439718 0.22234588
+v 0.12099802 0.24820493 0.20446868
+v -0.03955097 0.19831692 0.14393937
+v 0.10609995 0.25993892 -0.09967208
+v 0.06478959 0.27082201 0.17097321
+v 0.00590358 0.21346843 0.21969695
+f 7 5 2
+f 7 2 1
+f 8 4 5
+f 9 2 5
+f 10 5 4
+f 10 3 5
+f 11 4 8
+f 11 10 4
+f 11 3 10
+f 12 1 2
+f 12 2 9
+f 12 11 1
+f 12 6 11
+f 13 7 1
+f 13 8 5
+f 13 5 7
+f 14 9 5
+f 14 5 3
+f 14 3 6
+f 14 12 9
+f 14 6 12
+f 15 11 6
+f 15 6 3
+f 15 3 11
+f 16 11 8
+f 16 1 11
+f 16 13 1
+f 16 8 13
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_0/collision/model_normalized_collision_15.obj b/objects/objaverse/chips/chips_0/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d383e8244e45cb7ff8a2e5c50060eab00c4510d
--- /dev/null
+++ b/objects/objaverse/chips/chips_0/collision/model_normalized_collision_15.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v -0.11530854 0.04680177 0.26515149
+v -0.11530854 0.04680177 -0.09848486
+v -0.11530854 0.13771086 -0.09848486
+v -0.19948511 0.13629127 0.26275471
+v -0.23626611 0.04582830 -0.06715669
+v -0.11530854 0.13771086 0.26515149
+v -0.21271993 0.04646449 0.26108169
+v -0.21728200 0.08177330 -0.16435859
+v -0.20211645 0.14076660 -0.16051833
+v -0.22121701 0.04608731 0.23126273
+v -0.23290394 0.04659692 -0.09803853
+v -0.21784596 0.11556730 -0.09652315
+v -0.20442762 0.11898714 0.25912031
+v -0.22033834 0.07422307 -0.15583934
+v -0.21782160 0.08892641 -0.15533364
+v -0.21820783 0.13155552 0.14307509
+v -0.21832402 0.07498851 0.23057822
+v -0.20543483 0.13233520 -0.15632424
+v -0.23434759 0.05851054 -0.06713450
+v -0.21812137 0.13060822 -0.00701650
+v -0.21707176 0.11713453 0.20143029
+v -0.23377324 0.07392356 0.12716430
+v -0.23330736 0.07330968 -0.03665861
+v -0.20441113 0.13411466 0.24641670
+v -0.21743145 0.10335968 0.21566335
+v -0.23637158 0.04594618 0.14218994
+v -0.23483698 0.05947584 0.14201429
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 6 4 1
+f 7 1 4
+f 9 6 3
+f 9 4 6
+f 9 3 2
+f 9 2 8
+f 10 5 1
+f 10 1 7
+f 11 2 5
+f 13 7 4
+f 14 8 2
+f 14 2 11
+f 15 9 8
+f 15 8 14
+f 15 14 11
+f 16 4 9
+f 17 10 7
+f 17 7 13
+f 18 15 12
+f 18 12 9
+f 18 9 15
+f 19 15 11
+f 19 11 5
+f 19 12 15
+f 20 16 9
+f 20 9 12
+f 22 16 20
+f 22 21 16
+f 23 20 12
+f 23 12 19
+f 23 22 20
+f 23 19 5
+f 23 5 22
+f 24 13 4
+f 24 4 16
+f 24 16 21
+f 25 17 13
+f 25 24 21
+f 25 13 24
+f 26 22 5
+f 26 5 10
+f 26 10 17
+f 27 25 21
+f 27 21 22
+f 27 22 26
+f 27 26 17
+f 27 17 25
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_0/collision/model_normalized_collision_16.obj b/objects/objaverse/chips/chips_0/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34abcf2c50e3813c5ddbdf351620fb77adf1b272
--- /dev/null
+++ b/objects/objaverse/chips/chips_0/collision/model_normalized_collision_16.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v 0.12720146 0.14979529 0.35765167
+v 0.18305948 0.15184861 0.24885916
+v 0.09321372 0.25021939 0.39050116
+v 0.00181960 0.33552194 0.45353369
+v 0.00590358 0.15286237 0.24999998
+v 0.13205818 0.24156712 0.24983521
+v 0.04406296 0.27754789 0.44335485
+v 0.15645458 0.15071220 0.31854631
+v 0.17022472 0.15100157 0.28764111
+v 0.12449569 0.23544646 0.33028342
+v 0.00527468 0.29983648 0.25076215
+v 0.04290934 0.28668454 0.44481812
+v 0.00399473 0.15584375 0.42167225
+v 0.13804212 0.20452041 0.33185686
+v 0.16023735 0.20322703 0.24806996
+v 0.02961388 0.33300708 0.44450624
+v -0.00145734 0.32296685 0.46950423
+v 0.10244190 0.15416956 0.38443379
+v 0.07987721 0.28120159 0.38872245
+v 0.12536793 0.24450043 0.29364828
+v 0.17199114 0.17708260 0.24732928
+v 0.15637600 0.20177924 0.27528298
+v -0.00041379 0.33448723 0.40583290
+v 0.09049035 0.27345192 0.25240666
+v 0.00010292 0.25022156 0.44688052
+v 0.05397873 0.15628838 0.41307580
+v 0.00072287 0.32654144 0.46902028
+v 0.00330533 0.30304322 0.26813939
+v 0.05878359 0.28817619 0.25579436
+v 0.00292754 0.18704258 0.43087432
+v 0.04227103 0.30173907 0.29804513
+v 0.03045055 0.33119138 0.43481303
+v 0.01848153 0.30094608 0.26827049
+v 0.03807218 0.31758926 0.37442543
+f 8 3 1
+f 9 5 2
+f 9 1 5
+f 9 8 1
+f 12 1 3
+f 13 5 1
+f 14 3 8
+f 14 8 9
+f 14 9 2
+f 15 11 6
+f 16 12 3
+f 18 12 7
+f 18 1 12
+f 19 14 10
+f 19 3 14
+f 19 16 3
+f 20 15 6
+f 20 19 10
+f 20 6 16
+f 20 16 19
+f 21 15 2
+f 21 2 5
+f 21 5 11
+f 21 11 15
+f 22 14 2
+f 22 2 15
+f 22 10 14
+f 22 20 10
+f 22 15 20
+f 23 4 16
+f 23 17 4
+f 24 16 6
+f 24 6 11
+f 25 5 13
+f 25 23 5
+f 25 17 23
+f 26 7 17
+f 26 18 7
+f 26 13 1
+f 26 1 18
+f 27 17 7
+f 27 7 12
+f 27 12 16
+f 27 16 4
+f 27 4 17
+f 28 23 11
+f 28 11 5
+f 28 5 23
+f 29 24 11
+f 30 25 13
+f 30 17 25
+f 30 26 17
+f 30 13 26
+f 32 16 24
+f 32 23 16
+f 33 31 29
+f 33 29 11
+f 33 11 23
+f 33 23 31
+f 34 32 24
+f 34 24 29
+f 34 29 31
+f 34 31 23
+f 34 23 32
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_0/collision/model_normalized_collision_17.obj b/objects/objaverse/chips/chips_0/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c83a311a4fd234ffb8ddf44d572b9a82469f6da8
--- /dev/null
+++ b/objects/objaverse/chips/chips_0/collision/model_normalized_collision_17.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v 0.01958895 -0.37186173 -0.50000000
+v -0.16000763 -0.21023328 -0.23473496
+v -0.11476026 -0.25611077 -0.32441984
+v -0.14813635 -0.20481615 -0.30695078
+v 0.02105509 -0.21077398 -0.23484849
+v -0.14266412 -0.21738564 -0.30536664
+v -0.11814291 -0.25584001 -0.23439272
+v 0.01869828 -0.21312371 -0.43968946
+v -0.09530047 -0.26194832 -0.37846044
+v -0.14607121 -0.22890523 -0.23384336
+v -0.08466585 -0.28677545 -0.34059353
+v 0.02323482 -0.28882038 -0.22508279
+v 0.02105509 -0.21077398 -0.28030304
+v -0.00776438 -0.35196380 -0.46917604
+v -0.12713177 -0.23224690 -0.33360607
+v -0.08797562 -0.21075288 -0.40117390
+v -0.05325442 -0.29006914 -0.24004429
+v -0.09702895 -0.24809547 -0.39061660
+v -0.03173127 -0.32740177 -0.38912251
+v -0.08642015 -0.28466577 -0.31202541
+v -0.03559228 -0.21503063 -0.42990823
+v -0.10388362 -0.20969587 -0.38790439
+v -0.06284560 -0.28586280 -0.23731823
+v 0.01994506 -0.30886145 -0.28185085
+v -0.12803611 -0.21752750 -0.34911496
+v 0.01900679 -0.33699634 -0.48976431
+v -0.04781578 -0.22984241 -0.43076745
+v -0.04376400 -0.28752476 -0.44464274
+v -0.07641953 -0.28230166 -0.25302569
+v -0.13122395 -0.20887330 -0.34658108
+f 5 4 2
+f 6 3 2
+f 6 2 4
+f 10 2 3
+f 11 10 3
+f 11 7 10
+f 12 10 7
+f 12 5 2
+f 12 2 10
+f 12 1 8
+f 13 8 4
+f 13 4 5
+f 13 12 8
+f 13 5 12
+f 14 3 9
+f 14 11 3
+f 15 9 3
+f 15 3 6
+f 15 6 4
+f 18 14 9
+f 18 1 14
+f 19 14 1
+f 19 7 14
+f 20 14 7
+f 20 7 11
+f 20 11 14
+f 21 16 8
+f 22 4 8
+f 22 8 16
+f 23 17 12
+f 23 12 7
+f 23 1 17
+f 24 17 1
+f 24 1 12
+f 24 12 17
+f 25 15 4
+f 25 18 9
+f 25 9 15
+f 26 21 8
+f 26 8 1
+f 27 16 21
+f 27 26 1
+f 27 21 26
+f 28 22 16
+f 28 1 18
+f 28 18 22
+f 28 27 1
+f 28 16 27
+f 29 23 7
+f 29 7 19
+f 29 19 1
+f 29 1 23
+f 30 22 18
+f 30 18 25
+f 30 25 4
+f 30 4 22
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_0/collision/model_normalized_collision_18.obj b/objects/objaverse/chips/chips_0/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..905fae159c7bcfc93a50f050d8bf758b38e62fb8
--- /dev/null
+++ b/objects/objaverse/chips/chips_0/collision/model_normalized_collision_18.obj
@@ -0,0 +1,141 @@
+# https://github.com/mikedh/trimesh
+v 0.19722453 0.16586399 -0.23396739
+v 0.18945566 0.16520382 -0.27571544
+v 0.15409514 0.23544796 -0.30669378
+v 0.02065488 0.37255934 -0.49853997
+v -0.18131833 0.16324736 -0.23250121
+v 0.13778719 0.23488819 -0.36529596
+v 0.18320119 0.19081819 -0.26098267
+v -0.17850549 0.16187192 -0.24697538
+v 0.00859903 0.30234709 -0.25317112
+v 0.16850089 0.19429147 -0.31918579
+v 0.10720877 0.28006867 -0.39150605
+v 0.18535600 0.17648806 -0.27659082
+v -0.11210913 0.24703744 -0.34868561
+v 0.07464475 0.28796576 -0.23824628
+v 0.16804517 0.20460363 -0.30643936
+v -0.04874223 0.17050875 -0.41778837
+v 0.03392692 0.36158290 -0.48122130
+v -0.16021645 0.20049896 -0.26272403
+v -0.10398646 0.26030746 -0.23668269
+v 0.17094411 0.21687815 -0.23357181
+v 0.01881266 0.30162375 -0.25351505
+v 0.07715754 0.17194565 -0.41439767
+v -0.14792357 0.16530322 -0.33158722
+v 0.09199941 0.28004207 -0.42178000
+v 0.11644765 0.26957713 -0.23895443
+v -0.04676984 0.28816371 -0.24224297
+v -0.16296241 0.20276761 -0.23284562
+v -0.17560642 0.17560583 -0.23112577
+v 0.18716594 0.19080901 -0.23354352
+v 0.15831505 0.16819164 -0.34574165
+v 0.03172211 0.18792774 -0.42988858
+v -0.09998882 0.24623561 -0.38013635
+v -0.10601141 0.16913941 -0.38399921
+v -0.14345454 0.20095421 -0.32057829
+v 0.17468895 0.16534821 -0.31881600
+v -0.02180174 0.30070767 -0.26837654
+v -0.09031820 0.27362725 -0.25228662
+v -0.02959657 0.33508258 -0.44343627
+v 0.10204541 0.17159974 -0.40083366
+v 0.01915487 0.31072388 -0.47834776
+v -0.04721262 0.21777316 -0.42835373
+v -0.09905390 0.22692988 -0.38909781
+v -0.14160726 0.19422385 -0.33187730
+v -0.06166620 0.28699662 -0.25566438
+v 0.08584419 0.18696929 -0.41446399
+v 0.08181666 0.24683774 -0.43045423
+v -0.00587119 0.18747529 -0.42885154
+v 0.02028394 0.35359231 -0.49320564
+f 8 2 1
+f 8 1 5
+f 11 3 6
+f 12 7 1
+f 12 1 2
+f 12 2 10
+f 15 10 6
+f 15 6 3
+f 15 3 7
+f 15 12 10
+f 15 7 12
+f 17 11 6
+f 17 3 11
+f 18 8 5
+f 20 3 17
+f 21 14 4
+f 21 4 9
+f 21 9 14
+f 24 17 6
+f 24 4 17
+f 25 17 4
+f 25 4 14
+f 25 20 17
+f 25 14 20
+f 26 19 14
+f 26 14 9
+f 27 18 5
+f 27 20 14
+f 27 14 19
+f 27 13 18
+f 28 5 1
+f 28 27 5
+f 28 20 27
+f 29 1 7
+f 29 7 3
+f 29 3 20
+f 29 28 1
+f 29 20 28
+f 30 24 6
+f 31 22 16
+f 33 16 23
+f 34 18 13
+f 34 13 32
+f 34 8 18
+f 35 2 8
+f 35 8 23
+f 35 23 16
+f 35 16 22
+f 35 10 2
+f 35 30 6
+f 35 6 10
+f 36 26 9
+f 36 9 4
+f 36 4 26
+f 37 19 26
+f 38 13 27
+f 38 32 13
+f 38 37 4
+f 38 27 19
+f 38 19 37
+f 39 35 22
+f 39 30 35
+f 40 22 31
+f 41 33 4
+f 41 4 16
+f 41 16 33
+f 42 4 33
+f 42 38 4
+f 42 32 38
+f 42 33 23
+f 43 34 32
+f 43 23 8
+f 43 8 34
+f 43 42 23
+f 43 32 42
+f 44 37 26
+f 44 26 4
+f 44 4 37
+f 45 39 22
+f 45 22 4
+f 45 4 39
+f 46 39 4
+f 46 4 24
+f 46 24 30
+f 46 30 39
+f 47 40 31
+f 47 31 16
+f 47 16 40
+f 48 40 16
+f 48 16 4
+f 48 4 22
+f 48 22 40
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_0/collision/model_normalized_collision_19.obj b/objects/objaverse/chips/chips_0/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1973dce7f91154710ae196b651c717d0d152398b
--- /dev/null
+++ b/objects/objaverse/chips/chips_0/collision/model_normalized_collision_19.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v 0.00153287 -0.35697915 0.47695465
+v 0.16745738 -0.19312691 0.24915391
+v 0.11231808 -0.19255491 0.37628116
+v 0.00344595 -0.19895499 0.43342884
+v 0.00388623 -0.30260486 0.25258977
+v 0.08125730 -0.18051560 0.40089758
+v 0.13950347 -0.20297814 0.33336370
+v 0.09908209 -0.27047532 0.24943080
+v 0.00055611 -0.34948491 0.45084489
+v 0.00590358 -0.19562246 0.24999998
+v 0.15782758 -0.18986081 0.29092951
+v 0.04468630 -0.27502579 0.44291285
+v 0.10662380 -0.26199668 0.34779277
+v 0.09522240 -0.24835296 0.39131251
+v 0.04348551 -0.29914098 0.26784749
+v 0.00101155 -0.29242214 0.46440635
+v 0.14297674 -0.23090180 0.24770092
+v 0.07434222 -0.18128016 0.40547514
+v 0.09188654 -0.18101560 0.39398251
+v 0.14246133 -0.19250315 0.33205684
+v 0.12413155 -0.24395407 0.32328347
+v 0.06638066 -0.30196913 0.40024924
+v 0.07354329 -0.28346169 0.25285348
+v 0.03361098 -0.29852589 0.25333215
+v 0.01454555 -0.29436983 0.46015217
+v 0.16220168 -0.20346873 0.24834938
+v 0.03279185 -0.20013186 0.42839029
+v 0.05417273 -0.23016792 0.42873269
+v 0.10963099 -0.22411257 0.37463699
+v 0.15336245 -0.20236683 0.28955327
+v 0.00690085 -0.35292029 0.47095102
+v 0.08603213 -0.28445656 0.31214392
+v 0.03128136 -0.24785165 0.44241125
+v 0.13752240 -0.21690028 0.31964274
+f 9 5 1
+f 10 8 5
+f 10 6 2
+f 14 13 7
+f 14 12 1
+f 14 3 12
+f 16 9 1
+f 16 5 9
+f 16 10 5
+f 16 4 10
+f 17 8 10
+f 18 10 4
+f 18 6 10
+f 19 12 3
+f 19 11 2
+f 19 2 6
+f 20 7 11
+f 20 14 7
+f 20 19 3
+f 20 11 19
+f 21 7 13
+f 21 13 17
+f 22 13 14
+f 22 17 13
+f 23 8 1
+f 23 1 15
+f 24 15 1
+f 24 1 5
+f 24 23 15
+f 24 5 8
+f 24 8 23
+f 25 16 1
+f 25 1 12
+f 26 17 10
+f 26 10 2
+f 26 21 17
+f 26 2 21
+f 27 18 4
+f 27 4 16
+f 28 6 18
+f 28 19 6
+f 28 12 19
+f 28 18 27
+f 28 25 12
+f 29 20 3
+f 29 3 14
+f 29 14 20
+f 30 11 7
+f 30 21 2
+f 30 2 11
+f 31 22 14
+f 31 14 1
+f 31 1 8
+f 32 8 17
+f 32 17 22
+f 32 31 8
+f 32 22 31
+f 33 27 16
+f 33 16 25
+f 33 28 27
+f 33 25 28
+f 34 30 7
+f 34 7 21
+f 34 21 30
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_0/collision/model_normalized_collision_2.obj b/objects/objaverse/chips/chips_0/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f32b70158807a80e09c7455b4781c825d72e0961
--- /dev/null
+++ b/objects/objaverse/chips/chips_0/collision/model_normalized_collision_2.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.09536331 -0.12129292 0.39448340
+v -0.10015703 -0.11986489 0.26515149
+v -0.10015703 0.16801389 0.26515149
+v -0.11719730 0.25977070 0.38731861
+v -0.20763533 -0.10367474 0.25903742
+v -0.10007642 0.16803736 0.40139679
+v -0.20244735 -0.11907050 0.26345563
+v -0.18866546 -0.02753884 0.31472094
+v -0.19303451 0.16297710 0.26222097
+v -0.11193961 0.25741091 0.39981170
+v -0.10583906 -0.12268581 0.38762468
+v -0.18533620 -0.11773020 0.30319148
+v -0.20879220 0.09082293 0.25960525
+v -0.13653679 -0.12098692 0.36977228
+v -0.20203257 -0.10325103 0.27169468
+v -0.17369740 0.16450738 0.31878801
+v -0.15910715 -0.11852788 0.34160990
+v -0.18854132 0.03046166 0.31487392
+v -0.12195043 0.25510363 0.38206092
+v -0.18948463 0.16461208 0.27435031
+v -0.18692301 0.12061170 0.30210616
+v -0.11668891 0.25279804 0.39451346
+v -0.18754633 0.14892543 0.28880753
+v -0.20325860 0.09019227 0.27231653
+f 1 2 3
+f 5 3 2
+f 6 1 3
+f 7 5 2
+f 9 4 3
+f 10 6 3
+f 10 3 4
+f 10 1 6
+f 11 7 2
+f 11 2 1
+f 12 5 7
+f 13 9 3
+f 13 3 5
+f 13 5 8
+f 14 10 8
+f 14 12 7
+f 14 7 11
+f 14 11 1
+f 14 1 10
+f 15 12 8
+f 15 8 5
+f 15 5 12
+f 17 14 8
+f 17 8 12
+f 17 12 14
+f 18 13 8
+f 18 8 10
+f 19 10 4
+f 19 4 9
+f 20 9 13
+f 20 19 9
+f 20 16 19
+f 21 18 16
+f 21 16 13
+f 22 18 10
+f 22 16 18
+f 22 19 16
+f 22 10 19
+f 23 20 13
+f 23 13 16
+f 23 16 20
+f 24 21 13
+f 24 13 18
+f 24 18 21
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_0/collision/model_normalized_collision_20.obj b/objects/objaverse/chips/chips_0/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd9b6eea67ef6e1bb3f88f0bad63df3130baafd6
--- /dev/null
+++ b/objects/objaverse/chips/chips_0/collision/model_normalized_collision_20.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.12711569 0.13771086 -0.09848486
+v 0.12711569 0.13771086 -0.23484849
+v 0.12177936 0.26603391 -0.23585124
+v -0.06335966 0.27166728 -0.09968526
+v -0.10015703 0.13771086 -0.23484849
+v 0.12188041 0.25031071 -0.09929511
+v -0.10015703 0.13771086 -0.09848486
+v -0.02232673 0.29228476 -0.24168774
+v -0.09488402 0.26766280 -0.23570273
+v -0.09530756 0.26024671 -0.09924051
+v 0.06539467 0.29132245 -0.24103937
+v -0.06453724 0.27835890 -0.23980455
+v 0.10571388 0.27460620 -0.23787529
+v 0.07544317 0.27116464 -0.10021862
+v 0.10609995 0.25993892 -0.09967208
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 7 5 1
+f 8 2 5
+f 10 6 4
+f 10 4 9
+f 10 9 5
+f 10 5 7
+f 10 7 1
+f 10 1 6
+f 11 2 8
+f 12 8 5
+f 12 5 9
+f 12 9 4
+f 12 4 8
+f 13 3 2
+f 13 2 11
+f 14 11 8
+f 14 8 4
+f 15 6 3
+f 15 3 13
+f 15 13 11
+f 15 11 14
+f 15 14 4
+f 15 4 6
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_0/collision/model_normalized_collision_21.obj b/objects/objaverse/chips/chips_0/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d91be1cbd904af2815b4efd659d88b5471e8c4f7
--- /dev/null
+++ b/objects/objaverse/chips/chips_0/collision/model_normalized_collision_21.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v -0.11970402 -0.25455163 -0.23613243
+v -0.07910806 -0.21297634 -0.40724290
+v -0.08500551 0.16801389 -0.23484849
+v -0.18131833 0.16324736 -0.23250121
+v -0.18914330 -0.10318605 -0.27154618
+v -0.08234771 0.16833564 -0.39650780
+v -0.19033826 -0.14572533 -0.23115293
+v -0.07757586 -0.19839702 -0.40479452
+v -0.10601141 0.16913941 -0.38399921
+v -0.17363416 -0.18708263 -0.23209655
+v -0.20745996 0.03100120 -0.23012986
+v -0.15732024 -0.11792206 -0.33054408
+v -0.14157271 -0.20337178 -0.33197725
+v -0.19078737 0.13446272 -0.23110721
+v -0.20750087 -0.04355308 -0.23033292
+v -0.08797562 -0.21075288 -0.40117390
+v -0.15769479 0.09100607 -0.32973142
+v -0.15813714 -0.20312940 -0.27515354
+v -0.18685443 -0.13088300 -0.25962159
+v -0.17245944 -0.11789516 -0.30105539
+v -0.20304679 -0.04337507 -0.24403417
+v -0.11275589 -0.20843517 -0.37469895
+v -0.18912351 0.09043691 -0.27130595
+v -0.16528752 -0.20316785 -0.23325143
+v -0.17174318 -0.18615625 -0.24694954
+v -0.15572418 -0.18760416 -0.30475481
+v -0.12657313 -0.19134718 -0.35851355
+v -0.17328968 0.16097770 -0.27240883
+v -0.20291410 0.03107815 -0.24397758
+v -0.18722447 -0.14485418 -0.24557978
+v -0.18701806 0.11851775 -0.26049632
+v -0.14792357 0.16530322 -0.33158722
+v -0.18745703 0.13376167 -0.24545124
+v -0.15712938 0.15093180 -0.31755903
+f 8 1 2
+f 8 3 1
+f 8 6 3
+f 8 2 6
+f 9 4 3
+f 9 3 6
+f 9 6 2
+f 10 1 3
+f 10 3 7
+f 11 7 3
+f 14 11 3
+f 14 3 4
+f 15 5 7
+f 15 7 11
+f 16 12 9
+f 16 9 2
+f 17 9 12
+f 17 12 5
+f 18 13 1
+f 19 7 5
+f 19 5 13
+f 20 13 5
+f 20 5 12
+f 20 12 13
+f 21 15 11
+f 21 5 15
+f 22 12 16
+f 22 1 13
+f 22 16 2
+f 22 2 1
+f 23 17 5
+f 23 5 21
+f 24 18 1
+f 24 1 10
+f 25 10 7
+f 25 24 10
+f 25 18 24
+f 26 13 18
+f 26 19 13
+f 27 22 13
+f 27 13 12
+f 27 12 22
+f 28 14 4
+f 29 23 21
+f 29 21 11
+f 29 11 23
+f 30 7 19
+f 30 19 26
+f 30 25 7
+f 30 26 18
+f 30 18 25
+f 31 28 23
+f 31 23 11
+f 31 11 14
+f 32 28 4
+f 32 4 9
+f 32 9 17
+f 32 17 23
+f 33 31 14
+f 33 14 28
+f 33 28 31
+f 34 32 23
+f 34 23 28
+f 34 28 32
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_0/collision/model_normalized_collision_22.obj b/objects/objaverse/chips/chips_0/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0752bbf6e06d7f7bf8224ee635600624ab1b9c01
--- /dev/null
+++ b/objects/objaverse/chips/chips_0/collision/model_normalized_collision_22.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.14354871 0.22499435 0.25140057
+v 0.14545113 0.22869444 0.20741482
+v 0.05878359 0.28817619 0.25579436
+v -0.03915071 0.30120745 0.26576344
+v -0.03955097 0.21346843 0.21969695
+v 0.00799539 0.26959137 0.19300078
+v 0.00330533 0.30304322 0.26813939
+v 0.09049035 0.27345192 0.25240666
+v -0.03955097 0.21346843 0.26515149
+v 0.10304681 0.25845141 0.20443356
+v -0.03748335 0.28807994 0.22720102
+v 0.11943796 0.24956007 0.25114947
+v 0.00590358 0.21346843 0.26515149
+v -0.02241211 0.30378931 0.26818989
+v 0.12099802 0.24820493 0.20446868
+v 0.09152818 0.27080854 0.23780755
+v 0.00327121 0.30052147 0.25319024
+v -0.02206147 0.30101222 0.25357447
+v 0.06424576 0.26866762 0.20810689
+f 5 2 1
+f 6 2 5
+f 8 3 7
+f 9 4 5
+f 11 6 5
+f 11 5 4
+f 12 1 2
+f 12 2 8
+f 12 8 7
+f 12 7 1
+f 13 9 5
+f 13 5 1
+f 13 1 7
+f 14 4 9
+f 14 13 7
+f 14 9 13
+f 15 2 6
+f 15 6 10
+f 15 8 2
+f 16 10 3
+f 16 3 8
+f 16 15 10
+f 16 8 15
+f 17 7 3
+f 17 3 10
+f 17 6 11
+f 17 14 7
+f 18 11 4
+f 18 4 14
+f 18 17 11
+f 18 14 17
+f 19 17 10
+f 19 10 6
+f 19 6 17
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_0/collision/model_normalized_collision_23.obj b/objects/objaverse/chips/chips_0/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0705cfe277a565c62e94ad7c8406cee118286fd
--- /dev/null
+++ b/objects/objaverse/chips/chips_0/collision/model_normalized_collision_23.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.19704433 -0.16197381 0.14358970
+v 0.20361585 -0.15032053 -0.23496097
+v 0.23168476 -0.08014668 0.05487924
+v 0.21643796 -0.07191818 0.18611773
+v 0.19871270 -0.16328759 -0.23422863
+v 0.22620770 -0.10375379 -0.15846846
+v 0.21347985 -0.11430784 0.15571568
+v 0.19773622 -0.14842799 0.18873903
+v 0.20454299 -0.14739722 -0.23280638
+v 0.23295519 -0.07436632 0.05301610
+v 0.21425428 -0.14496625 -0.14309851
+v 0.21490223 -0.12816637 0.09711097
+v 0.21470980 -0.07617268 0.19171068
+v 0.21431071 -0.08675297 0.18570137
+v 0.20184578 -0.15741830 -0.23243806
+v 0.21471500 -0.14328097 -0.00812764
+v 0.20082970 -0.15545000 0.14290786
+v 0.19949084 -0.14389041 0.18703115
+v 0.22350844 -0.11161591 -0.16091307
+f 8 5 1
+f 9 5 4
+f 9 2 5
+f 9 6 2
+f 9 4 6
+f 10 6 4
+f 10 3 6
+f 10 7 3
+f 11 1 5
+f 12 3 7
+f 13 4 5
+f 13 5 8
+f 14 10 4
+f 14 7 10
+f 14 4 13
+f 14 13 8
+f 15 11 5
+f 15 5 2
+f 15 2 6
+f 16 11 6
+f 16 6 3
+f 16 3 12
+f 16 1 11
+f 17 8 1
+f 17 16 12
+f 17 1 16
+f 17 12 7
+f 17 7 8
+f 18 14 8
+f 18 8 7
+f 18 7 14
+f 19 15 6
+f 19 6 11
+f 19 11 15
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_0/collision/model_normalized_collision_24.obj b/objects/objaverse/chips/chips_0/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71adce3e9704e259f7e1196a5ef46d1dbc614361
--- /dev/null
+++ b/objects/objaverse/chips/chips_0/collision/model_normalized_collision_24.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.17140642 -0.21633231 -0.23483164
+v 0.15854589 -0.19705519 -0.33525494
+v 0.18845465 0.18559270 -0.24205287
+v -0.08500551 0.16801389 -0.23484849
+v -0.11970402 -0.25455163 -0.23613243
+v -0.12399135 0.17330797 -0.35688472
+v 0.02105509 -0.21077398 -0.23484849
+v 0.16296887 0.17223469 -0.33730695
+v -0.12508391 -0.22992443 -0.34159615
+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 2 5
+f 9 5 6
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_0/collision/model_normalized_collision_25.obj b/objects/objaverse/chips/chips_0/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d64f2c955aed4b378d4e27a27b1cd725ef0002b4
--- /dev/null
+++ b/objects/objaverse/chips/chips_0/collision/model_normalized_collision_25.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.18750157 0.13436845 0.24623866
+v 0.20726543 0.13487882 -0.23309105
+v 0.20002580 0.17291077 -0.09861617
+v 0.11943796 0.24956007 0.25114947
+v 0.12711569 0.13771086 -0.23484849
+v 0.17191596 0.19834205 0.18863560
+v 0.20305075 0.13347399 0.17230841
+v 0.12177936 0.26603391 -0.23585124
+v 0.16920207 0.19115562 0.23170424
+v 0.19970769 0.15651393 0.12747777
+v 0.17094411 0.21687815 -0.23357181
+v 0.12002514 0.26101479 -0.20727449
+v 0.13205818 0.24156712 0.24983521
+v 0.18424667 0.15882507 0.23030887
+v 0.18512757 0.18719817 0.05234661
+v 0.19914182 0.14751948 0.17180354
+v 0.19941063 0.17427757 -0.17342413
+v 0.13946214 0.23117693 0.24846952
+v 0.17653192 0.15962842 0.26033750
+v 0.17153176 0.21313252 -0.13081236
+v 0.13030251 0.25917382 -0.23525844
+v 0.18452589 0.14887293 0.24551054
+v 0.18394965 0.17399384 0.18815519
+v 0.19941700 0.16093182 -0.23194603
+v 0.15672079 0.22860979 -0.13076978
+f 5 1 4
+f 7 2 3
+f 7 5 2
+f 7 1 5
+f 8 2 5
+f 10 7 3
+f 11 2 8
+f 12 8 5
+f 12 5 4
+f 12 4 8
+f 13 8 4
+f 15 10 3
+f 15 6 10
+f 16 10 6
+f 16 9 14
+f 16 7 10
+f 17 11 3
+f 17 3 2
+f 18 9 6
+f 18 6 13
+f 19 13 4
+f 19 4 1
+f 19 18 13
+f 19 9 18
+f 19 14 9
+f 20 13 6
+f 20 6 15
+f 20 15 3
+f 20 3 11
+f 21 11 8
+f 21 8 13
+f 22 1 7
+f 22 16 14
+f 22 7 16
+f 22 19 1
+f 22 14 19
+f 23 16 6
+f 23 6 9
+f 23 9 16
+f 24 17 2
+f 24 2 11
+f 24 11 17
+f 25 20 11
+f 25 11 21
+f 25 21 13
+f 25 13 20
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_0/collision/model_normalized_collision_26.obj b/objects/objaverse/chips/chips_0/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1754d9c4d44e63c9866a2453853e395f7fb8059f
--- /dev/null
+++ b/objects/objaverse/chips/chips_0/collision/model_normalized_collision_26.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v 0.00220025 0.17379801 0.42728572
+v 0.00590358 0.16801389 0.26515149
+v 0.00181960 0.33552194 0.45353369
+v -0.02035257 0.37037272 0.49982453
+v -0.19055799 0.16781975 0.26503854
+v -0.00654029 0.32491599 0.47518308
+v -0.17807607 0.16537302 0.30598488
+v 0.00330533 0.30304322 0.26813939
+v -0.03429858 0.17199398 0.42699780
+v -0.11121247 0.28068224 0.38031210
+v -0.17628480 0.20561369 0.26281274
+v 0.00137076 0.33042819 0.38960703
+v -0.01980366 0.33916588 0.49101993
+v -0.08200497 0.28216476 0.43704169
+v -0.15799578 0.20905053 0.33274370
+v -0.09220581 0.28593967 0.26860775
+v -0.11202566 0.26580064 0.39219422
+v -0.08051146 0.17141934 0.41472979
+v -0.17241999 0.19119291 0.30646112
+v -0.14618209 0.16846683 0.36039702
+v -0.14362923 0.24887420 0.32211432
+v -0.03733428 0.30197289 0.26854054
+v -0.08000134 0.31384994 0.42199394
+v -0.14204170 0.21163748 0.36069617
+v -0.10310868 0.17042444 0.39980475
+v -0.15707752 0.22024254 0.31983446
+v -0.14727831 0.24615800 0.26485002
+v -0.06344089 0.30117527 0.28370954
+v -0.17328334 0.20558793 0.27634329
+v -0.11665296 0.27214240 0.26751578
+v -0.03196085 0.36050462 0.48390759
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 5 2
+f 8 3 2
+f 9 7 2
+f 9 2 1
+f 11 8 2
+f 11 2 5
+f 12 8 4
+f 12 4 3
+f 12 3 8
+f 13 9 1
+f 13 1 4
+f 17 14 4
+f 17 10 15
+f 18 13 4
+f 18 9 13
+f 19 5 7
+f 19 7 15
+f 19 11 5
+f 22 4 8
+f 23 17 4
+f 23 10 17
+f 23 21 10
+f 24 17 15
+f 24 14 17
+f 24 20 14
+f 24 15 7
+f 24 7 20
+f 25 18 4
+f 25 4 14
+f 25 14 20
+f 25 20 7
+f 25 7 9
+f 25 9 18
+f 26 19 15
+f 26 15 10
+f 26 10 21
+f 26 21 11
+f 27 11 21
+f 27 22 8
+f 27 8 11
+f 27 21 23
+f 28 22 16
+f 28 16 4
+f 28 4 22
+f 29 26 11
+f 29 11 19
+f 29 19 26
+f 30 16 22
+f 30 22 27
+f 30 4 16
+f 31 27 23
+f 31 23 4
+f 31 30 27
+f 31 4 30
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_0/collision/model_normalized_collision_27.obj b/objects/objaverse/chips/chips_0/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f12a1954491199d5277de78c607cd21a4fd9e22a
--- /dev/null
+++ b/objects/objaverse/chips/chips_0/collision/model_normalized_collision_27.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v -0.01907249 -0.37255934 0.49999997
+v 0.00425741 -0.30522308 0.26726478
+v 0.00550361 -0.12019268 0.41408717
+v -0.14508662 -0.12019928 0.35956044
+v -0.17849246 -0.20262006 0.26231902
+v -0.08850460 -0.12333611 0.39957410
+v -0.00252599 -0.36004815 0.48149413
+v -0.11599357 -0.27290928 0.26700486
+v -0.17436226 -0.16196740 0.31866652
+v 0.00590358 -0.11986489 0.26515149
+v -0.01866636 -0.33684699 0.48993985
+v -0.13653679 -0.12098692 0.36977228
+v 0.00294692 -0.31413516 0.31569507
+v -0.00129494 -0.31035095 0.47349165
+v -0.15964086 -0.22958604 0.26148032
+v -0.06271169 -0.30067511 0.26812844
+v -0.11239568 -0.27860100 0.38135189
+v -0.14181445 -0.20226080 0.35984457
+v -0.20244735 -0.11907050 0.26345563
+v -0.00045501 -0.34376723 0.42025712
+v -0.10708977 -0.28269493 0.28294683
+v -0.15869056 -0.21825426 0.31973605
+v -0.14471420 -0.24901739 0.32064785
+v -0.18035587 -0.11899929 0.31685209
+v -0.11484716 -0.26425735 0.38528953
+v -0.19421660 -0.16070969 0.26077818
+v -0.06490879 -0.32849500 0.40495063
+v -0.06702009 -0.32694838 0.44072492
+v -0.19151440 -0.11676694 0.28884103
+v -0.15890460 -0.20313178 0.33070455
+v -0.17208955 -0.20246044 0.29120173
+f 7 1 2
+f 10 3 2
+f 11 6 1
+f 11 3 6
+f 12 6 3
+f 12 3 4
+f 12 4 1
+f 12 1 6
+f 13 2 3
+f 14 7 3
+f 14 1 7
+f 14 11 1
+f 14 3 11
+f 15 10 2
+f 16 2 1
+f 16 15 2
+f 16 8 15
+f 18 1 4
+f 20 7 2
+f 20 2 13
+f 20 13 3
+f 20 3 7
+f 21 16 1
+f 21 8 16
+f 23 5 15
+f 23 15 8
+f 23 8 21
+f 23 22 5
+f 23 17 22
+f 24 18 4
+f 24 9 18
+f 24 19 9
+f 25 18 9
+f 26 15 5
+f 26 22 9
+f 26 9 19
+f 26 19 10
+f 26 10 15
+f 27 23 21
+f 27 21 1
+f 28 17 23
+f 28 25 17
+f 28 1 18
+f 28 18 25
+f 28 27 1
+f 28 23 27
+f 29 24 4
+f 29 4 3
+f 29 3 10
+f 29 10 19
+f 29 19 24
+f 30 22 17
+f 30 17 25
+f 30 25 9
+f 30 9 22
+f 31 26 5
+f 31 5 22
+f 31 22 26
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_0/collision/model_normalized_collision_28.obj b/objects/objaverse/chips/chips_0/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d39b37cd9ef3cd5c3d9f792bd49b6bfa6645c03
--- /dev/null
+++ b/objects/objaverse/chips/chips_0/collision/model_normalized_collision_28.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.13019978 -0.01487566 0.35917111
+v 0.11646900 -0.00992825 0.37448926
+v -0.10022020 -0.01534373 0.36284554
+v -0.08051146 0.17141934 0.41472979
+v 0.12759824 0.15296061 0.35649491
+v -0.05211364 0.03787947 0.39904380
+v -0.08985855 -0.02266458 0.37455086
+v 0.11286756 0.14996174 0.37353910
+v 0.00590358 0.16801389 0.35606058
+v 0.00474147 0.16982895 0.42564131
+v 0.05020827 0.03945023 0.40058340
+v -0.11431833 0.01907249 0.38059747
+v -0.02043749 0.10942719 0.41526077
+v 0.04901922 0.15586725 0.41631469
+v -0.11003792 0.02182147 0.38255956
+v -0.12226799 0.16582783 0.38461916
+v -0.06739652 0.05012257 0.39928259
+v 0.10244190 0.15416956 0.38443379
+v -0.09321112 0.17003666 0.40647003
+f 7 1 2
+f 7 3 1
+f 8 2 1
+f 8 1 5
+f 9 5 1
+f 9 1 3
+f 10 9 4
+f 10 5 9
+f 11 7 2
+f 11 6 7
+f 12 3 7
+f 13 10 4
+f 13 11 10
+f 13 6 11
+f 14 11 2
+f 14 10 11
+f 15 12 7
+f 15 4 12
+f 16 9 3
+f 16 3 12
+f 17 13 4
+f 17 6 13
+f 17 4 15
+f 17 15 7
+f 17 7 6
+f 18 14 2
+f 18 2 8
+f 18 8 5
+f 18 5 10
+f 18 10 14
+f 19 16 12
+f 19 12 4
+f 19 4 9
+f 19 9 16
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_0/collision/model_normalized_collision_29.obj b/objects/objaverse/chips/chips_0/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd9f721be526a19af72af854c5ada126fbfb975b
--- /dev/null
+++ b/objects/objaverse/chips/chips_0/collision/model_normalized_collision_29.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.06290400 -0.30076730 -0.26809995
+v 0.08964127 -0.28989003 -0.27755992
+v 0.07795701 -0.27828557 -0.22362559
+v -0.06907094 -0.28025117 -0.22250667
+v -0.04719686 -0.29988674 -0.28293171
+v 0.08499018 -0.27879097 -0.23131772
+v -0.00630041 -0.29859191 -0.24299772
+v 0.06321115 -0.30339147 -0.28277581
+v -0.06369454 -0.29168430 -0.27715377
+v 0.07319337 -0.28283249 -0.22867792
+v 0.02021459 -0.27980657 -0.20831111
+v -0.03693208 -0.29813524 -0.25342880
+v 0.07868562 -0.29558774 -0.28145521
+v 0.03393416 -0.29865236 -0.24502961
+v -0.06644353 -0.28269516 -0.22723736
+v -0.02402336 -0.27959483 -0.20835866
+v 0.01878988 -0.28355880 -0.21469413
+v -0.06834455 -0.28312424 -0.23538042
+v -0.04634391 -0.29796075 -0.26807892
+v -0.02339392 -0.28313707 -0.21474040
+f 6 4 3
+f 6 1 2
+f 8 2 1
+f 8 7 5
+f 9 6 2
+f 9 4 6
+f 10 6 3
+f 10 1 6
+f 11 10 3
+f 12 5 7
+f 13 8 5
+f 13 2 8
+f 13 9 2
+f 13 5 9
+f 14 8 1
+f 14 7 8
+f 14 1 10
+f 14 10 11
+f 15 12 7
+f 15 7 4
+f 16 11 3
+f 16 3 4
+f 17 14 11
+f 17 7 14
+f 17 11 16
+f 18 15 4
+f 18 4 9
+f 19 5 12
+f 19 12 15
+f 19 15 18
+f 19 18 9
+f 19 9 5
+f 20 16 4
+f 20 4 7
+f 20 17 16
+f 20 7 17
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_0/collision/model_normalized_collision_3.obj b/objects/objaverse/chips/chips_0/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24b2ea21eb829cc573920b4716061089791a3472
--- /dev/null
+++ b/objects/objaverse/chips/chips_0/collision/model_normalized_collision_3.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.16748590 -0.19026528 0.25611581
+v 0.21503770 -0.10301762 -0.23113327
+v 0.23116498 -0.02799578 0.12664082
+v 0.18163594 0.14627117 0.25963314
+v 0.14069795 0.16803346 -0.37007618
+v 0.19917008 -0.08674127 0.24443255
+v 0.23071248 -0.10123605 -0.02308158
+v 0.13526341 -0.20993395 -0.36906079
+v 0.23096073 0.08922217 -0.12718109
+v 0.21544184 0.00049736 0.21393430
+v 0.19849033 -0.12947458 0.21495442
+v 0.18526870 -0.07388498 -0.31535278
+v 0.18777343 -0.18972114 -0.23362247
+v 0.23106270 -0.04341196 -0.18736593
+v 0.18845465 0.18559270 -0.24205287
+v 0.23054329 0.07354499 0.08120663
+v 0.21576874 -0.05666703 0.20113826
+v 0.19973269 0.07483751 0.24456117
+v 0.18285435 -0.15754457 0.24514515
+v 0.18362253 -0.17107478 0.21651136
+v 0.23006549 -0.07076667 0.09658968
+v 0.16995120 -0.19155340 -0.31928553
+v 0.14158224 -0.21045417 -0.35563762
+v 0.21420440 -0.12979237 -0.20065411
+v 0.21478035 -0.07269053 -0.24623208
+v 0.23136046 0.03088757 -0.18723027
+v 0.23078892 0.03065842 0.12668566
+v 0.21413736 0.13056314 0.08137912
+v 0.21499604 -0.01294345 0.21388689
+v 0.19860034 -0.11565617 0.22910386
+v 0.21618515 0.10208027 0.15618187
+v 0.23071500 -0.08593448 0.05199276
+v 0.17536377 -0.17567141 0.24700302
+v 0.23092812 -0.05614768 0.11155009
+v 0.17011539 -0.16145434 -0.32823991
+v 0.18513437 -0.18865353 -0.25918690
+v 0.14726013 -0.20603095 -0.34978739
+v 0.23065847 -0.10163992 -0.08290739
+v 0.23023636 -0.08641464 -0.14181719
+v 0.18397710 -0.14859307 -0.30438294
+v 0.21419538 0.11869470 -0.21572437
+v 0.23043754 0.08868727 0.03683068
+v 0.21478682 0.13271289 -0.18769835
+v 0.20068950 0.10243975 0.22967751
+v 0.19948215 0.13246426 0.20215053
+v 0.22998288 0.05828130 0.11144265
+v 0.20005521 -0.15654386 -0.24732280
+v 0.21515647 -0.11490302 -0.21600091
+v 0.20041871 -0.14657231 -0.25752229
+v 0.19931359 -0.05755550 -0.28650068
+v 0.23100186 0.05952821 -0.17217331
+v 0.18322632 0.14887616 -0.30389182
+v 0.21488513 0.11637919 0.12740140
+v 0.19870803 0.14894315 -0.25855012
+v 0.23070077 0.07463758 -0.15698584
+v 0.21484942 0.05920325 0.20139614
+v 0.20011212 -0.11620667 -0.27254095
+v 0.21411597 0.10352702 -0.23085927
+v 0.16857509 0.16411013 -0.33022725
+v 0.18479166 0.07626951 -0.31582513
+v 0.19722453 0.16586399 -0.23396739
+v 0.19954597 0.11881013 -0.27398800
+v 0.14590850 0.16815741 -0.36288018
+v 0.18499270 0.16426914 -0.28934102
+f 5 1 4
+f 6 4 1
+f 8 1 5
+f 12 8 5
+f 14 3 7
+f 15 5 4
+f 18 4 6
+f 18 6 10
+f 19 6 1
+f 20 13 7
+f 20 1 13
+f 20 11 19
+f 23 13 1
+f 23 1 8
+f 25 14 2
+f 26 9 3
+f 26 3 14
+f 26 14 25
+f 27 10 3
+f 27 3 9
+f 27 9 16
+f 28 15 4
+f 29 10 6
+f 29 6 17
+f 29 17 3
+f 29 3 10
+f 30 17 6
+f 30 11 17
+f 30 19 11
+f 30 6 19
+f 32 20 7
+f 32 11 20
+f 32 21 11
+f 33 20 19
+f 33 19 1
+f 33 1 20
+f 34 17 11
+f 34 11 21
+f 34 3 17
+f 34 21 32
+f 34 32 7
+f 34 7 3
+f 35 22 8
+f 35 8 12
+f 36 23 22
+f 36 13 23
+f 37 23 8
+f 37 8 22
+f 37 22 23
+f 38 7 13
+f 38 13 24
+f 38 14 7
+f 39 2 14
+f 39 38 24
+f 39 14 38
+f 40 22 35
+f 40 35 12
+f 42 16 9
+f 42 31 16
+f 43 15 28
+f 43 42 9
+f 43 28 42
+f 44 4 18
+f 45 28 4
+f 45 44 31
+f 45 4 44
+f 46 27 16
+f 46 16 31
+f 47 24 13
+f 47 13 36
+f 47 36 22
+f 48 39 24
+f 48 2 39
+f 48 24 47
+f 49 25 2
+f 49 48 47
+f 49 2 48
+f 49 47 22
+f 49 22 40
+f 50 40 12
+f 51 9 26
+f 53 42 28
+f 53 31 42
+f 53 45 31
+f 53 28 45
+f 54 43 41
+f 55 43 9
+f 55 41 43
+f 55 51 41
+f 55 9 51
+f 56 44 18
+f 56 18 10
+f 56 10 27
+f 56 31 44
+f 56 46 31
+f 56 27 46
+f 57 49 40
+f 57 25 49
+f 57 50 25
+f 57 40 50
+f 58 51 26
+f 58 41 51
+f 58 54 41
+f 60 50 12
+f 60 59 52
+f 60 12 5
+f 61 54 15
+f 61 15 43
+f 61 43 54
+f 62 52 54
+f 62 54 58
+f 62 60 52
+f 62 25 50
+f 62 50 60
+f 62 58 26
+f 62 26 25
+f 63 5 15
+f 63 15 59
+f 63 60 5
+f 63 59 60
+f 64 54 52
+f 64 52 59
+f 64 59 15
+f 64 15 54
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_0/collision/model_normalized_collision_30.obj b/objects/objaverse/chips/chips_0/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c77b7c1f29a39776517e24dcd7c955068af7b831
--- /dev/null
+++ b/objects/objaverse/chips/chips_0/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01453787 -0.11278860 0.41174546
+v 0.00590358 -0.11986489 0.26515149
+v 0.00590358 0.16801389 0.26515149
+v -0.12226799 0.16582783 0.38461916
+v -0.11422563 -0.11812542 0.38178206
+v -0.10015703 -0.11986489 0.26515149
+v 0.00590358 0.16801389 0.35606058
+v -0.10015703 0.16801389 0.26515149
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 3 2
+f 6 5 4
+f 6 2 5
+f 7 1 3
+f 7 4 1
+f 8 6 4
+f 8 3 6
+f 8 7 3
+f 8 4 7
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_0/collision/model_normalized_collision_31.obj b/objects/objaverse/chips/chips_0/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93f463e1c8a050dfaf3ff13b383db80a2b62ed53
--- /dev/null
+++ b/objects/objaverse/chips/chips_0/collision/model_normalized_collision_31.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.06168831 -0.27102754 0.00820406
+v 0.07657766 -0.27257434 -0.09974258
+v 0.08166115 -0.16531943 0.00757574
+v 0.00590358 -0.16531943 0.00757574
+v 0.00580147 -0.28568193 -0.09855498
+v 0.00590358 -0.16531943 -0.09848486
+v 0.00527902 -0.27758034 0.00838200
+v 0.07979563 -0.26538105 0.00781886
+v 0.08166115 -0.16531943 -0.09848486
+f 5 2 1
+f 6 4 3
+f 6 2 5
+f 7 1 3
+f 7 3 4
+f 7 5 1
+f 7 6 5
+f 7 4 6
+f 8 1 2
+f 8 3 1
+f 9 6 3
+f 9 2 6
+f 9 8 2
+f 9 3 8
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_0/collision/model_normalized_collision_4.obj b/objects/objaverse/chips/chips_0/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52baba23aeb214741a1e4017647be4299f4c0a98
--- /dev/null
+++ b/objects/objaverse/chips/chips_0/collision/model_normalized_collision_4.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v -0.11530854 -0.18047095 0.26515149
+v -0.11530854 -0.16531943 -0.23484849
+v -0.11530854 0.04680177 0.26515149
+v -0.21271993 0.04646449 0.26108169
+v -0.21784438 -0.12804624 -0.05192924
+v -0.11530854 0.04680177 -0.09848486
+v -0.15618613 -0.22236618 0.00579069
+v -0.18967102 -0.17411519 0.25912172
+v -0.23290394 0.04659692 -0.09803853
+v -0.17896288 -0.17250416 -0.23906808
+v -0.23297508 -0.07108618 0.14180176
+v -0.19695452 -0.17453902 0.00786110
+v -0.19514479 -0.11205273 -0.24466756
+v -0.21842422 -0.07174296 0.23060553
+v -0.21752376 -0.12968232 0.15815159
+v -0.23430137 -0.05622493 -0.08121709
+v -0.23466681 0.04585085 0.15714654
+v -0.20329406 -0.15493937 -0.11235420
+v -0.11530854 -0.10471338 -0.23484849
+v -0.20288504 -0.13112182 0.25683737
+v -0.23392319 -0.08603393 0.03824176
+v -0.20361078 -0.15670051 0.21682775
+v -0.23454995 -0.02790657 -0.09639652
+v -0.23459404 -0.01285505 0.17216962
+v -0.21585657 -0.10374687 -0.15815758
+v -0.21860554 -0.02825024 0.24580801
+v -0.21786589 -0.10245478 0.21571731
+v -0.23392032 -0.08603926 0.06747370
+v -0.23355017 -0.07083181 -0.05183921
+v -0.23406963 0.03053452 -0.09622003
+v -0.22121701 0.04608731 0.23126273
+v -0.23503879 0.04574746 -0.08119321
+v -0.21842035 -0.11379005 -0.11177424
+v -0.20328121 -0.14408664 -0.15685523
+v -0.21798961 -0.11466542 0.20057386
+v -0.23445008 0.01569072 0.17215176
+v -0.21846673 0.03092904 0.24567289
+f 1 2 3
+f 1 3 4
+f 6 3 2
+f 7 2 1
+f 8 1 4
+f 8 7 1
+f 9 4 3
+f 9 3 6
+f 10 2 7
+f 12 7 8
+f 12 10 7
+f 13 9 6
+f 13 2 10
+f 15 5 12
+f 17 4 9
+f 18 12 5
+f 18 10 12
+f 19 13 6
+f 19 6 2
+f 19 2 13
+f 20 8 4
+f 21 5 15
+f 22 15 12
+f 22 12 8
+f 22 8 20
+f 24 23 16
+f 25 13 10
+f 25 23 13
+f 25 16 23
+f 26 20 4
+f 26 14 20
+f 26 24 14
+f 27 20 14
+f 27 24 11
+f 27 14 24
+f 28 21 15
+f 28 15 11
+f 28 11 24
+f 28 24 16
+f 28 16 21
+f 29 21 16
+f 29 5 21
+f 30 9 13
+f 30 13 23
+f 31 4 17
+f 32 24 17
+f 32 23 24
+f 32 30 23
+f 32 17 9
+f 32 9 30
+f 33 18 5
+f 33 5 29
+f 33 29 16
+f 33 16 25
+f 34 25 10
+f 34 10 18
+f 34 33 25
+f 34 18 33
+f 35 22 20
+f 35 20 27
+f 35 15 22
+f 35 27 11
+f 35 11 15
+f 36 31 17
+f 36 17 24
+f 37 26 4
+f 37 4 31
+f 37 31 36
+f 37 36 24
+f 37 24 26
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_0/collision/model_normalized_collision_5.obj b/objects/objaverse/chips/chips_0/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1aec10d89ba41882e6585e1e13a713248ff5616c
--- /dev/null
+++ b/objects/objaverse/chips/chips_0/collision/model_normalized_collision_5.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.16748590 -0.19026528 0.25611581
+v 0.18965941 -0.18384128 -0.23869648
+v 0.18163594 0.14627117 0.25963314
+v -0.11530854 0.13771086 0.26515149
+v -0.15618613 -0.22236618 0.00579069
+v -0.11530854 0.13771086 -0.23484849
+v 0.00590358 -0.18047095 0.26515149
+v 0.16974023 -0.20861460 0.00843221
+v 0.14226721 0.13771086 -0.23484849
+v -0.11530854 -0.16531943 -0.23484849
+v 0.00590358 0.13771086 0.26515149
+v -0.11530854 -0.18047095 0.26515149
+f 1 2 3
+f 6 4 3
+f 6 5 4
+f 7 1 3
+f 8 5 2
+f 8 2 1
+f 8 1 5
+f 9 6 3
+f 9 3 2
+f 9 2 6
+f 10 6 2
+f 10 2 5
+f 10 5 6
+f 11 7 3
+f 11 3 4
+f 11 4 7
+f 12 5 1
+f 12 1 7
+f 12 7 4
+f 12 4 5
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_0/collision/model_normalized_collision_6.obj b/objects/objaverse/chips/chips_0/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..442bac06b2dd21659d8a9a64aa391065fdaf38c4
--- /dev/null
+++ b/objects/objaverse/chips/chips_0/collision/model_normalized_collision_6.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v 0.01745500 -0.35678663 -0.44873772
+v 0.17235276 -0.19204068 -0.30736370
+v 0.02323482 -0.28882038 -0.22508279
+v 0.07084449 -0.15105335 -0.39448666
+v 0.07907359 -0.27316350 -0.43590945
+v 0.02105509 -0.19562246 -0.23484849
+v 0.11474054 -0.27100943 -0.23777542
+v 0.06685126 -0.32802185 -0.44022804
+v 0.01894231 -0.33313506 -0.48863073
+v 0.13860849 -0.16594007 -0.37369047
+v 0.01734681 -0.32993438 -0.36138657
+v 0.07546290 -0.28788481 -0.24142236
+v 0.18569108 -0.19482883 -0.23468361
+v 0.06277218 -0.32956031 -0.40452583
+v 0.01815526 -0.17304432 -0.42187169
+v 0.01858335 -0.34722395 -0.47798096
+v 0.07581939 -0.29601057 -0.43935044
+v 0.08269879 -0.18907517 -0.41488841
+v 0.01994506 -0.30886145 -0.28185085
+v 0.17326280 -0.21392923 -0.23389092
+v 0.14741013 -0.16577207 -0.35906111
+v 0.14079739 -0.24937926 -0.33564243
+v 0.10366319 -0.28242882 -0.26800493
+v 0.02338851 -0.15910341 -0.40951884
+v 0.01711255 -0.18553305 -0.43129777
+v 0.05661826 -0.33319828 -0.44851671
+v 0.01894620 -0.33336792 -0.48869909
+v 0.12632023 -0.24917001 -0.38147623
+v 0.01653574 -0.34848440 -0.42096181
+v 0.01875721 -0.31549395 -0.31466903
+v 0.16982051 -0.20337971 -0.30684068
+v 0.11281722 -0.28017434 -0.38075764
+v 0.01845520 -0.30822325 -0.47860964
+v 0.03128068 -0.18527662 -0.42754522
+v 0.15981403 -0.19449976 -0.33346683
+f 12 7 3
+f 13 6 3
+f 13 4 6
+f 14 8 7
+f 14 1 8
+f 14 12 1
+f 17 5 10
+f 18 4 10
+f 19 3 6
+f 19 12 3
+f 19 1 12
+f 20 13 3
+f 20 3 7
+f 20 7 8
+f 21 13 2
+f 21 10 4
+f 21 4 13
+f 22 13 20
+f 23 14 7
+f 23 7 12
+f 23 12 14
+f 24 15 6
+f 24 6 4
+f 24 4 15
+f 25 11 6
+f 25 6 15
+f 25 15 4
+f 26 8 1
+f 26 1 16
+f 27 5 17
+f 27 10 5
+f 27 18 10
+f 27 9 18
+f 27 17 8
+f 27 8 26
+f 27 26 16
+f 27 16 1
+f 27 1 9
+f 28 8 17
+f 28 17 10
+f 28 10 21
+f 29 19 11
+f 29 1 19
+f 29 11 25
+f 30 19 6
+f 30 6 11
+f 30 11 19
+f 31 2 13
+f 31 13 22
+f 31 28 2
+f 31 22 28
+f 32 22 20
+f 32 20 8
+f 32 28 22
+f 32 8 28
+f 33 25 9
+f 33 9 1
+f 33 29 25
+f 33 1 29
+f 34 18 9
+f 34 9 25
+f 34 25 4
+f 34 4 18
+f 35 28 21
+f 35 21 2
+f 35 2 28
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_0/collision/model_normalized_collision_7.obj b/objects/objaverse/chips/chips_0/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..527a0fdd7e7f1ad3c7314cdb3557f00051323a93
--- /dev/null
+++ b/objects/objaverse/chips/chips_0/collision/model_normalized_collision_7.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v 0.11916750 -0.19397480 0.36579654
+v 0.18640722 -0.14549658 0.24600239
+v 0.14153536 0.14962884 0.34176423
+v 0.00590358 0.15286237 0.35606058
+v 0.00590358 -0.19562246 0.24999998
+v 0.00590358 0.15286237 0.24999998
+v 0.12023290 0.15146118 0.36501701
+v 0.16926117 -0.05778957 0.31520929
+v 0.17063727 -0.18728363 0.24717286
+v 0.00590358 -0.19562246 0.35606058
+v 0.18305948 0.15184861 0.24885916
+v 0.20381036 0.03107305 0.24546649
+v 0.16895365 -0.13092602 0.30220135
+v 0.16961147 0.04531153 0.31520954
+v 0.17022472 0.15100157 0.28764111
+v 0.18750157 0.13436845 0.24623866
+v 0.15363669 -0.13302173 0.33071585
+v 0.19969711 -0.02820974 0.25919492
+v 0.15409806 -0.18840325 0.30493632
+v 0.15439229 0.12071227 0.33030917
+v 0.18483469 0.11859922 0.27115065
+v 0.18469890 -0.07225904 0.28566140
+v 0.19943072 0.03089520 0.25922118
+v 0.20414430 -0.02839077 0.24548876
+v 0.16746155 -0.18775389 0.26023815
+v 0.18548403 -0.11607502 0.27251580
+v 0.15268005 -0.17628299 0.31685551
+v 0.12720146 0.14979529 0.35765167
+v 0.18407564 0.07478532 0.28449080
+v 0.18311016 -0.14541366 0.25967984
+v 0.12426639 -0.19189088 0.35894712
+f 6 5 4
+f 7 4 1
+f 9 5 2
+f 9 1 5
+f 10 5 1
+f 10 1 4
+f 10 4 5
+f 11 6 4
+f 11 4 7
+f 12 5 6
+f 14 7 1
+f 14 1 8
+f 15 11 7
+f 15 7 3
+f 16 12 6
+f 16 6 11
+f 17 8 1
+f 18 14 8
+f 20 7 14
+f 20 15 3
+f 21 12 16
+f 21 15 20
+f 21 16 11
+f 21 11 15
+f 22 17 13
+f 22 8 17
+f 22 18 8
+f 23 14 18
+f 23 12 21
+f 24 23 18
+f 24 12 23
+f 24 2 5
+f 24 5 12
+f 25 9 2
+f 25 19 1
+f 25 1 9
+f 26 22 13
+f 26 2 24
+f 26 24 18
+f 26 18 22
+f 27 13 17
+f 27 26 13
+f 28 20 3
+f 28 3 7
+f 28 7 20
+f 29 21 20
+f 29 20 14
+f 29 23 21
+f 29 14 23
+f 30 25 2
+f 30 19 25
+f 30 2 26
+f 30 27 19
+f 30 26 27
+f 31 27 17
+f 31 17 1
+f 31 1 19
+f 31 19 27
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_0/collision/model_normalized_collision_8.obj b/objects/objaverse/chips/chips_0/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d6e799cdfac06dcbac11caa8ece190d178ddd7d
--- /dev/null
+++ b/objects/objaverse/chips/chips_0/collision/model_normalized_collision_8.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v 0.00527902 -0.27758034 0.00838200
+v 0.19871270 -0.16328759 -0.23422863
+v 0.20700937 -0.15826133 0.00722831
+v -0.20383084 -0.16379098 0.00764927
+v -0.09219693 -0.27273189 -0.23688033
+v -0.19033826 -0.14572533 -0.23115293
+v -0.19007819 -0.18528707 0.00807294
+v 0.11474054 -0.27100943 -0.23777542
+v 0.20542692 -0.15916717 -0.20266857
+v -0.20547317 -0.14988981 -0.11358136
+v -0.18679444 -0.15321178 -0.23738053
+v -0.10605752 -0.25621430 0.00823813
+v 0.10352356 -0.25726430 0.00752614
+v 0.01877743 -0.28444497 -0.14104925
+v 0.17326280 -0.21392923 -0.23389092
+v -0.17261138 -0.20018867 -0.18833976
+v -0.19633878 -0.16013569 -0.16156555
+v -0.16456233 -0.21429062 0.00807148
+v -0.06481997 -0.27016659 0.00810053
+v 0.15696513 -0.22610734 -0.08472063
+v 0.13251911 -0.23992621 0.00751846
+v 0.01895569 -0.28421425 -0.09992651
+v 0.18424767 -0.20193878 -0.21823775
+v -0.18850261 -0.18427431 -0.05234152
+v -0.20221149 -0.15656843 -0.11442698
+v -0.15822210 -0.21326242 -0.23218962
+v -0.18683915 -0.15766940 -0.23035563
+v -0.11814291 -0.25584001 -0.23439272
+v 0.14635009 -0.23805510 -0.11497602
+v 0.20013162 -0.16900595 0.00701137
+v 0.09023812 -0.26767146 -0.09993692
+v -0.00720665 -0.28464491 -0.09972878
+v 0.18777343 -0.18972114 -0.23362247
+v 0.19955763 -0.17145237 -0.20179413
+v 0.18636938 -0.19763719 -0.09933261
+v -0.18772000 -0.17144340 -0.18715274
+v -0.00721157 -0.28414558 -0.13943801
+v 0.17248207 -0.21042391 -0.08422170
+f 7 1 3
+f 7 3 4
+f 9 6 3
+f 9 2 6
+f 10 4 3
+f 10 3 6
+f 11 6 2
+f 11 8 5
+f 11 2 8
+f 12 1 7
+f 14 5 8
+f 15 8 2
+f 17 10 6
+f 18 12 7
+f 18 7 16
+f 19 12 5
+f 19 1 12
+f 21 3 1
+f 21 1 13
+f 21 13 8
+f 22 13 1
+f 22 14 8
+f 24 16 7
+f 24 7 4
+f 24 4 16
+f 25 16 4
+f 25 4 10
+f 25 17 16
+f 25 10 17
+f 27 17 6
+f 27 6 11
+f 27 11 26
+f 28 5 12
+f 28 12 18
+f 28 18 16
+f 28 16 26
+f 28 26 11
+f 28 11 5
+f 29 8 15
+f 29 21 8
+f 29 20 21
+f 30 3 21
+f 31 22 8
+f 31 8 13
+f 31 13 22
+f 32 22 1
+f 32 1 19
+f 32 19 5
+f 32 14 22
+f 33 23 15
+f 33 15 2
+f 33 2 9
+f 33 9 23
+f 34 23 9
+f 34 9 3
+f 34 3 23
+f 35 15 23
+f 35 29 15
+f 35 20 29
+f 35 23 3
+f 35 3 30
+f 36 16 17
+f 36 17 27
+f 36 27 26
+f 36 26 16
+f 37 32 5
+f 37 5 14
+f 37 14 32
+f 38 35 30
+f 38 30 21
+f 38 21 20
+f 38 20 35
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_0/collision/model_normalized_collision_9.obj b/objects/objaverse/chips/chips_0/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a56243d5676a0c5cf09cfc36c39b73ced05782e7
--- /dev/null
+++ b/objects/objaverse/chips/chips_0/collision/model_normalized_collision_9.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v 0.00425741 -0.30522308 0.26726478
+v 0.19571404 -0.17588369 0.00734993
+v 0.17536377 -0.17567141 0.24700302
+v -0.18635350 -0.17866078 0.26343416
+v -0.13714277 -0.23683794 -0.03803075
+v -0.19695452 -0.17453902 0.00786110
+v 0.00590358 -0.18047095 0.26515149
+v 0.09908209 -0.27047532 0.24943080
+v 0.06168831 -0.27102754 0.00820406
+v -0.11599357 -0.27290928 0.26700486
+v 0.19132266 -0.17383427 0.12795099
+v -0.19243150 -0.17520066 0.23361807
+v -0.15603126 -0.22107849 -0.03773580
+v 0.15518662 -0.21367774 0.24723263
+v 0.13251911 -0.23992621 0.00751846
+v -0.06481997 -0.27016659 0.00810053
+v 0.06416478 -0.28310734 0.22802879
+v -0.05283695 -0.30184911 0.26781762
+v -0.15964086 -0.22958604 0.26148032
+v -0.14846107 -0.22847554 -0.03750701
+v 0.17063727 -0.18728363 0.24717286
+v 0.16901197 -0.20097176 0.21662034
+v -0.12364865 -0.24510593 -0.03772393
+v 0.10352356 -0.25726430 0.00752614
+v -0.00731545 -0.28557614 0.09982003
+v 0.01874860 -0.30056538 0.25296096
+v -0.17849246 -0.20262006 0.26231902
+v -0.14900086 -0.23767497 0.13065841
+v 0.18480343 -0.18524001 0.12747866
+v 0.18883630 -0.18662831 0.00713300
+v -0.09353387 -0.28638133 0.26728204
+v -0.18741269 -0.18843354 0.23317015
+v -0.17538785 -0.21092394 0.14442562
+v -0.17403856 -0.21191728 0.23354791
+v -0.16033238 -0.22616736 0.12927113
+v -0.19007819 -0.18528707 0.00807294
+f 7 1 3
+f 7 3 4
+f 10 7 4
+f 11 2 6
+f 12 4 3
+f 12 11 6
+f 12 3 11
+f 13 6 2
+f 13 2 5
+f 14 1 8
+f 18 1 7
+f 18 7 10
+f 20 13 5
+f 20 5 10
+f 21 3 1
+f 21 1 14
+f 22 21 14
+f 22 11 3
+f 22 3 21
+f 22 14 8
+f 23 5 2
+f 23 9 16
+f 23 16 18
+f 23 10 5
+f 24 15 8
+f 24 23 15
+f 24 9 23
+f 24 8 17
+f 25 16 9
+f 25 9 1
+f 25 18 16
+f 25 1 18
+f 26 17 8
+f 26 8 1
+f 26 24 17
+f 26 1 9
+f 26 9 24
+f 27 19 10
+f 27 10 4
+f 27 4 12
+f 28 10 19
+f 28 20 10
+f 28 13 20
+f 29 2 11
+f 29 11 22
+f 30 29 22
+f 30 2 29
+f 30 23 2
+f 30 15 23
+f 30 22 8
+f 30 8 15
+f 31 23 18
+f 31 18 10
+f 31 10 23
+f 32 27 12
+f 32 12 6
+f 33 32 6
+f 34 33 19
+f 34 19 27
+f 34 27 32
+f 34 32 33
+f 35 28 19
+f 35 19 33
+f 35 33 13
+f 35 13 28
+f 36 33 6
+f 36 6 13
+f 36 13 33
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_0/model.xml b/objects/objaverse/chips/chips_0/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..888cd0da48770b6b4c2731e25c120cb97ca2d641
--- /dev/null
+++ b/objects/objaverse/chips/chips_0/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="chips_15">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.4999999999999999 0.49999999999999983 -0.4999999999999998 -0.4999999999999999"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.4999999999999999 0.49999999999999983 -0.4999999999999998 -0.4999999999999999"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.4999999999999999 0.49999999999999983 -0.4999999999999998 -0.4999999999999999"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.4999999999999999 0.49999999999999983 -0.4999999999999998 -0.4999999999999999"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.4999999999999999 0.49999999999999983 -0.4999999999999998 -0.4999999999999999"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.4999999999999999 0.49999999999999983 -0.4999999999999998 -0.4999999999999999"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.4999999999999999 0.49999999999999983 -0.4999999999999998 -0.4999999999999999"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.4999999999999999 0.49999999999999983 -0.4999999999999998 -0.4999999999999999"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.4999999999999999 0.49999999999999983 -0.4999999999999998 -0.4999999999999999"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.4999999999999999 0.49999999999999983 -0.4999999999999998 -0.4999999999999999"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.4999999999999999 0.49999999999999983 -0.4999999999999998 -0.4999999999999999"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.4999999999999999 0.49999999999999983 -0.4999999999999998 -0.4999999999999999"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.4999999999999999 0.49999999999999983 -0.4999999999999998 -0.4999999999999999"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.4999999999999999 0.49999999999999983 -0.4999999999999998 -0.4999999999999999"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.4999999999999999 0.49999999999999983 -0.4999999999999998 -0.4999999999999999"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.4999999999999999 0.49999999999999983 -0.4999999999999998 -0.4999999999999999"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.4999999999999999 0.49999999999999983 -0.4999999999999998 -0.4999999999999999"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.4999999999999999 0.49999999999999983 -0.4999999999999998 -0.4999999999999999"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.4999999999999999 0.49999999999999983 -0.4999999999999998 -0.4999999999999999"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.4999999999999999 0.49999999999999983 -0.4999999999999998 -0.4999999999999999"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.4999999999999999 0.49999999999999983 -0.4999999999999998 -0.4999999999999999"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.4999999999999999 0.49999999999999983 -0.4999999999999998 -0.4999999999999999"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.4999999999999999 0.49999999999999983 -0.4999999999999998 -0.4999999999999999"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.4999999999999999 0.49999999999999983 -0.4999999999999998 -0.4999999999999999"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.4999999999999999 0.49999999999999983 -0.4999999999999998 -0.4999999999999999"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.4999999999999999 0.49999999999999983 -0.4999999999999998 -0.4999999999999999"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.4999999999999999 0.49999999999999983 -0.4999999999999998 -0.4999999999999999"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.4999999999999999 0.49999999999999983 -0.4999999999999998 -0.4999999999999999"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.4999999999999999 0.49999999999999983 -0.4999999999999998 -0.4999999999999999"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.4999999999999999 0.49999999999999983 -0.4999999999999998 -0.4999999999999999"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.4999999999999999 0.49999999999999983 -0.4999999999999998 -0.4999999999999999"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.4999999999999999 0.49999999999999983 -0.4999999999999998 -0.4999999999999999"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.4999999999999999 0.49999999999999983 -0.4999999999999998 -0.4999999999999999"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="Material.032" 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="Material.032"/>
+        <geom solimp="0.998 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="6.366453614292664e-12 -5.020039234304717e-09 -0.031448948348895674" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="6.366453614292664e-12 -5.020039234304717e-09 0.03191016254215546" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.05029550774868472 0.06749998892884064 0.0002306070966298912" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/chips/chips_0/visual/material.mtl b/objects/objaverse/chips/chips_0/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ac7612074176632fe5be688b8bc892b458617616
--- /dev/null
+++ b/objects/objaverse/chips/chips_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 159.99998100
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_0/visual/model_normalized_0.obj b/objects/objaverse/chips/chips_0/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..602dbf2f38ead52703a534f0e570c7512684317e
--- /dev/null
+++ b/objects/objaverse/chips/chips_0/visual/model_normalized_0.obj
@@ -0,0 +1,7171 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v 0.03051155 -0.33506769 0.44454448
+v -0.01852221 -0.32417125 0.48636909
+v -0.01907248 -0.37255933 0.50000000
+v -0.01659242 -0.35272443 0.43788521
+v -0.03007479 -0.33573430 -0.44403486
+v 0.01878346 -0.32362138 -0.48583773
+v 0.01958895 -0.37186172 -0.50000000
+v 0.01698288 -0.35345142 -0.43739652
+v -0.05485694 -0.27707131 0.06252196
+v -0.05200976 -0.27378737 -0.00187122
+v -0.00059778 -0.27716309 0.00015639
+v -0.00335198 -0.28313643 0.06465262
+v -0.24084185 0.05065621 0.05730179
+v -0.23979282 0.05062561 -0.00960125
+v -0.24317418 -0.00117321 -0.00972041
+v -0.24409641 -0.00118891 0.05723456
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diff --git a/objects/objaverse/chips/chips_14/collision/model_normalized_collision_0.obj b/objects/objaverse/chips/chips_14/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f63d70c993ec539d5cb268eab67a904d7a74e692
--- /dev/null
+++ b/objects/objaverse/chips/chips_14/collision/model_normalized_collision_0.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.14667716 -0.19931408 -0.10123172
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+v 0.17312271 0.08874029 -0.09721849
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\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_14/collision/model_normalized_collision_1.obj b/objects/objaverse/chips/chips_14/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39647dd0bd174ed0834ae4b87238ff3033523537
--- /dev/null
+++ b/objects/objaverse/chips/chips_14/collision/model_normalized_collision_1.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v 0.12435429 0.06548985 -0.36126204
+v 0.08903852 0.05951132 -0.40780543
+v 0.06726788 0.19700478 -0.43010984
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\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_14/collision/model_normalized_collision_10.obj b/objects/objaverse/chips/chips_14/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6bc233f0bdcaa75e3f1354108f801057a4cf0bf
--- /dev/null
+++ b/objects/objaverse/chips/chips_14/collision/model_normalized_collision_10.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v -0.08331631 -0.10628885 -0.09848485
+v -0.08331631 -0.10628885 -0.23484849
+v -0.06028399 0.29361868 -0.15990599
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+v -0.12822765 0.22728716 -0.14260776
+v -0.17229235 -0.04448889 -0.15764657
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+f 19 8 16
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+f 21 8 9
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+f 23 4 3
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+f 24 14 20
+f 24 16 8
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+f 25 24 21
+f 25 14 24
+f 26 17 11
+f 26 11 22
+f 26 22 12
+f 26 12 17
+f 27 22 5
+f 27 5 18
+f 27 18 19
+f 27 19 22
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_14/collision/model_normalized_collision_12.obj b/objects/objaverse/chips/chips_14/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..deb7a42de698720f4d6e506de47d6b25d52f64f2
--- /dev/null
+++ b/objects/objaverse/chips/chips_14/collision/model_normalized_collision_12.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.06113200 -0.29979346 0.43088490
+v 0.16163209 -0.16750939 0.08366083
+v 0.13759252 -0.17289336 0.26845752
+v 0.10257498 -0.18220172 0.38900273
+v 0.07632224 -0.27958516 0.14419666
+v 0.14492831 -0.16312011 0.23312987
+v 0.10906703 -0.20882745 0.36443888
+v 0.11004145 -0.23331936 0.30854029
+v 0.13949337 -0.21217619 0.08537527
+v 0.06130710 -0.21218416 0.44058091
+v 0.14153683 -0.17604375 0.23272588
+v 0.11377062 -0.17936372 0.36605296
+v 0.07949492 -0.26665580 0.41190294
+v 0.10811757 -0.22408800 0.34924457
+v 0.06525287 -0.30079578 0.34111418
+v 0.08044235 -0.27914775 0.38253733
+v 0.15087179 -0.19283355 0.08224377
+v 0.13988537 -0.16587482 0.26458930
+v 0.06012602 -0.27272136 0.44166531
+v 0.10706153 -0.18178644 0.38210276
+v 0.09910218 -0.26024115 0.14419217
+v 0.07151110 -0.29336121 0.34173329
+v 0.06423808 -0.29388724 0.42929411
+v 0.09468144 -0.25086531 0.36724977
+v 0.15279631 -0.18763700 0.08851156
+v 0.08286939 -0.21197452 0.41732655
+v 0.08534350 -0.27215197 0.14442105
+v 0.06492605 -0.27056917 0.43467313
+v 0.08092203 -0.22579318 0.41939535
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+f 10 2 5
+f 10 6 2
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+f 11 2 6
+f 11 8 2
+f 14 3 7
+f 14 7 13
+f 14 11 3
+f 14 8 11
+f 17 9 2
+f 17 16 9
+f 17 8 16
+f 18 6 4
+f 18 4 12
+f 18 3 6
+f 18 12 7
+f 18 7 3
+f 19 15 1
+f 19 10 5
+f 19 5 15
+f 20 12 4
+f 20 13 7
+f 20 7 12
+f 21 9 15
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+f 22 9 16
+f 22 16 1
+f 22 1 15
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+f 23 1 16
+f 23 19 1
+f 24 14 13
+f 24 13 16
+f 24 16 8
+f 24 8 14
+f 25 17 2
+f 25 2 8
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+f 26 4 10
+f 27 21 15
+f 27 15 5
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+f 27 9 21
+f 28 23 13
+f 28 19 23
+f 29 13 20
+f 29 20 4
+f 29 4 26
+f 29 28 13
+f 29 19 28
+f 29 26 10
+f 29 10 19
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_14/collision/model_normalized_collision_13.obj b/objects/objaverse/chips/chips_14/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17c6aafd33120de3701d6062c666585c8d771a9c
--- /dev/null
+++ b/objects/objaverse/chips/chips_14/collision/model_normalized_collision_13.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v 0.01516164 -0.32129797 0.14546767
+v 0.15635539 -0.19511583 0.00720226
+v 0.14215302 -0.19631662 0.14372326
+v -0.14692505 -0.19081017 0.12701932
+v -0.00723918 -0.29659964 -0.00297911
+v 0.14666321 -0.19111623 0.12729637
+v -0.14190609 -0.19622597 0.14373094
+v 0.08534350 -0.27215197 0.14442105
+v 0.05691659 -0.28535478 0.05584809
+v -0.15825378 -0.19591371 0.00694954
+v 0.13022520 -0.22026831 0.14286356
+v 0.04387889 -0.30358174 0.14578728
+v 0.10225288 -0.24069712 0.01562805
+v -0.00237495 -0.30335727 0.00696900
+v 0.09906299 -0.25706525 0.06933861
+v -0.13509747 -0.21368175 0.00083720
+v -0.13015462 -0.22086407 0.14251602
+v 0.11174078 -0.24447885 0.14266253
+v -0.04340642 -0.30219180 0.14546520
+v 0.04248038 -0.29989711 0.10093348
+v 0.14914989 -0.20481686 0.00622454
+v 0.02636723 -0.30061362 0.04715670
+v 0.08540742 -0.27109530 0.11507123
+v -0.15237397 -0.20185783 0.00245981
+v -0.00448814 -0.30112608 0.00338686
+v -0.09812809 -0.26047697 0.14384129
+v -0.05478824 -0.28568663 0.07267937
+v -0.01304674 -0.31725330 0.11521499
+v 0.12734316 -0.22799365 0.09723853
+v 0.12897578 -0.22699639 0.03840517
+v -0.00336179 -0.29682317 -0.00046963
+v 0.01394036 -0.31813736 0.11567646
+v -0.13089716 -0.22584036 0.08259394
+v -0.02396636 -0.30039091 0.04934121
+v -0.09704658 -0.25809358 0.08647631
+v -0.01430615 -0.31930345 0.14472589
+v -0.04288782 -0.30015455 0.11477602
+v -0.13067117 -0.22684247 0.06378944
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+f 11 2 6
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+f 14 13 9
+f 15 12 9
+f 17 7 4
+f 17 4 10
+f 18 11 8
+f 19 12 7
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+f 20 12 1
+f 20 9 12
+f 21 15 9
+f 21 9 13
+f 21 16 2
+f 21 5 16
+f 21 13 14
+f 22 14 9
+f 23 15 8
+f 23 8 12
+f 23 12 15
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+f 24 2 16
+f 25 16 5
+f 26 19 7
+f 26 7 17
+f 27 24 16
+f 29 21 2
+f 29 2 11
+f 29 11 18
+f 30 8 15
+f 30 15 21
+f 30 21 29
+f 30 29 18
+f 30 18 8
+f 31 21 14
+f 31 5 21
+f 31 25 5
+f 31 14 25
+f 32 14 22
+f 32 28 14
+f 32 1 28
+f 32 20 1
+f 32 22 9
+f 32 9 20
+f 33 26 17
+f 33 17 10
+f 34 25 14
+f 34 14 28
+f 34 27 16
+f 34 16 25
+f 35 24 27
+f 35 19 26
+f 36 28 1
+f 36 1 19
+f 37 34 28
+f 37 27 34
+f 37 35 27
+f 37 19 35
+f 37 36 19
+f 37 28 36
+f 38 33 10
+f 38 10 24
+f 38 26 33
+f 38 35 26
+f 38 24 35
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_14/collision/model_normalized_collision_14.obj b/objects/objaverse/chips/chips_14/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93cd3147335445380e1f7e5ce94d7a79d6943d87
--- /dev/null
+++ b/objects/objaverse/chips/chips_14/collision/model_normalized_collision_14.obj
@@ -0,0 +1,117 @@
+# https://github.com/mikedh/trimesh
+v 0.10950443 0.23942377 0.26478814
+v 0.11375136 0.22721616 0.00770408
+v 0.05513396 0.30509487 0.26599203
+v -0.01408084 0.33589238 0.26662731
+v -0.15041451 0.20557324 0.00632834
+v 0.01255546 0.31577808 0.10064937
+v 0.01350984 0.33579759 0.26668906
+v 0.11305260 0.24440718 0.14427970
+v -0.13716727 0.20869131 0.14309637
+v 0.08591052 0.27025458 0.10262467
+v -0.02776626 0.30221089 0.04618289
+v -0.10966839 0.23989173 0.26477044
+v 0.01160899 0.33165431 0.22175408
+v 0.12180419 0.23374027 0.14376331
+v 0.09564206 0.26171331 0.26464882
+v -0.14658651 0.20488392 0.06712613
+v 0.09088952 0.24688375 -0.00082320
+v 0.09805625 0.25797105 0.08642358
+v 0.05462428 0.30154664 0.20574840
+v -0.08572789 0.26995237 0.07042967
+v -0.01410413 0.31697802 0.10033534
+v -0.04064146 0.31650089 0.26632428
+v 0.04241131 0.29897647 0.10036537
+v 0.11947115 0.23443179 0.17342173
+v -0.14015448 0.21642519 0.06658236
+v -0.00404579 0.30224824 0.01227875
+v -0.08280835 0.23958832 -0.00913542
+v 0.10916275 0.23432705 0.00169404
+v -0.05807225 0.28364772 0.04753704
+v -0.01293826 0.33311263 0.23665751
+v -0.04321144 0.29960961 0.08563002
+v 0.02616030 0.30093718 0.05739160
+v -0.13125747 0.22057693 0.14287255
+v -0.09638948 0.26146052 0.26457617
+v -0.14522516 0.21183384 0.01063417
+v -0.00503208 0.30247039 0.01271595
+v -0.10047626 0.25314492 0.04381261
+v -0.11216549 0.24586262 0.14746815
+v -0.08805071 0.25272870 0.01754461
+v -0.13114781 0.22369729 0.01657803
+f 7 1 3
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+f 24 2 14
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+f 24 14 15
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+f 28 10 18
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+f 28 5 27
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+f 28 14 2
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+f 31 20 4
+f 31 30 21
+f 31 4 30
+f 31 21 11
+f 31 29 20
+f 31 11 29
+f 32 23 17
+f 32 6 23
+f 32 26 6
+f 32 17 26
+f 33 25 16
+f 33 16 12
+f 33 12 25
+f 34 25 12
+f 34 12 22
+f 35 5 25
+f 35 27 5
+f 35 25 34
+f 36 21 6
+f 36 6 26
+f 36 11 21
+f 36 26 27
+f 37 35 20
+f 37 20 29
+f 38 35 34
+f 38 34 22
+f 38 22 20
+f 38 20 35
+f 39 29 11
+f 39 11 36
+f 39 36 27
+f 39 27 35
+f 40 37 29
+f 40 35 37
+f 40 39 35
+f 40 29 39
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_14/collision/model_normalized_collision_15.obj b/objects/objaverse/chips/chips_14/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd296fb50e158bdcba2695decb29de202012f673
--- /dev/null
+++ b/objects/objaverse/chips/chips_14/collision/model_normalized_collision_15.obj
@@ -0,0 +1,141 @@
+# https://github.com/mikedh/trimesh
+v 0.09957605 0.16590228 0.39196614
+v 0.13993592 0.16549277 0.26458690
+v 0.01238426 0.36905428 0.49906216
+v -0.01231443 0.36898159 0.49921468
+v -0.13917188 0.16528285 0.26442675
+v 0.02622369 0.16788499 0.46001746
+v 0.09696420 0.23553195 0.37744614
+v -0.12869441 0.16331730 0.32227410
+v -0.01408084 0.33589238 0.26662731
+v -0.01206870 0.21435676 0.47602495
+v 0.11500954 0.16468692 0.36631367
+v 0.11423629 0.23246162 0.26387555
+v -0.07909879 0.27793942 0.38203378
+v 0.01225519 0.36243155 0.44958145
+v 0.01266840 0.22924911 0.47728474
+v -0.01226336 0.32024766 0.49204870
+v -0.02654178 0.16905929 0.45982793
+v 0.13267374 0.16412601 0.30845672
+v -0.11421033 0.16372304 0.36594521
+v 0.03971748 0.32242005 0.46290103
+v 0.11118979 0.22148794 0.33455773
+v 0.13171345 0.19161680 0.26344940
+v -0.12636781 0.20487625 0.26338899
+v -0.09638948 0.26146052 0.26457617
+v -0.01248161 0.36218669 0.44957056
+v 0.04035053 0.31597475 0.26726554
+v 0.00870865 0.21432679 0.47484452
+v 0.10898990 0.19305986 0.36697774
+v -0.09929694 0.16476308 0.39197323
+v -0.09487755 0.23538485 0.38218631
+v 0.12586062 0.18989499 0.30716368
+v 0.08068196 0.27666921 0.38238618
+v 0.11084297 0.23132513 0.30865188
+v -0.09548872 0.26192487 0.27855431
+v -0.04064146 0.31650089 0.26632428
+v 0.01350984 0.33579759 0.26668906
+v 0.08628427 0.27438167 0.26511086
+v -0.05212735 0.22823890 0.44726431
+v -0.03737434 0.33142691 0.46704821
+v -0.10949574 0.19338630 0.36424647
+v -0.10984417 0.22159263 0.33659118
+v -0.10958998 0.23262351 0.30812612
+v -0.03915625 0.24369490 0.46007865
+v -0.09473783 0.20858756 0.39216935
+v -0.12490407 0.19127666 0.30661891
+v -0.12561950 0.17753738 0.32192257
+v -0.12450977 0.20500300 0.27735305
+v -0.08024616 0.25496106 0.40769947
+f 6 1 3
+f 8 5 2
+f 11 1 6
+f 14 4 3
+f 15 6 3
+f 15 3 10
+f 16 10 3
+f 16 3 4
+f 17 6 10
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+f 17 16 4
+f 18 8 2
+f 19 18 11
+f 19 8 18
+f 20 11 7
+f 20 7 3
+f 20 3 1
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+f 22 2 5
+f 23 22 5
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+f 24 12 23
+f 25 14 9
+f 25 4 14
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+f 27 10 6
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+f 28 7 11
+f 28 11 18
+f 29 6 17
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+f 29 11 6
+f 31 21 18
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+f 31 22 21
+f 31 2 22
+f 32 3 7
+f 32 7 21
+f 33 22 12
+f 33 21 22
+f 33 32 21
+f 33 12 32
+f 34 13 4
+f 34 4 24
+f 34 24 23
+f 35 24 4
+f 35 4 25
+f 35 25 9
+f 35 9 24
+f 36 12 9
+f 36 9 14
+f 36 14 26
+f 37 26 3
+f 37 36 26
+f 37 12 36
+f 37 32 12
+f 37 3 32
+f 38 29 17
+f 38 4 29
+f 39 29 4
+f 39 4 13
+f 39 13 30
+f 40 30 8
+f 40 8 19
+f 40 19 30
+f 41 30 13
+f 42 34 23
+f 42 13 34
+f 42 41 13
+f 43 38 17
+f 43 17 4
+f 43 4 38
+f 44 19 29
+f 44 29 39
+f 46 8 30
+f 46 30 41
+f 46 41 45
+f 46 45 5
+f 46 5 8
+f 47 42 23
+f 47 41 42
+f 47 45 41
+f 47 23 5
+f 47 5 45
+f 48 44 39
+f 48 39 30
+f 48 30 19
+f 48 19 44
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_14/collision/model_normalized_collision_16.obj b/objects/objaverse/chips/chips_14/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1696d1a24985baeb22ff610f77757ed180883e31
--- /dev/null
+++ b/objects/objaverse/chips/chips_14/collision/model_normalized_collision_16.obj
@@ -0,0 +1,135 @@
+# https://github.com/mikedh/trimesh
+v -0.00504214 -0.30021457 0.00210491
+v 0.13905368 -0.17986282 -0.23418315
+v 0.16918677 -0.17820928 0.00688744
+v -0.16982922 -0.17950426 0.00803874
+v -0.05524365 -0.30283872 -0.23550317
+v 0.14698813 -0.17621167 -0.18774273
+v 0.01474237 -0.29105467 0.01384852
+v -0.08433192 -0.27032299 -0.04218472
+v -0.13557096 -0.19059624 -0.23769684
+v 0.11410956 -0.23305422 -0.23451114
+v 0.16071352 -0.17646880 -0.09604792
+v 0.11943847 -0.22860886 0.01432490
+v -0.16302627 -0.18945420 0.00876439
+v -0.04577568 -0.29961002 -0.06994874
+v -0.15930821 -0.17859513 -0.08150576
+v 0.08462290 -0.27351019 -0.23596995
+v 0.12579545 -0.21941237 -0.20208089
+v -0.07146330 -0.27164573 -0.01458172
+v -0.14464298 -0.21309079 -0.01045181
+v -0.02913665 -0.32066332 -0.23643266
+v 0.02861570 -0.32044136 -0.23593770
+v 0.12826508 -0.22784565 -0.11210809
+v 0.12818064 -0.20593793 -0.23330777
+v -0.05979936 -0.27325564 -0.00601438
+v -0.05743318 -0.28587781 -0.02799057
+v -0.09905779 -0.25496077 -0.02710575
+v -0.09804056 -0.26253876 -0.23360876
+v -0.01378474 -0.31644940 -0.11570438
+v 0.01320475 -0.31793840 -0.13082005
+v 0.06910043 -0.28827157 -0.23599992
+v 0.09594984 -0.26139244 -0.21929057
+v 0.13078927 -0.22626241 -0.06412195
+v -0.10388831 -0.24129491 -0.00435959
+v -0.03096256 -0.29977911 -0.04297523
+v -0.05131594 -0.28536028 -0.01781759
+v -0.12240733 -0.22482540 -0.23424552
+v -0.14000603 -0.21698767 -0.06691830
+v 0.01253386 -0.30503609 -0.05383918
+v -0.00997402 -0.31708651 -0.11564208
+v 0.05629891 -0.28574023 -0.08859242
+v 0.16198126 -0.18791032 0.00590971
+v 0.09855145 -0.25584051 -0.08716566
+v -0.12688603 -0.22947637 -0.14275314
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+v 0.02738671 -0.30021985 -0.07184686
+v -0.11643675 -0.23454309 -0.23372189
+f 11 4 3
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+f 13 7 12
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+f 15 6 2
+f 15 2 9
+f 15 9 4
+f 15 11 6
+f 15 4 11
+f 16 9 2
+f 16 2 10
+f 17 11 3
+f 19 5 8
+f 19 18 13
+f 20 14 5
+f 20 5 9
+f 22 17 3
+f 22 10 17
+f 23 17 10
+f 23 10 2
+f 23 2 11
+f 23 11 17
+f 24 1 13
+f 25 18 8
+f 25 8 14
+f 26 19 8
+f 26 8 18
+f 26 18 19
+f 27 9 5
+f 27 5 19
+f 28 14 20
+f 29 20 21
+f 30 21 20
+f 30 20 9
+f 30 9 16
+f 31 16 10
+f 31 10 22
+f 32 30 16
+f 32 31 22
+f 32 16 31
+f 33 24 13
+f 33 13 18
+f 33 18 24
+f 34 25 14
+f 34 1 25
+f 34 28 1
+f 34 14 28
+f 35 25 1
+f 35 18 25
+f 35 24 18
+f 35 1 24
+f 36 4 9
+f 36 9 27
+f 37 27 19
+f 37 19 13
+f 37 13 4
+f 38 7 1
+f 38 1 29
+f 39 29 1
+f 39 1 28
+f 39 28 20
+f 39 20 29
+f 41 32 22
+f 41 22 3
+f 41 3 12
+f 41 12 32
+f 42 32 12
+f 42 21 30
+f 42 30 32
+f 42 40 21
+f 42 12 40
+f 43 27 37
+f 43 37 4
+f 43 4 36
+f 44 40 29
+f 44 29 21
+f 44 21 40
+f 45 38 29
+f 45 29 40
+f 45 7 38
+f 45 40 12
+f 45 12 7
+f 46 43 36
+f 46 36 27
+f 46 27 43
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_14/collision/model_normalized_collision_17.obj b/objects/objaverse/chips/chips_14/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e219e8c3e02004625aad2205f09c86c47fe7146d
--- /dev/null
+++ b/objects/objaverse/chips/chips_14/collision/model_normalized_collision_17.obj
@@ -0,0 +1,156 @@
+# https://github.com/mikedh/trimesh
+v 0.09931346 -0.21249502 0.38675447
+v 0.14454106 -0.14809336 0.26313982
+v 0.11155702 0.16429058 0.37617864
+v -0.10622253 0.16557319 0.38143570
+v -0.12155640 -0.20962958 0.26441287
+v -0.13917188 0.16528285 0.26442675
+v 0.13981553 -0.04349719 0.34718803
+v 0.12658050 -0.20526720 0.26368342
+v -0.10044870 -0.20986730 0.37762846
+v 0.13993592 0.16549277 0.26458690
+v -0.15942401 0.02872678 0.26277586
+v 0.12465314 -0.17789880 0.33510203
+v 0.10994377 -0.17866344 0.37728078
+v -0.12937737 -0.19105401 0.26300331
+v 0.15873815 0.05919351 0.26281019
+v 0.12841743 0.18144334 0.31053235
+v -0.14307790 -0.04283548 0.34070986
+v -0.14117126 0.05825755 0.33678111
+v 0.14001568 -0.13301462 0.30610921
+v 0.12492512 -0.20547200 0.27768889
+v 0.12525991 -0.14820722 0.34963945
+v -0.12589347 -0.19031351 0.29183013
+v 0.15932748 -0.04458845 0.26260840
+v -0.14373087 0.14755467 0.26281068
+v 0.14143266 0.08776694 0.33541879
+v 0.12285158 0.17971201 0.33876254
+v -0.11020411 -0.14940263 0.37746419
+v -0.15845055 -0.04441464 0.26281795
+v -0.14120103 0.01346923 0.34480679
+v 0.13992169 -0.14740580 0.29179890
+v -0.10818707 -0.20582247 0.34844058
+v -0.12493354 -0.16295097 0.33559314
+v 0.14213953 0.04279808 0.34355494
+v 0.15696148 -0.04423695 0.27756324
+v 0.14465551 0.14758285 0.26279262
+v -0.14077224 0.11828518 0.30598862
+v 0.14048598 0.14686698 0.29123756
+v -0.14120600 -0.07302712 0.33685982
+v -0.15632141 -0.04403523 0.27741712
+v -0.12524848 0.08857986 0.36213332
+v -0.12428193 -0.10292635 0.36205705
+v -0.15707225 0.02851259 0.27754992
+v -0.12461112 -0.17785068 0.32188157
+v 0.15639245 0.05879786 0.27736152
+v 0.12446554 0.11730490 0.36231333
+v -0.12553188 0.16302235 0.33500774
+v 0.13969963 0.11781304 0.32137021
+v 0.12507410 0.17765480 0.33379487
+v 0.12979388 0.17868730 0.30790812
+v -0.11101608 0.14919493 0.37711623
+v -0.14125570 0.14735611 0.27711567
+v -0.11421033 0.16372304 0.36594521
+v -0.12570363 0.13398038 0.34799713
+f 1 3 4
+f 8 1 5
+f 9 5 1
+f 9 1 4
+f 13 7 3
+f 13 3 1
+f 13 1 12
+f 14 8 5
+f 14 2 8
+f 16 10 6
+f 16 6 4
+f 20 8 2
+f 20 2 12
+f 20 12 1
+f 20 1 8
+f 21 13 12
+f 21 7 13
+f 21 19 7
+f 21 12 19
+f 22 14 5
+f 23 2 14
+f 23 19 2
+f 24 23 11
+f 26 16 4
+f 26 4 3
+f 26 3 25
+f 27 9 4
+f 28 23 14
+f 28 11 23
+f 30 19 12
+f 30 12 2
+f 30 2 19
+f 31 22 5
+f 31 5 9
+f 33 3 7
+f 34 7 19
+f 34 19 23
+f 34 33 7
+f 34 23 15
+f 35 24 6
+f 35 6 10
+f 35 15 23
+f 35 23 24
+f 36 24 11
+f 37 15 35
+f 37 35 10
+f 38 9 27
+f 38 32 9
+f 39 11 28
+f 39 38 17
+f 40 18 29
+f 40 29 27
+f 41 29 17
+f 41 27 29
+f 41 38 27
+f 41 17 38
+f 42 29 18
+f 42 17 29
+f 42 39 17
+f 42 11 39
+f 42 36 11
+f 42 18 36
+f 43 31 9
+f 43 22 31
+f 43 9 32
+f 43 28 14
+f 43 14 22
+f 43 39 28
+f 43 32 38
+f 43 38 39
+f 44 25 33
+f 44 15 37
+f 44 34 15
+f 44 33 34
+f 45 33 25
+f 45 25 3
+f 45 3 33
+f 46 36 18
+f 46 4 6
+f 47 44 37
+f 47 25 44
+f 48 16 26
+f 48 47 37
+f 48 26 25
+f 48 25 47
+f 49 37 10
+f 49 10 16
+f 49 48 37
+f 49 16 48
+f 50 18 40
+f 50 40 27
+f 50 27 4
+f 51 46 6
+f 51 6 24
+f 51 24 36
+f 51 36 46
+f 52 18 50
+f 52 50 4
+f 52 4 46
+f 53 52 46
+f 53 46 18
+f 53 18 52
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_14/collision/model_normalized_collision_18.obj b/objects/objaverse/chips/chips_14/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50f722d488dc51418d4f227be285475c2f586f30
--- /dev/null
+++ b/objects/objaverse/chips/chips_14/collision/model_normalized_collision_18.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.14667716 -0.19931408 -0.10123172
+v 0.13415770 -0.19037970 -0.23685101
+v 0.15992945 0.16268556 -0.10339004
+v -0.09124909 0.26292963 -0.09100533
+v -0.13120042 -0.20069655 -0.24106174
+v 0.11313925 0.23677747 -0.23636126
+v 0.11813167 0.24353046 -0.10007800
+v -0.08331631 -0.18204642 -0.09848485
+v 0.14329621 0.15824167 -0.23946522
+v -0.10542645 0.25117642 -0.23535609
+f 1 2 3
+f 5 2 1
+f 7 1 3
+f 7 4 1
+f 7 6 4
+f 7 3 6
+f 8 5 1
+f 8 1 4
+f 8 4 5
+f 9 6 3
+f 9 3 2
+f 9 2 5
+f 10 5 4
+f 10 4 6
+f 10 9 5
+f 10 6 9
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_14/collision/model_normalized_collision_19.obj b/objects/objaverse/chips/chips_14/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28e5e45c7a334b2e49a0d2b0d51915feb78a1ad4
--- /dev/null
+++ b/objects/objaverse/chips/chips_14/collision/model_normalized_collision_19.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.10491768 -0.01655121 0.38626957
+v 0.11142465 -0.01567863 0.38247403
+v 0.02622369 0.16788499 0.46001746
+v -0.04411333 0.16777683 0.44831035
+v -0.10933389 0.00084611 0.37873469
+v 0.10730487 0.16566234 0.38121433
+v 0.01368345 0.11587288 0.46150880
+v -0.09696750 -0.01300823 0.38017973
+v 0.09957605 0.16590228 0.39196614
+v -0.10622253 0.16557319 0.38143570
+v -0.01580958 0.16803611 0.46663837
+v 0.00244411 -0.01504894 0.42655612
+v -0.09929694 0.16476308 0.39197323
+v -0.04127431 0.11156675 0.44295645
+v 0.00506909 -0.01590510 0.42191600
+v -0.01378354 0.11223900 0.45999649
+v -0.10296031 0.00244395 0.38253996
+f 6 4 3
+f 6 2 5
+f 7 1 2
+f 7 2 3
+f 8 5 2
+f 8 2 1
+f 9 6 3
+f 9 3 2
+f 9 2 6
+f 10 6 5
+f 10 4 6
+f 11 7 3
+f 11 3 4
+f 12 1 7
+f 13 10 5
+f 13 5 4
+f 13 4 10
+f 14 11 4
+f 14 4 5
+f 15 12 8
+f 15 8 1
+f 15 1 12
+f 16 12 7
+f 16 7 11
+f 16 11 14
+f 16 14 5
+f 17 16 5
+f 17 5 8
+f 17 8 12
+f 17 12 16
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_14/collision/model_normalized_collision_2.obj b/objects/objaverse/chips/chips_14/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68d7c531de9742e493de2997673e76727679c8d6
--- /dev/null
+++ b/objects/objaverse/chips/chips_14/collision/model_normalized_collision_2.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v 0.14465551 0.14758285 0.26279262
+v 0.17381138 0.14968266 0.00955272
+v 0.10694509 0.25183672 0.14408432
+v -0.11359199 0.23334337 0.26368749
+v -0.17371315 0.15119336 0.00755612
+v 0.11423629 0.23246162 0.26387555
+v -0.15984221 0.14752852 0.14223611
+v -0.07793432 0.24552160 -0.00357320
+v 0.12774456 0.19634519 0.28020303
+v 0.16429606 0.19025440 0.00889962
+v 0.15932089 0.14730046 0.15714632
+v -0.14373087 0.14755467 0.26281068
+v -0.15520222 0.18696563 0.08074620
+v 0.12281460 0.20965430 0.27973808
+v 0.12811242 0.22697919 0.14263272
+v 0.10916275 0.23432705 0.00169404
+v 0.17284211 0.16409066 0.03605206
+v 0.12970430 0.19141522 0.27895891
+v -0.15617751 0.16182169 0.14168854
+v -0.15041451 0.20557324 0.00632834
+v -0.12636781 0.20487625 0.26338899
+v 0.13191670 0.22724179 0.06209832
+v 0.10545738 0.24971333 0.08495720
+v 0.11797800 0.22897264 0.00036362
+v 0.17425678 0.14973582 0.03688348
+v 0.17229363 0.16467809 0.00974507
+v 0.13965787 0.17701510 0.24726853
+v -0.16293065 0.18849839 0.00594870
+v -0.14032595 0.16187792 0.26229121
+v -0.12035149 0.23569604 0.14326418
+v -0.12530419 0.21895961 0.21798807
+v -0.13995292 0.18843825 0.20279041
+v 0.14139676 0.21575307 0.06526944
+v 0.14099360 0.16217777 0.26260763
+f 6 3 4
+f 7 5 2
+f 8 2 5
+f 8 4 3
+f 11 7 2
+f 12 11 1
+f 12 7 11
+f 14 6 4
+f 14 10 6
+f 15 3 6
+f 15 6 10
+f 17 1 11
+f 17 10 14
+f 18 12 1
+f 18 9 12
+f 19 5 7
+f 21 14 4
+f 21 12 9
+f 21 9 14
+f 22 3 15
+f 23 16 8
+f 23 8 3
+f 23 3 22
+f 24 10 2
+f 24 2 8
+f 24 8 16
+f 24 22 10
+f 24 23 22
+f 24 16 23
+f 25 17 11
+f 25 11 2
+f 25 2 17
+f 26 17 2
+f 26 2 10
+f 26 10 17
+f 27 17 14
+f 27 14 9
+f 27 9 18
+f 27 1 17
+f 28 19 13
+f 28 5 19
+f 28 20 8
+f 28 8 5
+f 29 19 7
+f 29 7 12
+f 29 12 21
+f 30 4 8
+f 30 8 20
+f 30 28 4
+f 30 20 28
+f 31 21 4
+f 31 13 21
+f 31 28 13
+f 31 4 28
+f 32 21 13
+f 32 13 19
+f 32 29 21
+f 32 19 29
+f 33 22 15
+f 33 15 10
+f 33 10 22
+f 34 27 18
+f 34 18 1
+f 34 1 27
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_14/collision/model_normalized_collision_20.obj b/objects/objaverse/chips/chips_14/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6231a95eff8dc3ffbafd5e1a67582b5f0dbe41c7
--- /dev/null
+++ b/objects/objaverse/chips/chips_14/collision/model_normalized_collision_20.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v -0.14133783 -0.17384040 -0.23845536
+v -0.12135375 -0.16821013 -0.34365675
+v -0.10841625 0.06369053 -0.38041554
+v -0.14310202 0.17347889 -0.23872267
+v -0.14613353 0.02794275 -0.33898632
+v -0.15581961 -0.07441776 -0.26166342
+v -0.11905931 -0.01941080 -0.37603591
+v -0.12323412 0.16736474 -0.34434756
+v -0.13988825 -0.05850366 -0.33597623
+v -0.14029832 -0.11872971 -0.30564717
+v -0.15872663 -0.08886479 -0.23259548
+v -0.11845055 0.06477158 -0.37408187
+v -0.11048622 -0.01668024 -0.38303173
+v -0.14063835 0.13211600 -0.30590781
+v -0.15575493 -0.04380171 -0.27715841
+v -0.12969500 -0.01392282 -0.36293637
+v -0.14042635 -0.16249385 -0.26223163
+v -0.12510475 -0.16370783 -0.33525317
+v -0.14468500 -0.16338424 -0.23286727
+v -0.15661416 -0.08855505 -0.24743991
+v -0.13976502 0.08788079 -0.33600001
+v -0.15846694 0.10363239 -0.23255535
+v -0.13692190 0.17145768 -0.28374581
+v -0.14129780 0.00159210 -0.34572064
+v -0.14624543 0.16337499 -0.23316276
+v -0.12787216 0.16363086 -0.33544027
+v -0.15648445 0.05892279 -0.27728472
+v -0.15634828 0.10333661 -0.24739857
+v -0.13982488 0.16229229 -0.27745914
+v -0.15599705 0.08813052 -0.26205229
+f 1 2 3
+f 1 3 4
+f 8 4 3
+f 12 8 3
+f 13 3 2
+f 13 2 7
+f 13 12 3
+f 13 7 12
+f 15 5 9
+f 15 6 11
+f 15 10 6
+f 15 9 10
+f 16 7 2
+f 16 2 9
+f 16 12 7
+f 16 5 12
+f 18 10 9
+f 18 9 2
+f 18 17 10
+f 18 2 1
+f 18 1 17
+f 19 17 1
+f 20 11 6
+f 20 6 10
+f 20 10 17
+f 20 19 11
+f 20 17 19
+f 21 12 5
+f 21 8 12
+f 22 11 19
+f 23 4 8
+f 24 16 9
+f 24 9 5
+f 24 5 16
+f 25 19 1
+f 25 1 4
+f 25 22 19
+f 25 4 23
+f 26 21 14
+f 26 8 21
+f 26 23 8
+f 26 14 23
+f 27 21 5
+f 27 14 21
+f 27 5 15
+f 27 15 11
+f 27 11 22
+f 28 22 25
+f 29 23 14
+f 29 14 28
+f 29 28 25
+f 29 25 23
+f 30 27 22
+f 30 22 28
+f 30 28 14
+f 30 14 27
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_14/collision/model_normalized_collision_21.obj b/objects/objaverse/chips/chips_14/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a7b5be6c6007df0db40deb8dc61384d3f0cbafa
--- /dev/null
+++ b/objects/objaverse/chips/chips_14/collision/model_normalized_collision_21.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.13759252 -0.17289336 0.26845752
+v 0.15988908 -0.14783247 0.14230237
+v 0.15530155 -0.08839155 0.26192135
+v 0.14113557 0.15775097 0.26901098
+v 0.14784778 -0.18360562 0.14803760
+v 0.17365190 0.05938787 0.14246300
+v 0.15495041 -0.14660167 0.18700516
+v 0.15489294 -0.16576770 0.14343663
+v 0.17419504 -0.04474102 0.14268229
+v 0.15574557 0.08785189 0.26210500
+v 0.15622242 0.16265485 0.14978690
+v 0.14103179 -0.16236555 0.26265519
+v 0.17299423 -0.04466426 0.15720945
+v 0.15565426 0.13117992 0.21707771
+v 0.16123595 0.14780902 0.14215042
+v 0.17226916 0.05929997 0.15724455
+v 0.15569131 0.14634730 0.18699346
+v 0.14465551 0.14758285 0.26279262
+f 1 3 4
+f 5 1 4
+f 7 2 3
+f 8 1 5
+f 8 7 1
+f 8 2 7
+f 9 2 6
+f 10 4 3
+f 11 5 4
+f 12 7 3
+f 12 3 1
+f 12 1 7
+f 13 3 2
+f 13 2 9
+f 13 10 3
+f 13 9 6
+f 15 8 5
+f 15 5 11
+f 15 2 8
+f 15 6 2
+f 16 13 6
+f 16 10 13
+f 16 14 10
+f 16 15 14
+f 16 6 15
+f 17 11 4
+f 17 4 14
+f 17 15 11
+f 17 14 15
+f 18 14 4
+f 18 4 10
+f 18 10 14
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_14/collision/model_normalized_collision_22.obj b/objects/objaverse/chips/chips_14/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..493131cf5ca572c903b9669d158e69da1417eaa3
--- /dev/null
+++ b/objects/objaverse/chips/chips_14/collision/model_normalized_collision_22.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v 0.05470695 -0.21367644 0.44744251
+v 0.10247873 -0.21034514 0.38098232
+v 0.11142465 -0.01567863 0.38247403
+v -0.06651871 -0.01022468 0.38735885
+v -0.09544543 -0.21177925 0.38424197
+v 0.01604447 -0.11293987 0.46196286
+v 0.12097921 -0.07645442 0.37849402
+v 0.08530149 -0.10738325 0.41475528
+v 0.00244411 -0.01504894 0.42655612
+v -0.02715349 -0.21426696 0.46261346
+v 0.08286939 -0.21197452 0.41732655
+v -0.10255372 -0.19511030 0.37859577
+v -0.09611535 -0.03222739 0.37659230
+v 0.02975070 -0.21338622 0.46618210
+v 0.09822334 -0.07690977 0.40115002
+v 0.11202212 -0.08945911 0.38817550
+v 0.08183389 -0.02460364 0.40026315
+v -0.01176554 -0.11424293 0.46043224
+v 0.09670658 -0.20930983 0.39335417
+v -0.08238178 -0.21144021 0.40843877
+v 0.02677585 -0.13897114 0.45899932
+v 0.05334810 -0.18350706 0.44596412
+v 0.06831238 -0.21198878 0.43302919
+v 0.10491768 -0.01655121 0.38626957
+v -0.08660717 -0.07117688 0.39957100
+v 0.11913300 -0.09000781 0.37889005
+v -0.04208795 -0.13853440 0.44440045
+v -0.10350115 -0.06965744 0.38693104
+v -0.05561310 -0.11305569 0.43071686
+v -0.11162360 -0.06227322 0.37807404
+f 5 2 1
+f 9 3 4
+f 10 5 1
+f 11 1 2
+f 12 7 2
+f 12 2 5
+f 13 4 3
+f 13 3 7
+f 13 7 12
+f 14 10 1
+f 15 7 3
+f 15 3 8
+f 16 8 1
+f 16 15 8
+f 16 7 15
+f 16 11 7
+f 17 9 6
+f 18 9 4
+f 18 6 9
+f 18 14 6
+f 18 10 14
+f 19 11 2
+f 19 7 11
+f 20 12 5
+f 20 5 10
+f 21 14 8
+f 21 6 14
+f 21 8 3
+f 21 3 6
+f 22 14 1
+f 22 1 8
+f 22 8 14
+f 23 16 1
+f 23 1 11
+f 23 11 16
+f 24 17 6
+f 24 6 3
+f 24 3 9
+f 24 9 17
+f 25 18 4
+f 25 4 13
+f 26 19 2
+f 26 2 7
+f 26 7 19
+f 27 10 18
+f 28 20 10
+f 28 10 27
+f 28 25 13
+f 29 27 18
+f 29 18 25
+f 29 28 27
+f 29 25 28
+f 30 12 20
+f 30 20 28
+f 30 28 13
+f 30 13 12
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_14/collision/model_normalized_collision_24.obj b/objects/objaverse/chips/chips_14/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..284f4a801e0ebc37d264ce3524386dd841acff87
--- /dev/null
+++ b/objects/objaverse/chips/chips_14/collision/model_normalized_collision_24.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v 0.18165061 -0.01547064 0.00760490
+v 0.17798033 -0.01554784 -0.09771866
+v 0.15909767 0.19742766 0.00492621
+v -0.00419728 0.30143100 0.00917475
+v -0.18131056 -0.01533129 0.00757189
+v 0.08823212 0.27224081 -0.09903257
+v 0.17381138 0.14968266 0.00955272
+v 0.15733531 0.17778011 -0.09628416
+v 0.05717063 0.28618473 -0.02740797
+v -0.13177747 0.22581966 -0.09786071
+v -0.07574458 0.25815087 0.01543842
+v 0.17312271 0.08874029 -0.09721849
+v 0.12960141 0.23014002 -0.09731980
+v 0.04412043 0.29962102 -0.09797533
+v 0.06031713 0.27309544 -0.00634811
+v 0.08513216 0.27016420 -0.04172514
+v -0.10022947 0.25933068 -0.10145479
+v -0.17834315 -0.01523206 -0.09784646
+v -0.16293065 0.18849839 0.00594870
+v 0.17076070 0.14789832 -0.03536267
+v 0.15515150 0.18732114 -0.08080888
+v 0.04602724 0.29946852 -0.07005455
+v 0.05212510 0.28573863 -0.01809695
+v 0.11511220 0.24062402 -0.01669689
+v -0.05851389 0.28945250 -0.10144532
+v -0.17181884 0.13274929 -0.09652533
+v -0.12021258 0.22980285 0.01360680
+v -0.13181701 0.22710345 -0.06340682
+v 0.14061870 0.21711977 -0.06661761
+v -0.01354096 0.30555563 -0.05438329
+v 0.03104221 0.29997193 -0.04245419
+v -0.03058930 0.30511617 -0.09979055
+v -0.17224798 0.17827083 -0.03475183
+v -0.17180816 0.16475932 0.00516870
+v -0.15665388 0.18566926 -0.09550067
+v -0.14036896 0.21719618 -0.08194734
+v -0.17256628 0.17842308 -0.00989628
+v -0.14104076 0.21654380 -0.06126926
+f 5 2 1
+f 7 3 4
+f 8 3 7
+f 11 5 1
+f 11 1 7
+f 11 7 4
+f 12 7 1
+f 12 1 2
+f 12 2 6
+f 13 6 3
+f 13 12 6
+f 13 8 12
+f 15 4 3
+f 18 2 5
+f 18 17 2
+f 20 12 8
+f 20 8 7
+f 20 7 12
+f 21 3 8
+f 21 8 13
+f 22 9 16
+f 22 16 6
+f 22 6 14
+f 23 9 4
+f 23 4 15
+f 23 15 3
+f 24 16 9
+f 24 3 6
+f 24 6 16
+f 24 23 3
+f 24 9 23
+f 25 6 2
+f 25 2 17
+f 25 11 4
+f 26 10 17
+f 26 17 18
+f 27 5 11
+f 27 25 17
+f 27 11 25
+f 28 17 10
+f 28 27 17
+f 28 19 27
+f 29 21 13
+f 29 13 3
+f 29 3 21
+f 30 22 14
+f 31 4 9
+f 31 9 22
+f 31 30 4
+f 31 22 30
+f 32 14 6
+f 32 6 25
+f 32 30 14
+f 32 25 4
+f 32 4 30
+f 33 26 18
+f 33 18 5
+f 34 27 19
+f 34 5 27
+f 35 10 26
+f 35 26 33
+f 36 28 10
+f 36 35 33
+f 36 10 35
+f 37 19 28
+f 37 36 33
+f 37 34 19
+f 37 33 5
+f 37 5 34
+f 38 37 28
+f 38 28 36
+f 38 36 37
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_14/collision/model_normalized_collision_25.obj b/objects/objaverse/chips/chips_14/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70c4c2a5a5a9fa261b0303b467f1cf0dd8819b62
--- /dev/null
+++ b/objects/objaverse/chips/chips_14/collision/model_normalized_collision_25.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.13518533 0.22233631 -0.09774280
+v 0.12122518 0.22383892 -0.23404412
+v 0.02868967 0.31946185 -0.23645014
+v -0.01384036 0.31684017 -0.11585441
+v -0.10542645 0.25117642 -0.23535609
+v 0.04412043 0.29962102 -0.09797533
+v 0.09714463 0.26129491 -0.23338075
+v 0.13174501 0.22105501 -0.14286798
+v -0.09124909 0.26292963 -0.09100533
+v -0.03001394 0.32183850 -0.23580355
+v 0.01421325 0.31601530 -0.11561124
+v 0.05450703 0.30172114 -0.23501243
+v 0.11564965 0.23344853 -0.23348889
+v -0.03058930 0.30511617 -0.09979055
+v 0.12960141 0.23014002 -0.09731980
+v -0.05721926 0.30291500 -0.23611668
+v 0.02704399 0.31547474 -0.17521769
+v 0.08823212 0.27224081 -0.09903257
+v 0.12702175 0.22895408 -0.14250987
+v -0.05851389 0.28945250 -0.10144532
+v -0.05621339 0.29956052 -0.19103451
+f 5 3 2
+f 8 5 2
+f 8 1 5
+f 9 5 1
+f 11 10 4
+f 11 3 10
+f 12 7 2
+f 12 2 3
+f 13 8 2
+f 13 2 7
+f 14 9 6
+f 14 11 4
+f 14 6 11
+f 15 9 1
+f 15 6 9
+f 15 1 7
+f 16 10 3
+f 16 3 5
+f 16 5 9
+f 17 11 6
+f 17 6 3
+f 17 3 11
+f 18 12 3
+f 18 3 6
+f 18 6 15
+f 18 15 7
+f 18 7 12
+f 19 13 7
+f 19 7 1
+f 19 1 8
+f 19 8 13
+f 20 9 14
+f 20 14 4
+f 20 4 10
+f 21 20 10
+f 21 10 16
+f 21 16 9
+f 21 9 20
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_14/collision/model_normalized_collision_26.obj b/objects/objaverse/chips/chips_14/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7aaf869e44830f7b77fd690addb1de402e2874a
--- /dev/null
+++ b/objects/objaverse/chips/chips_14/collision/model_normalized_collision_26.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.06738154 -0.28726525 0.21974005
+v -0.06077171 -0.27781274 0.05800138
+v -0.06702067 -0.25587451 0.03923815
+v -0.10323324 -0.25015788 0.20354967
+v -0.09812809 -0.26047697 0.14384129
+v -0.09739497 -0.25708760 0.21965564
+v -0.06214670 -0.26496582 0.04532064
+v -0.08560137 -0.27071371 0.12909747
+v -0.09488375 -0.25198550 0.05716938
+v -0.08484663 -0.27193552 0.21947096
+v -0.10552990 -0.25128778 0.14388816
+v -0.07928930 -0.25101274 0.04266337
+v -0.08841637 -0.25900253 0.06016214
+v -0.09549133 -0.26085046 0.20384706
+v -0.08204791 -0.27428649 0.21992733
+f 6 1 3
+f 6 3 4
+f 7 1 2
+f 7 3 1
+f 8 2 1
+f 8 1 5
+f 10 5 1
+f 11 6 4
+f 11 9 5
+f 12 7 2
+f 12 3 7
+f 12 2 9
+f 12 4 3
+f 12 11 4
+f 12 9 11
+f 13 8 5
+f 13 5 9
+f 13 9 2
+f 13 2 8
+f 14 10 6
+f 14 5 10
+f 14 11 5
+f 14 6 11
+f 15 10 1
+f 15 1 6
+f 15 6 10
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_14/collision/model_normalized_collision_27.obj b/objects/objaverse/chips/chips_14/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7488544b6d5f20770a3e4a66998faeaf55c618f2
--- /dev/null
+++ b/objects/objaverse/chips/chips_14/collision/model_normalized_collision_27.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.12736894 -0.20278827 0.26631034
+v 0.12639945 -0.21630882 -0.00160862
+v 0.15947726 -0.01543534 0.27240548
+v -0.08331631 -0.01537976 0.26515151
+v -0.12049374 -0.21121396 0.26895792
+v 0.11365339 -0.01537976 0.00757576
+v -0.09949778 -0.22456745 0.02235767
+v -0.08331631 -0.01537976 0.00757576
+f 1 2 3
+f 5 1 3
+f 5 3 4
+f 6 3 2
+f 6 4 3
+f 7 2 1
+f 7 1 5
+f 8 6 2
+f 8 2 7
+f 8 4 6
+f 8 7 5
+f 8 5 4
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_14/collision/model_normalized_collision_28.obj b/objects/objaverse/chips/chips_14/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..261f330e2f548a89337deed0f89be72a21edd9c6
--- /dev/null
+++ b/objects/objaverse/chips/chips_14/collision/model_normalized_collision_28.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.16918677 -0.17820928 0.00688744
+v 0.17265304 -0.11972162 -0.09642690
+v 0.18165061 -0.01547064 0.00760490
+v -0.08331631 -0.01537976 0.00757576
+v -0.08331631 -0.18204642 -0.09848485
+v 0.17790931 -0.01532609 -0.09872950
+v -0.10616336 -0.22059140 0.02242286
+v 0.17196435 -0.17737135 -0.03449697
+v -0.08331631 -0.01537976 -0.09848485
+v 0.16071352 -0.17646880 -0.09604792
+v 0.17210693 -0.17734516 -0.00981598
+v 0.17798033 -0.01554784 -0.09771866
+v 0.17140347 -0.16510320 0.00528430
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 8 1 7
+f 9 6 5
+f 9 4 6
+f 9 7 4
+f 9 5 7
+f 10 6 2
+f 10 5 6
+f 10 2 8
+f 10 8 7
+f 10 7 5
+f 11 8 3
+f 11 1 8
+f 12 6 3
+f 12 3 8
+f 12 8 2
+f 12 2 6
+f 13 11 3
+f 13 3 1
+f 13 1 11
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_14/collision/model_normalized_collision_3.obj b/objects/objaverse/chips/chips_14/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2772e14cf0a4e4fda1b0a6d7aee1438cfc9e0572
--- /dev/null
+++ b/objects/objaverse/chips/chips_14/collision/model_normalized_collision_3.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v 0.12818064 -0.20593793 -0.23330777
+v 0.14046251 -0.11873702 -0.30573644
+v 0.14334530 0.16253447 -0.23262957
+v -0.14310202 0.17347889 -0.23872267
+v -0.11047436 -0.21565802 -0.34362775
+v -0.12303261 -0.22267782 -0.23717609
+v 0.15844385 -0.08895177 -0.23249489
+v 0.11377113 -0.20793848 -0.33535173
+v -0.13557096 -0.19059624 -0.23769684
+v 0.14505260 -0.02818644 -0.33870756
+v 0.14397758 -0.16322988 -0.23277107
+v -0.11914842 -0.18295852 -0.34287248
+v 0.15626285 -0.08859112 -0.24725586
+v 0.15887298 0.07434020 -0.23249084
+v 0.12487872 -0.16356203 -0.33626119
+v 0.12140121 0.16517970 -0.33820050
+v 0.12499949 -0.20458363 -0.26228825
+v 0.15675537 -0.05968102 -0.26237160
+v 0.13951310 -0.16262775 -0.26215311
+v 0.11836575 -0.12295420 -0.36524778
+v 0.14039798 0.10313647 -0.30546327
+v -0.12323412 0.16736474 -0.34434756
+v 0.15650064 0.04371754 -0.26162745
+v 0.12406876 -0.18996971 -0.30645466
+v 0.12515836 -0.13322990 -0.34729441
+v 0.10922997 -0.01989066 -0.36765758
+v 0.14003752 0.07357361 -0.32024289
+v 0.13946751 0.14714744 -0.27645729
+v 0.15661748 0.07403580 -0.24744595
+v 0.12213334 -0.13539869 -0.35294942
+v 0.14102454 -0.01696036 -0.34495246
+v 0.12510760 0.14810232 -0.33572055
+v 0.12642758 0.16273248 -0.32179601
+v 0.14115599 0.16222656 -0.24720407
+f 6 3 4
+f 7 3 6
+f 8 6 5
+f 8 1 6
+f 9 6 4
+f 9 5 6
+f 11 7 6
+f 11 6 1
+f 12 9 4
+f 12 5 9
+f 13 2 10
+f 13 7 11
+f 14 3 7
+f 15 10 2
+f 16 4 3
+f 17 11 1
+f 17 1 8
+f 17 8 11
+f 18 13 10
+f 18 7 13
+f 18 14 7
+f 19 13 11
+f 19 2 13
+f 19 15 2
+f 20 15 8
+f 20 8 5
+f 22 12 4
+f 22 4 16
+f 22 5 12
+f 23 18 10
+f 23 14 18
+f 24 19 11
+f 24 11 8
+f 24 8 15
+f 24 15 19
+f 25 20 10
+f 25 10 15
+f 26 22 16
+f 26 20 5
+f 26 5 22
+f 27 23 10
+f 27 21 23
+f 28 3 14
+f 29 23 21
+f 29 14 23
+f 29 28 14
+f 29 21 28
+f 30 25 15
+f 30 15 20
+f 30 20 25
+f 31 26 16
+f 31 10 20
+f 31 20 26
+f 32 27 10
+f 32 21 27
+f 32 31 16
+f 32 10 31
+f 33 32 16
+f 33 28 21
+f 33 21 32
+f 34 33 16
+f 34 16 3
+f 34 3 28
+f 34 28 33
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_14/collision/model_normalized_collision_30.obj b/objects/objaverse/chips/chips_14/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2476bbb8c4442471fdbdc8227a3e751e8c37249
--- /dev/null
+++ b/objects/objaverse/chips/chips_14/collision/model_normalized_collision_30.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.15947726 -0.01543534 0.27240548
+v 0.15622242 0.16265485 0.14978690
+v 0.14113557 0.15775097 0.26901098
+v 0.00759279 0.15128691 0.26515151
+v 0.00759279 -0.01537976 0.14393939
+v 0.15496904 0.16636631 0.15169602
+v 0.11365339 -0.01537976 0.14393939
+v 0.00759279 -0.01537976 0.26515151
+v 0.00759279 0.15128691 0.14393939
+f 1 2 3
+f 1 3 4
+f 6 3 2
+f 6 4 3
+f 7 2 1
+f 7 1 5
+f 8 5 1
+f 8 1 4
+f 8 4 5
+f 9 5 4
+f 9 4 6
+f 9 6 2
+f 9 7 5
+f 9 2 7
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_14/collision/model_normalized_collision_31.obj b/objects/objaverse/chips/chips_14/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36cf3fd5e939597472cafe8b1bfe309520c99f4e
--- /dev/null
+++ b/objects/objaverse/chips/chips_14/collision/model_normalized_collision_31.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.17546721 -0.01537945 0.14278694
+v 0.18165061 -0.01547064 0.00760490
+v 0.17381138 0.14968266 0.00955272
+v 0.00759279 0.15128691 0.14393939
+v 0.00759279 -0.01537976 0.00757576
+v 0.16123595 0.14780902 0.14215042
+v 0.17271207 0.07448035 0.14237495
+v 0.00759279 -0.01537976 0.14393939
+v 0.00759279 0.15128691 0.00757576
+v 0.17099177 0.14748335 0.06479888
+f 6 3 4
+f 6 4 1
+f 7 1 2
+f 7 2 3
+f 7 6 1
+f 8 5 2
+f 8 2 1
+f 8 1 4
+f 8 4 5
+f 9 3 2
+f 9 2 5
+f 9 5 4
+f 9 4 3
+f 10 7 3
+f 10 3 6
+f 10 6 7
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_14/collision/model_normalized_collision_5.obj b/objects/objaverse/chips/chips_14/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c37eb2bf4ab56c0887cca2173264989d35e128c4
--- /dev/null
+++ b/objects/objaverse/chips/chips_14/collision/model_normalized_collision_5.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v -0.12049374 -0.21121396 0.26895792
+v -0.08331631 -0.10628885 -0.09848485
+v -0.08331631 0.15128691 0.00757576
+v -0.13796051 0.16457930 0.27348840
+v -0.17834315 -0.01523206 -0.09784646
+v -0.12753787 -0.12382326 0.34739699
+v -0.16302627 -0.18945420 0.00876439
+v -0.08331631 -0.01537976 -0.09848485
+v -0.17422299 0.14851945 0.00699478
+v -0.17210221 -0.10422957 -0.09729624
+v -0.11497669 -0.23806320 0.08513057
+v -0.15580824 -0.13164490 0.20208330
+v -0.17199309 -0.16475359 0.03628274
+v -0.13546039 -0.20767333 0.01268379
+v -0.12794743 -0.16985118 0.31348158
+v -0.15594766 0.07415046 0.26188577
+v -0.17158185 -0.16492388 0.00938941
+v -0.15645107 -0.18601845 0.08018189
+v -0.17297376 -0.02946204 0.15746859
+v -0.14438894 -0.07355417 0.32242963
+v -0.12937737 -0.19105401 0.26300331
+v -0.14010393 -0.14722922 0.27748397
+v -0.15648660 0.13158452 0.20227372
+v -0.17297991 0.02906585 0.15765163
+v -0.17150276 -0.08906857 0.12701873
+v -0.13343156 -0.11962305 0.33633882
+v -0.15726609 -0.05947094 0.26264273
+v -0.13391800 -0.07300248 0.35024069
+v -0.14373087 0.14755467 0.26281068
+v -0.15647876 0.14664746 0.17206925
+v -0.17150370 0.08828301 0.12703477
+v -0.13985453 -0.10302341 0.32118762
+v -0.15635425 -0.08834983 0.24738344
+v -0.13964314 -0.07661474 0.33894187
+v -0.17183806 0.14806005 0.03537060
+v -0.17243622 0.13221640 0.06667046
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 8 5 3
+f 8 3 2
+f 8 2 5
+f 9 4 3
+f 9 3 5
+f 10 5 2
+f 11 2 1
+f 11 1 7
+f 14 10 2
+f 14 7 10
+f 14 11 7
+f 14 2 11
+f 15 1 6
+f 17 10 7
+f 17 7 13
+f 17 13 5
+f 17 5 10
+f 18 13 7
+f 18 7 1
+f 18 1 13
+f 19 5 13
+f 21 15 13
+f 21 13 1
+f 21 1 15
+f 22 12 13
+f 22 13 15
+f 24 9 5
+f 24 5 19
+f 25 19 13
+f 25 13 12
+f 26 15 6
+f 26 22 15
+f 27 20 16
+f 27 19 25
+f 27 24 19
+f 27 16 24
+f 28 6 4
+f 28 4 16
+f 29 23 16
+f 29 16 4
+f 29 4 23
+f 30 23 4
+f 31 24 16
+f 31 16 23
+f 32 26 20
+f 32 22 26
+f 33 27 25
+f 33 25 12
+f 33 12 22
+f 33 22 32
+f 33 32 20
+f 33 20 27
+f 34 28 16
+f 34 16 20
+f 34 20 26
+f 34 26 6
+f 34 6 28
+f 35 30 4
+f 35 4 9
+f 36 9 24
+f 36 24 31
+f 36 35 9
+f 36 31 23
+f 36 23 30
+f 36 30 35
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_14/collision/model_normalized_collision_6.obj b/objects/objaverse/chips/chips_14/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1bd4d45889c44fbcf13069c9ff678ea06c4c6e7a
--- /dev/null
+++ b/objects/objaverse/chips/chips_14/collision/model_normalized_collision_6.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.14346036 -0.01542981 -0.34061299
+v 0.13164204 -0.00943390 -0.35460356
+v 0.04536774 0.27179366 -0.45648250
+v 0.05562317 0.30417044 -0.41720125
+v 0.05953785 -0.02333723 -0.39684117
+v 0.11186673 0.16355872 -0.36501539
+v 0.10127936 -0.02464576 -0.37055701
+v 0.04706610 0.01915973 -0.43673338
+v 0.09513448 0.19366446 -0.39253799
+v 0.12140121 0.16517970 -0.33820050
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\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_14/collision/model_normalized_collision_8.obj b/objects/objaverse/chips/chips_14/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9a2068b9f244435fcedbc9b60c0185fd5a72e1a
--- /dev/null
+++ b/objects/objaverse/chips/chips_14/collision/model_normalized_collision_8.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v -0.11497669 -0.23806320 0.08513057
+v -0.11047436 -0.21565802 -0.34362775
+v -0.08331631 -0.10628885 0.00757576
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\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_14/collision/model_normalized_collision_9.obj b/objects/objaverse/chips/chips_14/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42ceef379d973d41e0c0f490500661b60e9011a7
--- /dev/null
+++ b/objects/objaverse/chips/chips_14/collision/model_normalized_collision_9.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.11377113 -0.20793848 -0.33535173
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+v -0.14276302 -0.01526104 -0.34023472
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\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_14/visual/material.mtl b/objects/objaverse/chips/chips_14/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..baa89a800dcda87842f1f1bf0d27243ee1b57e2d
--- /dev/null
+++ b/objects/objaverse/chips/chips_14/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 32.00000800
+map_Kd material_0.png
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_14/visual/model_normalized_0.obj b/objects/objaverse/chips/chips_14/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eea9469c768e0344830377e3d64fe74d23d98017
--- /dev/null
+++ b/objects/objaverse/chips/chips_14/visual/model_normalized_0.obj
@@ -0,0 +1,4684 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/objects/objaverse/chips/chips_15/collision/model_normalized_collision_1.obj b/objects/objaverse/chips/chips_15/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91c79e1fa5904062cc59f4dac1ac0f5a1b8a02c2
--- /dev/null
+++ b/objects/objaverse/chips/chips_15/collision/model_normalized_collision_1.obj
@@ -0,0 +1,177 @@
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+v -0.23918783 0.36456340 0.12527460
+v -0.26684262 0.38125019 0.11104007
+v -0.17995524 0.31927801 -0.15551691
+v -0.17809649 0.26162396 -0.17060830
+v -0.25865948 0.43092658 -0.08446542
+v -0.24749021 0.44328483 0.07046811
+v -0.28870245 0.38589162 0.09721678
+v -0.29252697 0.39623129 -0.09537737
+v -0.28601634 0.28139258 -0.08994665
+v -0.35570366 0.49303720 -0.01124828
+v -0.21897556 0.24881964 -0.15621416
+v -0.31721647 0.46334474 -0.05220359
+v -0.28385196 0.40752090 -0.09684766
+v -0.19581447 0.34748427 -0.14161961
+v -0.18186826 0.37502137 -0.12709024
+v -0.30406145 0.39996816 -0.08424983
+v -0.30085889 0.44830793 -0.06779713
+f 8 1 2
+f 9 2 1
+f 14 3 12
+f 14 11 3
+f 18 16 5
+f 19 11 6
+f 19 3 11
+f 20 12 3
+f 20 19 4
+f 20 3 19
+f 21 8 7
+f 22 12 20
+f 23 9 1
+f 24 7 8
+f 24 11 14
+f 26 16 9
+f 26 22 20
+f 26 20 4
+f 26 13 22
+f 27 5 16
+f 28 18 5
+f 28 10 18
+f 29 17 5
+f 29 27 16
+f 29 26 4
+f 29 16 26
+f 30 16 18
+f 30 2 9
+f 30 9 16
+f 32 1 8
+f 32 23 1
+f 33 12 22
+f 33 21 7
+f 33 7 24
+f 33 22 13
+f 33 13 21
+f 34 24 8
+f 34 8 2
+f 34 15 24
+f 35 24 15
+f 35 6 11
+f 35 11 24
+f 36 24 14
+f 36 33 24
+f 36 12 33
+f 37 26 9
+f 37 9 23
+f 38 10 28
+f 39 29 4
+f 39 17 29
+f 40 29 5
+f 40 5 27
+f 40 27 29
+f 42 19 6
+f 43 25 41
+f 44 32 8
+f 44 8 21
+f 45 23 32
+f 45 32 44
+f 45 44 21
+f 45 21 13
+f 46 34 25
+f 46 15 34
+f 47 34 2
+f 47 2 30
+f 47 30 41
+f 47 41 25
+f 47 25 34
+f 48 35 31
+f 48 6 35
+f 48 42 6
+f 48 31 42
+f 49 36 14
+f 49 14 12
+f 49 12 36
+f 50 37 23
+f 50 13 26
+f 50 26 37
+f 50 45 13
+f 50 23 45
+f 51 38 17
+f 51 10 38
+f 52 38 28
+f 52 28 5
+f 52 5 17
+f 52 17 38
+f 53 39 4
+f 53 4 19
+f 54 41 30
+f 54 30 18
+f 54 18 10
+f 54 10 41
+f 55 19 42
+f 55 53 19
+f 55 39 53
+f 56 43 41
+f 56 41 10
+f 56 10 51
+f 56 51 39
+f 56 39 55
+f 56 31 43
+f 57 35 15
+f 57 15 46
+f 57 46 25
+f 57 25 43
+f 58 43 31
+f 58 31 35
+f 58 57 43
+f 58 35 57
+f 59 51 17
+f 59 17 39
+f 59 39 51
+f 60 55 42
+f 60 42 31
+f 60 56 55
+f 60 31 56
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_15/collision/model_normalized_collision_11.obj b/objects/objaverse/chips/chips_15/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..242bf8b86c2446f74238a3e6637a97a7ced5669f
--- /dev/null
+++ b/objects/objaverse/chips/chips_15/collision/model_normalized_collision_11.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v -0.13755650 -0.26515151 -0.08403521
+v -0.13573814 -0.26215487 -0.17867088
+v -0.13755650 0.23484848 -0.08403521
+v -0.28894886 0.28031189 -0.08397507
+v -0.28815709 -0.26521211 -0.08357420
+v -0.13650005 0.23397353 -0.18485187
+v -0.13439622 0.18798315 -0.19087381
+v -0.23426154 -0.26505332 -0.14522694
+v -0.22463315 0.27947978 -0.15167671
+v -0.13449515 -0.18809471 -0.19042977
+v -0.27514193 -0.26622718 -0.10532259
+v -0.17774442 0.23330541 -0.17463086
+v -0.20721184 -0.26377508 -0.16059180
+v -0.27605302 0.28094362 -0.10585022
+v -0.14807361 0.18783549 -0.18759013
+v -0.17712917 -0.24756200 -0.17257619
+v -0.21817962 -0.21921201 -0.15672372
+v -0.23514536 0.28012454 -0.14562123
+v -0.26789591 0.27842643 -0.11595800
+v -0.16163459 -0.14273755 -0.18669562
+v -0.16418581 -0.26140505 -0.17358155
+v -0.21850141 0.23432271 -0.15698345
+v -0.16165636 0.14292886 -0.18675879
+v -0.19029996 -0.20338909 -0.17223536
+v -0.14815431 -0.18797561 -0.18723861
+v -0.19036918 0.21835036 -0.17154115
+f 5 1 3
+f 5 3 4
+f 7 3 1
+f 7 6 3
+f 8 2 1
+f 9 4 3
+f 9 3 6
+f 10 7 1
+f 10 1 2
+f 11 8 1
+f 11 1 5
+f 12 9 6
+f 13 2 8
+f 14 11 5
+f 14 5 4
+f 15 12 6
+f 15 6 7
+f 17 13 8
+f 18 17 8
+f 18 14 4
+f 18 4 9
+f 19 8 11
+f 19 11 14
+f 19 18 8
+f 19 14 18
+f 20 7 10
+f 21 16 10
+f 21 10 2
+f 21 2 13
+f 21 13 16
+f 22 18 9
+f 22 17 18
+f 23 15 7
+f 23 7 20
+f 23 12 15
+f 24 13 17
+f 24 17 22
+f 24 23 20
+f 24 22 23
+f 24 16 13
+f 25 20 10
+f 25 10 16
+f 25 24 20
+f 25 16 24
+f 26 22 9
+f 26 9 12
+f 26 23 22
+f 26 12 23
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_15/collision/model_normalized_collision_20.obj b/objects/objaverse/chips/chips_15/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3dd836be5546e371bc12163fcdee49b252aa991d
--- /dev/null
+++ b/objects/objaverse/chips/chips_15/collision/model_normalized_collision_20.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.11129812 -0.27877253 0.17965341
+v 0.10257513 -0.26033563 0.18561276
+v -0.14516141 -0.27553688 0.17528084
+v -0.13555362 -0.14329031 0.19462756
+v 0.10486774 -0.14393939 0.12808600
+v -0.04539380 -0.20258853 0.20161083
+v -0.10474564 -0.26033858 0.18528754
+v 0.10440802 -0.14370957 0.20057728
+v -0.13755650 -0.14393939 0.12808600
+v -0.13436161 -0.23238527 0.18596923
+v 0.04304173 -0.20265318 0.20168688
+v 0.08747789 -0.14280838 0.20302357
+v -0.08964720 -0.15779934 0.20160224
+v -0.13625182 -0.26301277 0.17977438
+v 0.08736838 -0.15785247 0.20194587
+v -0.08980206 -0.14272930 0.20269946
+f 5 1 3
+f 7 1 2
+f 7 3 1
+f 7 2 6
+f 8 2 1
+f 8 1 5
+f 9 5 3
+f 9 3 4
+f 10 7 6
+f 10 4 3
+f 11 6 2
+f 12 8 5
+f 12 6 11
+f 13 10 6
+f 13 4 10
+f 14 10 3
+f 14 3 7
+f 14 7 10
+f 15 11 2
+f 15 2 8
+f 15 12 11
+f 15 8 12
+f 16 9 4
+f 16 4 13
+f 16 13 6
+f 16 6 12
+f 16 12 5
+f 16 5 9
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_15/collision/model_normalized_collision_23.obj b/objects/objaverse/chips/chips_15/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc5e1eda282175200dab617868f8aa81f3dab4ec
--- /dev/null
+++ b/objects/objaverse/chips/chips_15/collision/model_normalized_collision_23.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.20221043 0.09976609 0.17162955
+v 0.17817661 0.09825465 0.18275189
+v -0.13755650 0.09848485 0.12808600
+v -0.14819170 0.24404128 0.17926017
+v 0.19699140 0.23896942 0.16552774
+v -0.10465089 0.09772523 0.20234318
+v 0.16049820 0.09788336 0.18913821
+v -0.13567017 0.09813520 0.19581903
+v 0.02782011 0.21776716 0.20192177
+v 0.15934232 0.17274230 0.18512395
+v -0.13391762 0.21731026 0.18654316
+v 0.13145644 0.23144074 0.18528475
+v 0.10239815 0.09778098 0.20286190
+v -0.10454243 0.11284850 0.20167025
+v -0.03045384 0.21774396 0.20164827
+v 0.17561112 0.23282642 0.17413549
+v 0.10216078 0.12778506 0.20139837
+v -0.11941330 0.23172929 0.18723836
+v -0.07464774 0.17273858 0.20179968
+v 0.08751277 0.15783601 0.20161609
+v -0.13651522 0.23391456 0.18348892
+f 1 2 3
+f 5 2 1
+f 5 1 3
+f 5 3 4
+f 7 6 3
+f 7 3 2
+f 8 4 3
+f 8 3 6
+f 10 7 2
+f 10 2 5
+f 11 4 8
+f 12 5 4
+f 12 4 9
+f 13 9 6
+f 13 6 7
+f 14 11 8
+f 14 8 6
+f 15 9 4
+f 15 6 9
+f 16 12 10
+f 16 10 5
+f 16 5 12
+f 17 13 7
+f 17 7 10
+f 18 15 4
+f 19 14 6
+f 19 6 15
+f 19 15 18
+f 19 18 11
+f 19 11 14
+f 20 17 10
+f 20 10 12
+f 20 12 9
+f 20 9 13
+f 20 13 17
+f 21 18 4
+f 21 4 11
+f 21 11 18
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_15/collision/model_normalized_collision_25.obj b/objects/objaverse/chips/chips_15/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f1429446d36b6ea9337ab558eda85adf31c6ed4
--- /dev/null
+++ b/objects/objaverse/chips/chips_15/collision/model_normalized_collision_25.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.01383320 -0.14316188 0.20811678
+v 0.01381096 -0.14294614 -0.20765558
+v 0.01385249 0.09814880 0.21078264
+v -0.13567017 0.09813520 0.19581903
+v -0.13755650 -0.14393939 0.00687388
+v 0.01385785 0.09813554 -0.21107676
+v -0.11913092 -0.05264404 0.20146854
+v -0.13543409 0.09814144 -0.19618867
+v -0.08980206 -0.14272930 0.20269946
+v -0.10465089 0.09772523 0.20234318
+v -0.13555362 -0.14329031 0.19462756
+v -0.10464117 -0.08270423 -0.20295415
+v -0.11903459 0.03759431 0.20141788
+v -0.10477575 -0.12779282 0.20143634
+v -0.08968054 0.09786099 -0.20491810
+v -0.07503886 -0.14262186 -0.20385043
+v -0.13504651 -0.14309066 -0.19395004
+v -0.10455246 0.08281229 -0.20312422
+v -0.08954065 -0.12770240 -0.20307238
+f 5 2 1
+f 6 1 2
+f 6 3 1
+f 8 5 4
+f 8 4 3
+f 8 3 6
+f 9 1 3
+f 9 3 7
+f 10 3 4
+f 11 7 4
+f 11 4 5
+f 11 5 1
+f 11 1 9
+f 13 10 4
+f 13 4 7
+f 13 7 3
+f 13 3 10
+f 14 11 9
+f 14 9 7
+f 14 7 11
+f 15 8 6
+f 15 6 12
+f 16 12 6
+f 16 6 2
+f 17 5 8
+f 17 8 12
+f 17 16 2
+f 17 2 5
+f 18 15 12
+f 18 12 8
+f 18 8 15
+f 19 17 12
+f 19 12 16
+f 19 16 17
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_15/collision/model_normalized_collision_29.obj b/objects/objaverse/chips/chips_15/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4521429f9c5ea5ab4f536d360ee05cd4f6ea955
--- /dev/null
+++ b/objects/objaverse/chips/chips_15/collision/model_normalized_collision_29.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.10486774 -0.14393939 -0.09918673
+v 0.10415394 -0.14352298 -0.20011136
+v 0.10486774 0.09848485 -0.09918673
+v 0.01395865 0.09848485 -0.09918673
+v 0.01395865 -0.14393939 -0.09918673
+v 0.01385785 0.09813554 -0.21107676
+v 0.10227935 0.09772158 -0.20328188
+v 0.01381096 -0.14294614 -0.20765558
+v 0.10236495 -0.09763051 -0.20297912
+v 0.08736631 -0.12769104 -0.20348839
+v 0.07277581 -0.14259760 -0.20413602
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 6 4 3
+f 7 6 3
+f 7 3 2
+f 8 5 4
+f 8 4 6
+f 8 2 5
+f 9 7 2
+f 9 6 7
+f 10 8 6
+f 10 6 9
+f 10 9 2
+f 11 10 2
+f 11 2 8
+f 11 8 10
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_15/collision/model_normalized_collision_31.obj b/objects/objaverse/chips/chips_15/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98c2e5824277526a19c701f0417f93203d3d39d2
--- /dev/null
+++ b/objects/objaverse/chips/chips_15/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01395865 0.09848485 0.12808600
+v 0.01395865 0.09848485 0.00687388
+v 0.01395865 0.23484848 0.00687388
+v -0.14819170 0.24404128 0.17926017
+v -0.13755650 0.09848485 0.12808600
+v 0.01395865 0.23484848 0.12808600
+v -0.13755650 0.09848485 0.00687388
+v -0.13755650 0.23484848 0.00687388
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 3 2
+f 7 2 5
+f 7 5 4
+f 8 7 4
+f 8 4 3
+f 8 3 7
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_15/collision/model_normalized_collision_4.obj b/objects/objaverse/chips/chips_15/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6facdd121498b453e8da89a9acb99597b94aacf0
--- /dev/null
+++ b/objects/objaverse/chips/chips_15/collision/model_normalized_collision_4.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.19242228 -0.27088785 0.16692671
+v 0.17651584 -0.26249325 0.17271044
+v 0.01395865 -0.14393939 0.12808600
+v 0.01385249 0.09814880 0.21078264
+v 0.17817661 0.09825465 0.18275189
+v 0.01383320 -0.14316188 0.20811678
+v 0.11129812 -0.27877253 0.17965341
+v 0.17284406 -0.05275324 0.18589650
+v 0.20221043 0.09976609 0.17162955
+v 0.08747789 -0.14280838 0.20302357
+v 0.15955769 -0.18814502 0.18526403
+v 0.01395865 0.09848485 0.12808600
+v 0.10239815 0.09778098 0.20286190
+v 0.17323999 0.06761925 0.18580738
+v 0.11748728 -0.24662295 0.18648837
+v 0.11675993 -0.06778974 0.20148530
+v 0.16049820 0.09788336 0.18913821
+v 0.14618088 -0.21765107 0.18596848
+v 0.10288755 -0.24688709 0.18844937
+v 0.10239048 -0.12784334 0.20175400
+v 0.11669098 0.06760704 0.20132151
+v 0.10433475 -0.26402251 0.18441781
+f 7 1 2
+f 7 3 1
+f 7 6 3
+f 9 8 1
+f 10 4 6
+f 11 2 1
+f 11 1 8
+f 12 9 1
+f 12 1 3
+f 12 4 9
+f 12 6 4
+f 12 3 6
+f 13 9 4
+f 14 9 5
+f 14 8 9
+f 15 7 2
+f 16 11 8
+f 16 8 14
+f 16 13 4
+f 16 4 10
+f 17 5 9
+f 17 9 13
+f 17 14 5
+f 18 10 15
+f 18 15 2
+f 18 2 11
+f 19 15 10
+f 19 10 6
+f 20 16 10
+f 20 11 16
+f 20 18 11
+f 20 10 18
+f 21 16 14
+f 21 14 17
+f 21 17 13
+f 21 13 16
+f 22 19 6
+f 22 6 7
+f 22 7 15
+f 22 15 19
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_15/collision/model_normalized_collision_5.obj b/objects/objaverse/chips/chips_15/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d318cf477c3a7f38a3878616cfe4c750bf70a1b8
--- /dev/null
+++ b/objects/objaverse/chips/chips_15/collision/model_normalized_collision_5.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v -0.16061788 -0.45637373 0.01553871
+v -0.16782746 -0.39227382 0.11680286
+v -0.31695295 -0.48505263 0.00724747
+v -0.28488461 -0.21801937 0.08061435
+v -0.16785953 -0.26515151 0.00687388
+v -0.28062740 -0.38457127 0.10752698
+v -0.26249732 -0.45559280 0.06220578
+v -0.16778393 -0.26507769 0.17320683
+v -0.25918758 -0.46784123 0.00822873
+v -0.30346415 -0.22104354 0.00579305
+v -0.31339913 -0.40647249 0.07713794
+v -0.27085781 -0.39289797 0.11009325
+v -0.16608719 -0.32030782 0.15801092
+v -0.23544763 -0.26540503 0.14516047
+v -0.30272914 -0.21597625 0.01009935
+v -0.31508725 -0.45641733 0.06124201
+v -0.23891406 -0.33638266 0.13823267
+v -0.16753778 -0.37639478 0.12846451
+v -0.20705882 -0.26401481 0.16164499
+v -0.28923163 -0.36434037 0.10069376
+v -0.29240742 -0.22061943 0.06288225
+v -0.29191842 -0.39602774 0.09818569
+v -0.20719440 -0.30569840 0.15539611
+v -0.23909330 -0.37666953 0.12405224
+v -0.27442745 -0.26525351 0.10401496
+v -0.30237724 -0.22107059 0.02086429
+v -0.19475322 -0.32047094 0.15362909
+v -0.30156481 -0.23614794 0.03369611
+f 7 1 2
+f 7 3 1
+f 8 1 5
+f 8 5 4
+f 9 5 1
+f 9 1 3
+f 9 3 5
+f 10 5 3
+f 11 10 3
+f 13 1 8
+f 15 4 5
+f 15 5 10
+f 16 11 3
+f 16 3 7
+f 16 7 2
+f 17 6 12
+f 17 14 6
+f 18 2 1
+f 18 1 13
+f 18 16 2
+f 19 8 4
+f 19 4 14
+f 19 14 17
+f 20 6 14
+f 21 11 4
+f 21 4 15
+f 22 16 12
+f 22 12 6
+f 22 11 16
+f 22 20 11
+f 22 6 20
+f 23 19 17
+f 23 8 19
+f 24 17 12
+f 24 18 13
+f 24 12 16
+f 24 16 18
+f 25 20 14
+f 25 14 4
+f 25 4 11
+f 25 11 20
+f 26 21 15
+f 26 15 10
+f 26 10 11
+f 27 13 8
+f 27 8 23
+f 27 24 13
+f 27 23 17
+f 27 17 24
+f 28 26 11
+f 28 11 21
+f 28 21 26
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_15/collision/model_normalized_collision_6.obj b/objects/objaverse/chips/chips_15/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a8aa377046260b0793686215b71e5b39798c402
--- /dev/null
+++ b/objects/objaverse/chips/chips_15/collision/model_normalized_collision_6.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.30417395 -0.26496195 -0.02351768
+v 0.30256947 -0.26139014 -0.03186221
+v 0.30000827 0.23624719 -0.03541737
+v 0.26272745 0.23450815 0.11791910
+v 0.26167200 -0.14419157 0.11643761
+v 0.30067179 0.23624695 0.03463201
+v 0.27807096 -0.26355256 -0.09744828
+v 0.27305710 0.23561025 0.10449420
+v 0.28592706 -0.14878529 0.06490729
+v 0.28896297 -0.26622810 -0.07766444
+v 0.27682485 0.23361731 -0.09723716
+v 0.26962304 -0.14365176 0.10381887
+v 0.28878743 0.23599366 0.07612655
+v 0.28776455 0.23583014 -0.07700650
+f 1 2 3
+f 6 1 3
+f 7 1 5
+f 8 4 5
+f 9 1 6
+f 10 2 1
+f 10 1 7
+f 11 7 5
+f 11 5 4
+f 11 10 7
+f 12 5 1
+f 12 1 9
+f 12 8 5
+f 13 9 6
+f 13 12 9
+f 13 8 12
+f 13 6 3
+f 13 3 8
+f 14 3 2
+f 14 2 10
+f 14 10 11
+f 14 8 3
+f 14 11 4
+f 14 4 8
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_15/collision/model_normalized_collision_7.obj b/objects/objaverse/chips/chips_15/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f5012fe631bf04257d4570f5c39244ac25edd8d
--- /dev/null
+++ b/objects/objaverse/chips/chips_15/collision/model_normalized_collision_7.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.19655303 -0.27289645 0.16537544
+v 0.30221109 -0.26622862 -0.03571487
+v 0.25737122 -0.08332051 0.11343412
+v 0.18062531 -0.08333333 0.11293448
+v 0.18062531 -0.26515151 -0.08403521
+v 0.27483377 -0.26307940 0.10184952
+v 0.27287765 -0.08130000 -0.08502877
+v 0.29986291 -0.26667286 0.04736938
+v 0.27807096 -0.26355256 -0.09744828
+v 0.18062531 -0.08333333 -0.08403521
+v 0.26962304 -0.14365176 0.10381887
+v 0.29501204 -0.14488905 0.00680885
+v 0.28245735 -0.14649144 0.07487109
+v 0.30060677 -0.20584899 0.00622883
+v 0.29877823 -0.22123682 -0.03527596
+v 0.29927086 -0.22074492 0.03389986
+v 0.30036895 -0.20592046 -0.00719807
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 6 3 1
+f 7 4 3
+f 8 6 1
+f 8 1 2
+f 9 7 2
+f 9 2 5
+f 10 5 4
+f 10 4 7
+f 10 9 5
+f 10 7 9
+f 11 3 6
+f 11 6 8
+f 12 7 3
+f 13 11 8
+f 13 12 3
+f 13 3 11
+f 14 8 2
+f 15 2 7
+f 15 7 12
+f 16 13 8
+f 16 12 13
+f 16 14 12
+f 16 8 14
+f 17 14 2
+f 17 2 15
+f 17 15 12
+f 17 12 14
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_15/model.xml b/objects/objaverse/chips/chips_15/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..700f640a76f62112d5c310140c3d36e85025927f
--- /dev/null
+++ b/objects/objaverse/chips/chips_15/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="chips_10">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="Material.033" texture="image0" specular="0.5" shininess="0.0"/>
+  </asset>
+  <worldbody>
+    <body>
+      <body name="object">
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_0_vis" conaffinity="0" contype="0" group="1" material="Material.033"/>
+        <geom solimp="0.998 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="-7.249998990044302e-10 -0.00021983882379316653 -0.03060613019999999" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="-7.249998990044302e-10 -0.00021983882379316653 0.030563482799999993" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.0539987156628507 0.07192898432539582 -2.1323700000000634e-05" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/pear/pear_1/collision/model_normalized_collision_0.obj b/objects/objaverse/pear/pear_1/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90735beb886e0d78976839b18d0ce4b6a53fe26a
--- /dev/null
+++ b/objects/objaverse/pear/pear_1/collision/model_normalized_collision_0.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v 0.15242202 -0.13354325 -0.09471528
+v 0.22077833 -0.07399682 -0.19131764
+v 0.15886761 -0.01853377 0.00424788
+v 0.13965843 0.11050496 -0.04111945
+v 0.17875562 0.13502782 -0.14847753
+v 0.13742331 -0.09184718 -0.01118896
+v 0.17706092 -0.13455862 -0.15251933
+v 0.23245134 0.03762995 -0.18991183
+v 0.13881434 0.07937412 0.00531220
+v 0.13996565 -0.12145643 -0.05738437
+v 0.18859615 -0.10245554 -0.12208420
+v 0.20361138 -0.10997830 -0.18967424
+v 0.21837444 -0.03263000 -0.13714290
+v 0.13992328 -0.07773837 0.00589014
+v 0.13670056 0.09319472 -0.01169415
+v 0.15884435 0.02037667 0.00397746
+v 0.20365581 0.06346409 -0.12234049
+v 0.16681800 -0.12090657 -0.10330698
+v 0.20476310 -0.10453268 -0.17844060
+v 0.20619879 -0.10520861 -0.19065793
+v 0.21908815 -0.07384513 -0.17863832
+v 0.18690338 -0.07431378 -0.09401725
+v 0.21954003 0.02260576 -0.13703706
+v 0.19914063 0.10979078 -0.16169258
+v 0.15874062 0.04758860 -0.01332121
+v 0.14254513 -0.07459610 0.00357877
+v 0.22258014 0.05043459 -0.16389272
+v 0.19233701 0.10595792 -0.13592380
+v 0.14330755 0.07480104 0.00031741
+v 0.23055329 0.04436050 -0.18697690
+v 0.21831406 0.04964431 -0.15033418
+v 0.20334122 0.09136492 -0.14965478
+v 0.20693205 0.09289029 -0.16372448
+f 5 1 4
+f 7 1 5
+f 9 5 4
+f 10 4 1
+f 12 7 5
+f 13 2 8
+f 14 9 6
+f 14 3 9
+f 14 10 1
+f 14 6 10
+f 15 9 4
+f 15 6 9
+f 15 10 6
+f 15 4 10
+f 16 9 3
+f 18 1 7
+f 18 7 11
+f 18 14 1
+f 18 11 14
+f 19 11 7
+f 19 7 12
+f 20 8 2
+f 20 19 12
+f 20 12 5
+f 20 5 8
+f 21 13 11
+f 21 2 13
+f 21 11 19
+f 21 20 2
+f 21 19 20
+f 22 13 3
+f 22 11 13
+f 23 13 8
+f 23 17 16
+f 23 16 3
+f 23 3 13
+f 24 8 5
+f 25 16 17
+f 26 22 3
+f 26 3 14
+f 26 14 11
+f 26 11 22
+f 28 24 5
+f 28 5 9
+f 29 25 17
+f 29 9 16
+f 29 16 25
+f 29 28 9
+f 29 17 28
+f 30 27 23
+f 30 23 8
+f 30 8 24
+f 31 17 23
+f 31 23 27
+f 32 24 28
+f 32 31 27
+f 32 28 17
+f 32 17 31
+f 33 30 24
+f 33 24 32
+f 33 32 27
+f 33 27 30
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_1/collision/model_normalized_collision_17.obj b/objects/objaverse/pear/pear_1/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91c3e9d97c73c291f87cfe095483921612736eb1
--- /dev/null
+++ b/objects/objaverse/pear/pear_1/collision/model_normalized_collision_17.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v 0.09037193 -0.02942014 0.25942339
+v 0.10266090 -0.00379699 0.25966028
+v 0.07652940 0.06430583 0.38529782
+v 0.07716982 0.08768820 0.39335777
+v -0.04038410 0.04879650 0.26023984
+v -0.03926965 -0.02869393 0.25752749
+v 0.06169801 0.08308808 0.26454791
+v -0.02295536 0.07220916 0.25931436
+v 0.00499956 -0.02238114 0.31264037
+v 0.10133070 0.03543032 0.26061614
+v 0.01108239 0.07204044 0.32483885
+v 0.00070831 0.08832869 0.26138707
+v 0.05889459 -0.02008183 0.31469641
+v 0.00899114 0.01365509 0.33898043
+v 0.08774677 0.05975837 0.26236808
+v -0.01796271 0.07054241 0.27207141
+v 0.01084929 0.08383560 0.30458585
+v 0.06893052 0.00345997 0.32866324
+v 0.04132024 0.01645961 0.35293419
+v 0.05558442 0.06069185 0.37863330
+v -0.00253538 0.04527041 0.32675898
+v -0.03128411 -0.01327554 0.28223738
+v 0.06554791 0.08564417 0.38812089
+v 0.06949282 -0.02161937 0.29843055
+v 0.08583957 -0.02629951 0.26989836
+v 0.05858612 0.00541056 0.34042457
+v 0.01816632 0.00332505 0.34034192
+v -0.03485210 0.04732797 0.27221001
+v -0.03462632 -0.02521795 0.26781612
+v 0.00732299 -0.01078340 0.32475143
+v -0.00505906 0.01197618 0.32628199
+v -0.03306838 0.03523096 0.28527577
+v 0.02313572 0.08217890 0.32871746
+v 0.05685267 0.07701202 0.38371016
+v 0.05238552 0.01860420 0.35342598
+v 0.00750496 0.03576947 0.33929196
+f 1 2 3
+f 3 2 4
+f 6 2 1
+f 8 6 5
+f 8 2 6
+f 9 6 1
+f 10 4 2
+f 10 2 8
+f 12 4 7
+f 12 10 8
+f 13 9 1
+f 15 7 4
+f 15 4 10
+f 15 12 7
+f 15 10 12
+f 16 8 5
+f 16 5 11
+f 17 12 8
+f 17 16 11
+f 17 8 16
+f 18 3 13
+f 20 3 4
+f 20 19 3
+f 23 4 12
+f 23 12 17
+f 24 18 13
+f 24 13 1
+f 25 1 3
+f 25 3 18
+f 25 24 1
+f 25 18 24
+f 26 19 13
+f 26 13 3
+f 27 9 13
+f 27 13 19
+f 27 20 14
+f 27 19 20
+f 28 21 11
+f 28 11 5
+f 29 22 6
+f 29 6 9
+f 29 9 22
+f 30 22 9
+f 30 27 14
+f 30 9 27
+f 31 30 14
+f 31 22 30
+f 32 5 6
+f 32 6 22
+f 32 28 5
+f 32 22 31
+f 32 31 21
+f 32 21 28
+f 33 23 17
+f 33 17 11
+f 33 11 23
+f 34 23 11
+f 34 11 21
+f 34 14 20
+f 34 20 4
+f 34 4 23
+f 35 26 3
+f 35 3 19
+f 35 19 26
+f 36 34 21
+f 36 21 31
+f 36 31 14
+f 36 14 34
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_1/collision/model_normalized_collision_18.obj b/objects/objaverse/pear/pear_1/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd61ed31240312fc440de06688aa11f4c12679d9
--- /dev/null
+++ b/objects/objaverse/pear/pear_1/collision/model_normalized_collision_18.obj
@@ -0,0 +1,117 @@
+# https://github.com/mikedh/trimesh
+v 0.05148555 -0.11138186 0.13910329
+v 0.12553709 -0.03608908 0.15257634
+v 0.05236352 -0.03022875 0.30617548
+v -0.05386023 -0.01674084 0.24374321
+v -0.09580326 -0.02176977 0.14391559
+v 0.08916363 -0.02403028 0.26734366
+v -0.01407079 -0.10832691 0.15150271
+v 0.07700229 -0.09860090 0.13974823
+v -0.04320002 -0.01857904 0.26083583
+v -0.08281904 -0.01856415 0.18336164
+v 0.03605158 -0.09393168 0.19573555
+v -0.04001389 -0.10025779 0.13786962
+v -0.08125768 -0.05674233 0.13776579
+v 0.07284359 -0.07970144 0.19608365
+v 0.00390063 -0.03471135 0.29773341
+v 0.01321761 -0.09483435 0.19564004
+v -0.01625752 -0.11281092 0.13822573
+v -0.07974361 -0.02914491 0.18170096
+v -0.05071005 -0.05186178 0.21003721
+v 0.07312267 -0.04966797 0.25519679
+v 0.06079831 -0.09328618 0.18060486
+v 0.00073831 -0.02836201 0.30285767
+v -0.02291493 -0.04969341 0.25299159
+v 0.05051710 -0.10766261 0.15229807
+v 0.03601765 -0.04977888 0.28454901
+v -0.03682295 -0.09644149 0.15115904
+v -0.07757829 -0.05390675 0.15119569
+v -0.04991855 -0.02834446 0.24151014
+v 0.07306918 -0.03995165 0.27059341
+v 0.07420138 -0.09614869 0.15331595
+v 0.05049064 -0.06307059 0.25533611
+v 0.00384386 -0.06392744 0.25437906
+v -0.00805116 -0.05007442 0.26735324
+v -0.03511704 -0.03798599 0.25361315
+v 0.04791071 -0.03626129 0.30032619
+v -0.03706610 -0.06518359 0.20976214
+v 0.07912714 -0.03018010 0.27479811
+v 0.06177634 -0.04954148 0.26906057
+v 0.01425009 -0.04915230 0.28330680
+v -0.00037354 -0.07745957 0.22476426
+f 9 6 4
+f 9 3 6
+f 10 4 6
+f 10 6 2
+f 10 2 5
+f 13 5 2
+f 13 2 8
+f 13 8 1
+f 13 1 12
+f 14 8 2
+f 14 2 6
+f 17 12 1
+f 17 16 7
+f 18 10 5
+f 18 5 13
+f 18 4 10
+f 20 14 6
+f 22 15 3
+f 22 3 9
+f 24 11 16
+f 24 21 11
+f 24 17 1
+f 24 16 17
+f 25 16 11
+f 26 17 7
+f 26 12 17
+f 26 19 12
+f 27 13 12
+f 27 12 19
+f 27 19 18
+f 27 18 13
+f 28 9 4
+f 28 4 18
+f 28 18 19
+f 29 20 6
+f 30 8 14
+f 30 14 21
+f 30 21 24
+f 30 24 1
+f 30 1 8
+f 31 21 14
+f 31 25 11
+f 31 11 21
+f 32 16 25
+f 33 15 22
+f 33 22 23
+f 33 23 32
+f 34 23 22
+f 34 22 9
+f 34 9 28
+f 34 28 19
+f 35 3 15
+f 35 25 31
+f 36 19 26
+f 36 34 19
+f 36 23 34
+f 36 32 23
+f 37 29 6
+f 37 6 3
+f 37 3 29
+f 38 29 3
+f 38 20 29
+f 38 35 31
+f 38 3 35
+f 38 31 14
+f 38 14 20
+f 39 32 25
+f 39 33 32
+f 39 15 33
+f 39 35 15
+f 39 25 35
+f 40 7 16
+f 40 16 32
+f 40 26 7
+f 40 36 26
+f 40 32 36
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_1/collision/model_normalized_collision_21.obj b/objects/objaverse/pear/pear_1/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f7e7afbd83175d0051ad133828bd3f08e0027f4
--- /dev/null
+++ b/objects/objaverse/pear/pear_1/collision/model_normalized_collision_21.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.08315075 -0.09359371 0.14254699
+v 0.11854994 -0.05931014 0.13934156
+v 0.07754218 -0.04346667 0.25981230
+v 0.07874022 0.10476341 0.17186444
+v 0.08182080 0.10855811 0.14284022
+v 0.10133070 0.03543032 0.26061614
+v 0.07832479 -0.08709702 0.17058607
+v 0.09363087 -0.08699436 0.14022204
+v 0.09976179 -0.01445671 0.25767281
+v 0.07792622 0.08794548 0.21448049
+v 0.11591784 0.07557291 0.14170362
+v 0.09220494 0.10165677 0.14160098
+v 0.09921957 -0.04014330 0.22683423
+v 0.09646996 0.04368500 0.26720760
+v 0.11365711 -0.00370307 0.22904626
+v 0.09967527 0.08322920 0.18214604
+v 0.11247849 -0.05489656 0.16857595
+v 0.08891475 -0.08034047 0.16799505
+v 0.08630671 -0.03734178 0.25567789
+v 0.11157873 0.04600105 0.21254395
+v 0.11340005 0.02110043 0.23002673
+v 0.08544674 0.08373068 0.21148230
+v 0.08877588 0.09779975 0.17017672
+v 0.11397232 0.07451732 0.15512304
+v 0.11144876 -0.02918465 0.21273846
+v 0.09755003 0.07169569 0.21135062
+f 7 5 1
+f 7 4 5
+f 8 1 5
+f 8 7 1
+f 10 7 3
+f 10 4 7
+f 12 8 5
+f 12 2 8
+f 12 11 2
+f 12 5 4
+f 14 9 6
+f 14 3 9
+f 14 10 3
+f 15 6 9
+f 17 8 2
+f 18 13 3
+f 18 3 7
+f 18 7 8
+f 18 17 13
+f 18 8 17
+f 19 13 9
+f 19 9 3
+f 19 3 13
+f 20 14 6
+f 21 15 2
+f 21 2 11
+f 21 11 20
+f 21 20 6
+f 21 6 15
+f 22 4 10
+f 22 10 14
+f 23 16 12
+f 23 12 4
+f 23 22 16
+f 23 4 22
+f 24 11 12
+f 24 12 16
+f 24 20 11
+f 24 14 20
+f 25 17 2
+f 25 2 15
+f 25 15 9
+f 25 9 13
+f 25 13 17
+f 26 22 14
+f 26 16 22
+f 26 24 16
+f 26 14 24
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_1/collision/model_normalized_collision_27.obj b/objects/objaverse/pear/pear_1/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a401f5bd64ff0e91627966b9b417d8e0bfdac420
--- /dev/null
+++ b/objects/objaverse/pear/pear_1/collision/model_normalized_collision_27.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.02113035 -0.23511072 -0.16199521
+v 0.06479531 -0.21995687 -0.15523257
+v 0.03477610 -0.21402125 -0.10536009
+v -0.09206981 -0.19602726 -0.10152040
+v -0.11288693 -0.20605692 -0.15828694
+v 0.06855280 -0.19961455 -0.10063667
+v -0.03119753 -0.23106743 -0.13591778
+v 0.02029088 -0.23233035 -0.14742253
+v 0.05315479 -0.22535990 -0.16096050
+v 0.06272964 -0.20429612 -0.10374687
+v -0.04624367 -0.21571331 -0.10563600
+v -0.10515586 -0.19566035 -0.11718761
+v 0.07071486 -0.20345953 -0.11368989
+v -0.04732296 -0.23417253 -0.16231074
+v -0.00590257 -0.23101146 -0.13533617
+v -0.10681287 -0.21032137 -0.16155235
+v 0.05013849 -0.21475475 -0.12025804
+v 0.06485995 -0.20811508 -0.11750885
+v -0.07080196 -0.21541087 -0.12179249
+v -0.08839716 -0.21991140 -0.16275868
+v -0.04635283 -0.23112191 -0.14818852
+v -0.08543192 -0.21443792 -0.13737298
+f 9 8 1
+f 9 2 8
+f 10 6 3
+f 11 6 4
+f 11 3 6
+f 12 6 5
+f 12 4 6
+f 13 2 5
+f 13 5 6
+f 13 6 10
+f 14 1 7
+f 15 7 1
+f 15 1 8
+f 15 8 3
+f 15 11 7
+f 15 3 11
+f 16 5 2
+f 16 2 9
+f 17 8 2
+f 17 10 3
+f 17 3 8
+f 18 13 10
+f 18 2 13
+f 18 17 2
+f 18 10 17
+f 19 7 11
+f 19 11 4
+f 20 16 9
+f 20 9 1
+f 20 1 14
+f 21 14 7
+f 21 7 19
+f 21 20 14
+f 22 19 4
+f 22 4 12
+f 22 12 5
+f 22 5 16
+f 22 16 20
+f 22 21 19
+f 22 20 21
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_1/collision/model_normalized_collision_3.obj b/objects/objaverse/pear/pear_1/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d730fd66807187e696050178024206295932765
--- /dev/null
+++ b/objects/objaverse/pear/pear_1/collision/model_normalized_collision_3.obj
@@ -0,0 +1,126 @@
+# https://github.com/mikedh/trimesh
+v -0.19072252 0.09444623 -0.10312439
+v -0.10254084 0.17980301 -0.34892232
+v -0.10406464 0.18097620 -0.10344109
+v -0.10507062 0.20934035 -0.17702448
+v -0.18386167 0.14844989 -0.24777030
+v -0.17049065 0.14341971 -0.13761240
+v -0.16466684 0.10492499 -0.36110515
+v -0.11346240 0.20392285 -0.27575131
+v -0.17069583 0.10992400 -0.08879450
+v -0.11494633 0.18996339 -0.13664284
+v -0.19910360 0.11741645 -0.16411973
+v -0.15580319 0.17466528 -0.18041540
+v -0.11985257 0.15597408 -0.36363246
+v -0.10509573 0.20818856 -0.27733315
+v -0.18632716 0.10308137 -0.10574591
+v -0.12105935 0.15838903 -0.08899753
+v -0.17781740 0.09467399 -0.35079621
+v -0.12848558 0.17306488 -0.12278329
+v -0.10510748 0.19532516 -0.13362621
+v -0.18434120 0.14749447 -0.19102169
+v -0.14442060 0.18766740 -0.24843461
+v -0.11446323 0.20447529 -0.17934845
+v -0.16972586 0.14474866 -0.30115132
+v -0.10382155 0.19466878 -0.32060823
+v -0.20074778 0.10283133 -0.13633839
+v -0.20422760 0.09331437 -0.29245516
+v -0.11464772 0.17483173 -0.10669586
+v -0.17088437 0.15944412 -0.18044283
+v -0.19930524 0.11927839 -0.26223683
+v -0.14421654 0.18780933 -0.20669132
+v -0.15627948 0.13145809 -0.34481668
+v -0.15409397 0.17431402 -0.27348605
+v -0.14332852 0.17377229 -0.30184212
+v -0.18395458 0.11666402 -0.12212778
+v -0.18341720 0.10211721 -0.33228006
+v -0.20429389 0.09338768 -0.13449899
+v -0.18292599 0.13276327 -0.28873342
+v -0.17285455 0.10522324 -0.34748517
+v -0.11319724 0.17402996 -0.34493553
+v -0.13940423 0.15978214 -0.33133189
+v -0.18809282 0.09211159 -0.33476903
+v -0.19967568 0.10474892 -0.29042839
+v -0.11345839 0.18885848 -0.31747724
+f 3 2 4
+f 13 2 3
+f 14 8 4
+f 15 9 6
+f 15 1 9
+f 16 6 9
+f 16 9 7
+f 16 13 3
+f 16 7 13
+f 17 9 1
+f 17 7 9
+f 18 3 10
+f 18 6 16
+f 18 12 6
+f 18 10 12
+f 19 10 3
+f 19 3 4
+f 20 11 6
+f 22 12 10
+f 22 4 8
+f 22 8 21
+f 22 19 4
+f 22 10 19
+f 24 14 4
+f 24 4 2
+f 24 8 14
+f 25 1 15
+f 25 6 11
+f 27 18 16
+f 27 16 3
+f 27 3 18
+f 28 20 6
+f 28 6 12
+f 28 12 20
+f 29 20 5
+f 29 11 20
+f 30 20 12
+f 30 22 21
+f 30 12 22
+f 30 21 5
+f 30 5 20
+f 31 13 7
+f 32 23 5
+f 32 5 21
+f 32 21 8
+f 33 23 32
+f 33 32 8
+f 33 8 24
+f 34 25 15
+f 34 15 6
+f 34 6 25
+f 35 23 31
+f 36 25 11
+f 36 29 26
+f 36 11 29
+f 36 1 25
+f 37 29 5
+f 37 5 23
+f 37 23 35
+f 38 31 7
+f 38 7 17
+f 38 35 31
+f 38 17 35
+f 39 24 2
+f 39 2 13
+f 40 31 23
+f 40 23 33
+f 40 13 31
+f 40 39 13
+f 40 33 39
+f 41 35 17
+f 41 36 26
+f 41 17 1
+f 41 1 36
+f 42 26 29
+f 42 29 37
+f 42 37 35
+f 42 41 26
+f 42 35 41
+f 43 39 33
+f 43 33 24
+f 43 24 39
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_1/collision/model_normalized_collision_30.obj b/objects/objaverse/pear/pear_1/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3fcbeb91ba53b42076e06f0fe31b0d9be93661e6
--- /dev/null
+++ b/objects/objaverse/pear/pear_1/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.14598157 -0.14240738 -0.09883550
+v 0.18511441 -0.01770965 -0.38515015
+v 0.18917885 -0.00632530 -0.07539991
+v -0.11102126 -0.00663694 -0.09848485
+v -0.12056511 -0.15729833 -0.36700161
+v -0.11102126 -0.00663694 -0.35606060
+v -0.12576527 -0.16366812 -0.08590380
+v 0.13953809 -0.13521787 -0.35033260
+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_1/visual/material.mtl b/objects/objaverse/pear/pear_1/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9b69ee017d934c5b09e3ee53e590b4276cccd4fc
--- /dev/null
+++ b/objects/objaverse/pear/pear_1/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 159.99998100
+map_Kd material_0.png
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_1/visual/model_normalized_0.obj b/objects/objaverse/pear/pear_1/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fff49a5e240f467d3353ee9d695a07ffef40abb5
--- /dev/null
+++ b/objects/objaverse/pear/pear_1/visual/model_normalized_0.obj
@@ -0,0 +1,11653 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v 0.03361665 -0.09161233 0.20190375
+v 0.05279750 -0.08721686 0.20126935
+v 0.05187179 -0.07696290 0.22368693
+v 0.03441289 -0.08121596 0.22436664
+v 0.01648142 -0.08124833 0.22488452
+v 0.01400208 -0.09157996 0.20243458
+v 0.01121202 -0.10315450 0.17826917
+v 0.03271037 -0.10318687 0.17770598
+v 0.05379441 -0.09849361 0.17707158
+v -0.00510108 -0.08727512 0.20306250
+v -0.00091923 -0.07704059 0.22535061
+v -0.01734239 -0.06964143 0.22592674
+v -0.02287072 -0.07876252 0.20347680
+v -0.02863209 -0.08821377 0.17892946
+v -0.00954835 -0.09795632 0.17871584
+v -0.03879541 -0.06724625 0.20386521
+v -0.02287072 -0.07876252 0.20347680
+v -0.01734239 -0.06964143 0.22592674
+v -0.03217954 -0.05935511 0.22642520
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\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_13/collision/model_normalized_collision_0.obj b/objects/objaverse/pear/pear_13/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4324b3d2ef0ae4af828155d28f1d098bf89c4854
--- /dev/null
+++ b/objects/objaverse/pear/pear_13/collision/model_normalized_collision_0.obj
@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_13/collision/model_normalized_collision_1.obj b/objects/objaverse/pear/pear_13/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8bf9241f8056d8f1d6b0f4e7b296d566bbd7b81
--- /dev/null
+++ b/objects/objaverse/pear/pear_13/collision/model_normalized_collision_1.obj
@@ -0,0 +1,132 @@
+# https://github.com/mikedh/trimesh
+v -0.11739698 -0.20355007 -0.17895867
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+v -0.11376520 -0.11980480 0.00394422
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\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_13/collision/model_normalized_collision_10.obj b/objects/objaverse/pear/pear_13/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6791feeac45f62c6ead46c5706aa709d7e7210b9
--- /dev/null
+++ b/objects/objaverse/pear/pear_13/collision/model_normalized_collision_10.obj
@@ -0,0 +1,120 @@
+# https://github.com/mikedh/trimesh
+v 0.05613541 -0.12897631 0.13946932
+v 0.11671750 -0.02357596 0.15555609
+v 0.05083186 -0.02243667 0.28073571
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+f 36 15 22
+f 36 22 31
+f 37 19 31
+f 38 34 6
+f 38 6 4
+f 38 4 26
+f 38 26 34
+f 39 31 22
+f 39 22 34
+f 40 26 19
+f 40 19 37
+f 40 37 31
+f 40 31 39
+f 41 39 34
+f 41 34 26
+f 41 40 39
+f 41 26 40
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_13/collision/model_normalized_collision_11.obj b/objects/objaverse/pear/pear_13/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc59c86eff2ce3f3fcc4629b432a76ed7c9b372f
--- /dev/null
+++ b/objects/objaverse/pear/pear_13/collision/model_normalized_collision_11.obj
@@ -0,0 +1,168 @@
+# https://github.com/mikedh/trimesh
+v 0.00421409 -0.15601082 0.09514790
+v 0.17186233 -0.07581333 0.00382519
+v 0.10449575 0.04183761 0.13559276
+v -0.02747893 0.12947818 0.00214554
+v -0.15746689 -0.07273411 0.00321630
+v 0.11598543 0.11479591 0.00143266
+v 0.11857021 -0.06904031 0.13639508
+v -0.04207133 -0.15842522 0.00442683
+v -0.12052365 -0.05322958 0.14128329
+v 0.18515260 0.03184903 0.00174539
+v 0.02217377 0.09581618 0.12307435
+v -0.15388524 0.04201024 0.00053154
+v 0.09350165 -0.14109185 0.06307492
+v 0.05232397 0.08024542 0.13809805
+v -0.01079377 -0.13982391 0.13909123
+v 0.10245991 0.08647235 0.07422431
+v 0.15160379 -0.10042843 0.00261222
+v 0.16444055 -0.07015581 0.03091313
+v 0.13393406 0.01226444 0.12084055
+v 0.05555275 0.13060551 0.00170376
+v -0.14868636 0.00676536 0.03076625
+v -0.05604117 0.07926429 0.13904193
+v 0.15236557 0.07377059 0.00001001
+v 0.07095197 -0.15830047 0.00461031
+v -0.07689522 -0.11641844 0.14109231
+v 0.07395536 -0.12637595 0.13499065
+v 0.08910717 0.07195440 0.12031291
+v 0.18196381 -0.00556139 0.00180035
+v 0.10868072 -0.14814278 0.00352506
+v 0.14876841 -0.09789732 0.01674132
+v 0.11711355 0.02549342 0.13511862
+v 0.13155770 -0.02012320 0.12134974
+v 0.00340135 0.12732420 0.03168814
+v -0.15124500 -0.06699749 0.03093554
+v -0.12000090 -0.00773375 0.12595146
+v -0.09578427 0.10359310 0.00218918
+v -0.01136420 0.09499562 0.12474628
+v -0.10826931 0.02682461 0.14061167
+v 0.11465835 0.10975868 0.01450908
+v 0.07031326 -0.15556513 0.01922184
+v -0.12099328 -0.05851139 0.14047930
+v -0.08776440 -0.14403275 0.00458728
+v -0.05592822 -0.12553617 0.14007175
+v 0.08676179 -0.12931009 0.10469841
+v 0.00952417 -0.14026806 0.13783148
+v 0.00941550 -0.15485177 0.09472411
+v 0.13302939 -0.06847904 0.10577540
+v 0.03769334 0.12442308 0.03015926
+v -0.07372430 0.11680693 0.00313028
+v -0.15003632 0.03874609 0.01375736
+v -0.07544799 0.07009352 0.12492867
+v -0.09078413 -0.12998076 0.04767661
+v -0.07712275 -0.12863627 0.09324514
+v 0.11678134 -0.09877825 0.09056413
+v -0.07783148 0.10086488 0.04631782
+v -0.08600404 -0.13843078 0.03370617
+v -0.07054404 -0.12396893 0.12457352
+f 12 8 5
+f 14 6 11
+f 20 11 6
+f 20 12 4
+f 21 12 5
+f 23 17 12
+f 23 16 10
+f 23 20 6
+f 23 12 20
+f 24 1 8
+f 25 15 7
+f 25 7 14
+f 26 7 15
+f 27 3 10
+f 27 10 16
+f 27 14 3
+f 28 2 17
+f 28 18 2
+f 28 23 10
+f 28 17 23
+f 29 8 12
+f 29 12 17
+f 29 24 8
+f 29 17 13
+f 29 13 24
+f 30 17 2
+f 30 13 17
+f 31 19 10
+f 31 10 3
+f 31 7 19
+f 31 14 7
+f 31 3 14
+f 32 10 19
+f 32 28 10
+f 32 18 28
+f 32 19 7
+f 33 20 4
+f 34 21 5
+f 35 21 9
+f 35 12 21
+f 36 4 12
+f 37 22 14
+f 37 14 11
+f 37 11 33
+f 37 33 4
+f 37 4 22
+f 38 14 22
+f 38 25 14
+f 38 9 25
+f 38 35 9
+f 39 23 6
+f 39 16 23
+f 39 27 16
+f 39 6 14
+f 39 14 27
+f 40 24 13
+f 40 1 24
+f 41 25 9
+f 41 5 25
+f 41 34 5
+f 41 9 21
+f 41 21 34
+f 42 5 8
+f 42 8 1
+f 43 1 15
+f 43 15 25
+f 44 7 26
+f 44 26 13
+f 44 13 30
+f 44 30 2
+f 45 26 15
+f 45 15 1
+f 45 1 26
+f 46 26 1
+f 46 13 26
+f 46 40 13
+f 46 1 40
+f 47 32 7
+f 47 18 32
+f 48 33 11
+f 48 11 20
+f 48 20 33
+f 49 22 4
+f 49 4 36
+f 50 38 12
+f 50 12 35
+f 50 35 38
+f 51 36 12
+f 51 12 38
+f 51 38 22
+f 52 25 5
+f 52 5 42
+f 54 44 2
+f 54 2 18
+f 54 18 47
+f 54 47 7
+f 54 7 44
+f 55 49 36
+f 55 22 49
+f 55 51 22
+f 55 36 51
+f 56 52 42
+f 56 25 52
+f 56 53 25
+f 56 42 1
+f 56 1 53
+f 57 43 25
+f 57 25 53
+f 57 53 1
+f 57 1 43
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_13/collision/model_normalized_collision_12.obj b/objects/objaverse/pear/pear_13/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4bdfe58798a6c66ac08664071737084ab2661e50
--- /dev/null
+++ b/objects/objaverse/pear/pear_13/collision/model_normalized_collision_12.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.10735860 -0.00665553 -0.09848485
+v -0.10735860 -0.00665553 -0.35606061
+v -0.10735860 0.09940508 -0.35606061
+v -0.13376060 0.12384884 -0.07983361
+v -0.24570957 -0.00870687 -0.16206032
+v -0.21461953 -0.00650053 -0.09782861
+v -0.24303978 -0.00775450 -0.34759068
+v -0.22638782 0.08505810 -0.16468597
+v -0.21402521 0.07078689 -0.12391179
+v -0.24139117 0.08575318 -0.32190177
+v -0.20950930 0.03818975 -0.10046532
+v -0.21261439 0.08463222 -0.14005996
+v -0.22445085 0.06609905 -0.13854935
+v -0.24150497 0.08603200 -0.22123449
+v -0.23041117 0.08946760 -0.34792385
+v -0.18608691 0.08812774 -0.10708976
+v -0.22813748 0.03637050 -0.13668197
+v -0.23982086 0.08032088 -0.19415647
+v -0.24059601 0.03753043 -0.34628346
+v -0.24131764 0.02091178 -0.16305100
+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 10 7 5
+f 11 6 4
+f 12 9 4
+f 12 4 8
+f 12 8 9
+f 13 9 8
+f 13 11 9
+f 14 10 5
+f 14 8 4
+f 14 4 10
+f 15 3 7
+f 15 10 4
+f 15 4 3
+f 16 11 4
+f 16 4 9
+f 16 9 11
+f 17 13 5
+f 17 5 6
+f 17 6 11
+f 17 11 13
+f 18 13 8
+f 18 8 14
+f 18 14 5
+f 19 15 7
+f 19 7 10
+f 19 10 15
+f 20 18 5
+f 20 5 13
+f 20 13 18
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_13/collision/model_normalized_collision_13.obj b/objects/objaverse/pear/pear_13/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f43b618041accc9395e5b32e47f2a0d02fd6dbd
--- /dev/null
+++ b/objects/objaverse/pear/pear_13/collision/model_normalized_collision_13.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.12483588 0.10697684 0.00223704
+v 0.17278618 0.12052245 -0.09319091
+v 0.05611547 0.19507207 -0.10596139
+v -0.02781986 0.19387604 -0.10695627
+v -0.12780708 0.13348841 -0.08403937
+v 0.15583152 0.15234047 -0.10529159
+v 0.01730256 0.14184720 0.00110325
+v -0.09912011 0.10675289 -0.01140987
+v 0.14618671 0.16397585 -0.10566068
+v -0.10526035 0.16800954 -0.10329112
+v 0.12105358 0.11460561 -0.00134662
+v 0.01638983 0.18881497 -0.08029954
+v 0.15366938 0.10512303 -0.04491926
+v -0.08780059 0.11038265 0.00552502
+v -0.07376251 0.17908784 -0.10602797
+v -0.08602309 0.11409017 0.00179832
+f 6 1 2
+f 8 5 2
+f 9 6 4
+f 9 4 3
+f 10 6 2
+f 10 2 5
+f 11 7 1
+f 11 3 7
+f 11 9 3
+f 11 1 6
+f 11 6 9
+f 12 7 3
+f 12 3 4
+f 12 4 7
+f 13 8 2
+f 13 2 1
+f 13 1 8
+f 14 8 1
+f 14 1 7
+f 14 10 5
+f 14 5 8
+f 15 10 4
+f 15 4 6
+f 15 6 10
+f 16 14 7
+f 16 7 4
+f 16 4 10
+f 16 10 14
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_13/collision/model_normalized_collision_14.obj b/objects/objaverse/pear/pear_13/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54512b9ce1c2d81db9628cc3e0e9c27e8886b4d9
--- /dev/null
+++ b/objects/objaverse/pear/pear_13/collision/model_normalized_collision_14.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v 0.15653662 0.13182556 -0.08316084
+v 0.16321135 0.13742154 -0.37890671
+v 0.11249134 0.21641554 -0.19343920
+v 0.00446287 0.24661967 -0.17992446
+v -0.10735860 0.11455659 -0.35606061
+v 0.00694624 0.24879701 -0.31943286
+v 0.03801031 0.23386086 -0.15384901
+v 0.12813806 0.20138916 -0.15384901
+v -0.12780708 0.13348841 -0.08403937
+v 0.12753542 0.20107292 -0.31949479
+v 0.03735228 0.24833121 -0.20825363
+v -0.10479437 0.21060436 -0.35113725
+v 0.12876946 0.17283862 -0.10969463
+v -0.01063845 0.20280575 -0.11150408
+v 0.12921106 0.19027043 -0.35119143
+v 0.11255858 0.21754164 -0.26369528
+v -0.01213968 0.24890128 -0.30540102
+v 0.02195858 0.24651376 -0.17948367
+v -0.10207345 0.21956920 -0.19548070
+v 0.00434072 0.21848549 -0.12626948
+v 0.03896341 0.20371072 -0.11064634
+v 0.02193986 0.24840212 -0.30413676
+v 0.02196176 0.23251037 -0.34832711
+v -0.01067315 0.24656733 -0.19509126
+v -0.02690125 0.23256846 -0.34703696
+v -0.01082979 0.23369523 -0.15384901
+v -0.07160700 0.23195031 -0.30707438
+v 0.02388844 0.21911142 -0.12561861
+v 0.06646012 0.23091399 -0.30328127
+v 0.03718103 0.24780753 -0.24930598
+v 0.00318352 0.24821728 -0.32034519
+v -0.10267898 0.21712502 -0.33525746
+v -0.10236968 0.17330649 -0.10991254
+v -0.07169034 0.23280405 -0.20983727
+v -0.08743496 0.21713444 -0.34689805
+v -0.10192865 0.20397386 -0.15384901
+f 5 2 1
+f 8 1 2
+f 9 5 1
+f 10 8 2
+f 11 8 3
+f 12 2 5
+f 12 5 9
+f 13 8 7
+f 13 1 8
+f 15 10 2
+f 16 3 8
+f 16 8 10
+f 16 11 3
+f 17 11 6
+f 18 11 4
+f 18 7 8
+f 18 8 11
+f 19 12 9
+f 21 14 9
+f 21 9 1
+f 21 1 13
+f 21 13 7
+f 22 15 6
+f 22 6 11
+f 23 6 15
+f 23 15 2
+f 24 4 11
+f 24 11 17
+f 25 6 23
+f 25 23 2
+f 25 2 12
+f 26 18 4
+f 26 7 18
+f 26 4 19
+f 28 20 14
+f 28 14 21
+f 28 21 7
+f 28 26 20
+f 28 7 26
+f 29 10 15
+f 29 15 22
+f 29 22 16
+f 29 16 10
+f 30 22 11
+f 30 11 16
+f 30 16 22
+f 31 17 6
+f 31 6 25
+f 32 31 25
+f 32 17 31
+f 32 27 17
+f 32 12 19
+f 32 19 27
+f 33 14 20
+f 33 20 26
+f 33 9 14
+f 34 24 17
+f 34 17 27
+f 34 27 19
+f 34 19 4
+f 34 4 24
+f 35 32 25
+f 35 25 12
+f 35 12 32
+f 36 33 26
+f 36 26 19
+f 36 19 9
+f 36 9 33
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_13/collision/model_normalized_collision_15.obj b/objects/objaverse/pear/pear_13/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b92ca074794e32e828d34ddab656598988e3f5f5
--- /dev/null
+++ b/objects/objaverse/pear/pear_13/collision/model_normalized_collision_15.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.15200950 -0.00264720 0.02404926
+v -0.10735860 -0.00665553 -0.09848485
+v -0.10257382 0.09487281 0.00534897
+v -0.10526035 0.16800954 -0.10329112
+v -0.20735054 -0.00352622 -0.08523545
+v -0.09739895 0.12048716 -0.03102059
+v -0.16644118 -0.00815245 -0.01372783
+v -0.18608691 0.08812774 -0.10708976
+v -0.10331807 0.16138813 -0.09258862
+v -0.15964635 -0.00740227 0.00450680
+v -0.11792034 0.16570941 -0.10539476
+v -0.19799394 0.06884860 -0.09867824
+v -0.11467181 0.15955732 -0.09482050
+v -0.18890856 0.06043708 -0.07479342
+v -0.15388524 0.04201024 0.00053154
+f 1 2 3
+f 6 3 2
+f 7 5 2
+f 8 2 5
+f 9 6 2
+f 9 2 4
+f 9 3 6
+f 10 7 2
+f 10 2 1
+f 10 1 5
+f 10 5 7
+f 11 4 2
+f 11 2 8
+f 11 9 4
+f 12 8 5
+f 12 11 8
+f 13 11 3
+f 13 3 9
+f 13 9 11
+f 14 12 5
+f 14 5 1
+f 15 14 1
+f 15 1 3
+f 15 3 11
+f 15 11 12
+f 15 12 14
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_13/collision/model_normalized_collision_16.obj b/objects/objaverse/pear/pear_13/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..774245bb14377155a43c1275fccaad4e1abd1dd6
--- /dev/null
+++ b/objects/objaverse/pear/pear_13/collision/model_normalized_collision_16.obj
@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
+v 0.01026322 -0.08552538 0.25729086
+v 0.06277338 -0.04261466 0.25606697
+v -0.02636370 -0.00955231 0.38758786
+v -0.01457604 0.05179676 0.31771857
+v -0.05612817 0.05267016 0.26174383
+v 0.05747196 0.01235095 0.27214213
+v 0.02965556 -0.07121891 0.26885423
+v -0.07700071 -0.05692869 0.25863415
+v -0.03575612 0.01423006 0.38391117
+v 0.02780257 -0.01889530 0.31313304
+v 0.02416685 0.05576293 0.26190361
+v 0.03504582 -0.07537998 0.25795842
+v 0.00092615 -0.02730939 0.34321722
+v -0.01489125 -0.05013743 0.32922972
+v -0.07753641 0.02723611 0.26040210
+v -0.04255131 -0.08360299 0.25809494
+v -0.03346216 0.04175908 0.33121973
+v 0.00213850 0.03345400 0.34329000
+v -0.04149595 -0.01276428 0.38969072
+v 0.05757210 -0.03838846 0.26717516
+v 0.06250800 0.01487884 0.25889162
+v -0.01202796 -0.03849953 0.34296050
+v 0.01854107 -0.06805260 0.28172407
+v -0.05345306 0.05072264 0.27628774
+v -0.04237024 -0.06359647 0.30107345
+v -0.00601287 0.05154259 0.31788030
+v -0.02329318 0.01521016 0.38064976
+v -0.07610985 0.01418786 0.28633442
+v 0.01093841 0.04714735 0.31663152
+v -0.07504700 0.02526977 0.27279752
+v -0.04262871 0.04188395 0.31484275
+v -0.05610800 -0.05238350 0.31689149
+v -0.07483076 -0.04029504 0.28476686
+v 0.00609661 0.04015249 0.33093953
+v 0.02577627 0.04829304 0.28626117
+v -0.06480034 -0.07408554 0.25989899
+v -0.07305410 -0.05424693 0.27209417
+v 0.02191117 0.04954428 0.29065362
+v -0.06171279 -0.07018379 0.27333153
+f 10 6 3
+f 11 5 4
+f 12 7 1
+f 12 1 2
+f 15 2 8
+f 16 8 2
+f 16 2 1
+f 17 9 4
+f 19 3 9
+f 19 14 3
+f 20 10 3
+f 20 2 6
+f 20 6 10
+f 20 3 13
+f 20 13 7
+f 20 12 2
+f 20 7 12
+f 21 6 2
+f 21 5 11
+f 21 15 5
+f 21 2 15
+f 22 13 3
+f 22 7 13
+f 22 3 14
+f 23 14 1
+f 23 1 7
+f 23 22 14
+f 23 7 22
+f 24 5 15
+f 24 17 4
+f 24 4 5
+f 25 16 1
+f 25 1 14
+f 25 14 19
+f 26 4 9
+f 26 11 4
+f 27 9 3
+f 27 3 6
+f 27 6 18
+f 27 26 9
+f 27 18 26
+f 28 15 8
+f 28 19 9
+f 29 11 26
+f 30 24 15
+f 30 9 24
+f 30 28 9
+f 30 15 28
+f 31 24 9
+f 31 9 17
+f 31 17 24
+f 32 25 19
+f 32 16 25
+f 33 28 8
+f 33 19 28
+f 33 32 19
+f 34 18 6
+f 34 6 29
+f 34 29 26
+f 34 26 18
+f 35 29 6
+f 35 6 21
+f 35 21 11
+f 36 32 8
+f 36 8 16
+f 37 33 8
+f 37 8 32
+f 37 32 33
+f 38 35 11
+f 38 11 29
+f 38 29 35
+f 39 36 16
+f 39 16 32
+f 39 32 36
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_13/collision/model_normalized_collision_17.obj b/objects/objaverse/pear/pear_13/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f22b147c70dabb584962b2e4431c8bff49c11da
--- /dev/null
+++ b/objects/objaverse/pear/pear_13/collision/model_normalized_collision_17.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.09088846 -0.09860018 0.14452361
+v 0.12187054 -0.05091934 0.13867949
+v 0.08112030 -0.06071231 0.21394224
+v 0.07983242 0.03163101 0.20022489
+v 0.10251871 0.03378793 0.15092684
+v 0.08878522 0.01193568 0.21263760
+v 0.08289586 -0.09211577 0.17030797
+v 0.12338457 0.01498981 0.13819989
+v 0.08397966 0.03437730 0.18659586
+v 0.08842098 -0.05466239 0.20965302
+v 0.08243504 0.01838256 0.21593836
+v 0.07975078 -0.07481092 0.19848507
+v 0.09792196 -0.09201893 0.14081077
+v 0.11922728 0.01190854 0.15130872
+v 0.10420199 -0.06966402 0.16503671
+v 0.11677731 -0.05091661 0.15125327
+v 0.10282411 -0.05966135 0.17994822
+v 0.09047795 -0.08597381 0.16587306
+v 0.11153671 -0.07562156 0.14010792
+f 9 5 1
+f 9 4 5
+f 9 7 4
+f 9 1 7
+f 10 6 3
+f 11 4 3
+f 11 3 6
+f 11 8 5
+f 11 5 4
+f 12 3 4
+f 12 4 7
+f 12 10 3
+f 13 8 2
+f 13 1 5
+f 13 5 8
+f 14 2 8
+f 14 6 10
+f 14 11 6
+f 14 8 11
+f 15 12 7
+f 16 2 14
+f 17 10 12
+f 17 12 15
+f 17 2 16
+f 17 16 14
+f 17 14 10
+f 18 15 7
+f 18 7 1
+f 18 1 15
+f 19 15 1
+f 19 1 13
+f 19 13 2
+f 19 17 15
+f 19 2 17
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_13/collision/model_normalized_collision_18.obj b/objects/objaverse/pear/pear_13/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..944c44ca3543c54378c1d586b647ce139b81c3a4
--- /dev/null
+++ b/objects/objaverse/pear/pear_13/collision/model_normalized_collision_18.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.23158359 -0.11857559 -0.23541842
+v 0.25428326 -0.08854599 -0.30369714
+v 0.26294177 -0.08869789 -0.23398604
+v 0.22727929 0.11552136 -0.23498939
+v 0.21769507 -0.10471199 -0.35238276
+v 0.25625199 0.07205939 -0.30453318
+v 0.23270943 0.10833207 -0.23393938
+v 0.23981140 -0.09690386 -0.31866738
+v 0.21915649 0.09392697 -0.35333243
+v 0.23770418 -0.08147818 -0.34913873
+v 0.24746814 -0.10351291 -0.23395331
+v 0.25899299 0.07444634 -0.23442281
+v 0.22573944 -0.09784135 -0.34922574
+v 0.21912972 0.10905698 -0.32301869
+v 0.25413384 0.06700094 -0.31998406
+v 0.25328952 0.03935584 -0.31997064
+v 0.23941897 0.07070838 -0.34931491
+f 1 2 3
+f 5 1 4
+f 6 3 2
+f 7 4 1
+f 8 2 1
+f 8 1 5
+f 10 5 9
+f 11 7 1
+f 11 1 3
+f 11 3 7
+f 12 6 4
+f 12 4 7
+f 12 7 3
+f 12 3 6
+f 13 8 5
+f 13 2 8
+f 13 10 2
+f 13 5 10
+f 14 9 5
+f 14 5 4
+f 14 4 6
+f 15 6 2
+f 15 14 6
+f 16 15 2
+f 16 2 10
+f 16 10 15
+f 17 15 10
+f 17 10 9
+f 17 9 14
+f 17 14 15
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_13/collision/model_normalized_collision_19.obj b/objects/objaverse/pear/pear_13/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41e4eed1261130afb7a92ff7c7ef501618d2c399
--- /dev/null
+++ b/objects/objaverse/pear/pear_13/collision/model_normalized_collision_19.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v 0.18402071 0.10518578 -0.09164874
+v 0.23167833 0.10710599 -0.27997964
+v 0.16382506 0.19313168 -0.17829015
+v 0.12963119 0.20644814 -0.17720408
+v 0.16321135 0.13742154 -0.37890671
+v 0.13231126 0.16751764 -0.10338878
+v 0.23077213 0.10691686 -0.19188267
+v 0.20582273 0.11052316 -0.35333135
+v 0.12894186 0.20530195 -0.30499876
+v 0.15979121 0.18998500 -0.15384901
+v 0.16269463 0.11240588 -0.06977873
+v 0.21577214 0.10635933 -0.33682673
+v 0.19374516 0.16256169 -0.20865037
+v 0.15823084 0.20200699 -0.20843541
+v 0.15291363 0.18676346 -0.33363623
+v 0.12977147 0.19077130 -0.13821367
+v 0.12921106 0.19027043 -0.35119143
+v 0.17970686 0.16336816 -0.15354808
+v 0.15017996 0.16294648 -0.10932515
+v 0.17088089 0.10680377 -0.07506146
+v 0.17866820 0.14634969 -0.34925701
+v 0.16243901 0.19113494 -0.30295154
+v 0.14256482 0.18560446 -0.34969626
+v 0.21759437 0.10836536 -0.14898324
+v 0.15255074 0.17455787 -0.12573206
+v 0.15710455 0.12306133 -0.07407999
+v 0.20932129 0.13166047 -0.30355596
+v 0.19309197 0.16204978 -0.23293333
+v 0.14238435 0.20028758 -0.30409162
+v 0.19387127 0.13233588 -0.13899067
+v 0.21172781 0.11918278 -0.15251413
+v 0.16331978 0.16132848 -0.12591243
+v 0.15774715 0.20173102 -0.23333959
+f 12 7 1
+f 12 2 7
+f 13 7 2
+f 13 3 7
+f 14 9 4
+f 14 3 13
+f 14 10 3
+f 14 4 10
+f 16 4 9
+f 16 10 4
+f 17 16 9
+f 17 6 16
+f 17 11 6
+f 17 5 11
+f 18 7 3
+f 18 3 10
+f 20 1 11
+f 20 12 1
+f 20 8 12
+f 20 11 5
+f 20 5 8
+f 21 15 8
+f 21 8 5
+f 22 8 15
+f 23 5 17
+f 23 21 5
+f 23 15 21
+f 23 17 9
+f 23 9 15
+f 24 1 7
+f 25 6 19
+f 25 16 6
+f 25 10 16
+f 25 19 11
+f 26 19 6
+f 26 6 11
+f 26 11 19
+f 27 12 8
+f 27 8 22
+f 27 22 2
+f 27 2 12
+f 28 13 2
+f 28 2 22
+f 29 22 15
+f 29 15 9
+f 30 1 24
+f 30 18 10
+f 30 10 1
+f 31 24 7
+f 31 7 18
+f 31 30 24
+f 31 18 30
+f 32 1 10
+f 32 10 25
+f 32 25 11
+f 32 11 1
+f 33 28 22
+f 33 14 13
+f 33 13 28
+f 33 22 29
+f 33 29 9
+f 33 9 14
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_13/collision/model_normalized_collision_2.obj b/objects/objaverse/pear/pear_13/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa1711a6f43ac3ff7ec5722f0b1fe902e3b3d424
--- /dev/null
+++ b/objects/objaverse/pear/pear_13/collision/model_normalized_collision_2.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v -0.00621922 -0.24901776 -0.20956080
+v 0.16096707 -0.15350739 -0.36451924
+v 0.15403025 -0.14694083 -0.09638375
+v -0.09930463 -0.13668346 0.00497426
+v -0.13867978 -0.17811252 -0.37571239
+v -0.11398152 -0.13517494 -0.02855683
+v 0.01983867 -0.16865123 0.01263580
+v 0.14483735 -0.20018573 -0.20902693
+v -0.00735665 -0.24625582 -0.33618333
+v -0.11616883 -0.21511704 -0.22178259
+v -0.00972919 -0.16883156 0.00379345
+v 0.14378599 -0.18605378 -0.15079604
+v 0.02355428 -0.23263549 -0.34836190
+v 0.02276664 -0.24578189 -0.28184033
+v -0.11628950 -0.16854805 -0.09193295
+v -0.03936322 -0.24532996 -0.30694716
+v -0.09594909 -0.14183519 0.00281611
+v 0.01013240 -0.17253762 0.00442980
+v 0.13423304 -0.17203447 -0.10729245
+v -0.05390516 -0.23054191 -0.34683432
+v 0.13842863 -0.20181367 -0.31950576
+v 0.00763721 -0.24584721 -0.22122883
+v -0.11655832 -0.19971216 -0.16612165
+v -0.04049346 -0.24566392 -0.26721010
+v -0.11534617 -0.21560342 -0.30705876
+v -0.01161633 -0.24874982 -0.21025479
+v -0.02423053 -0.24537813 -0.33725952
+v 0.11409941 -0.20146968 -0.35082461
+v 0.11354408 -0.21508952 -0.28187277
+v 0.02239046 -0.24439989 -0.30521712
+v 0.05319960 -0.23019600 -0.21077074
+v -0.11576069 -0.20313459 -0.34827551
+v -0.02516277 -0.22845700 -0.16669629
+v -0.10075339 -0.21425825 -0.19548644
+v -0.02536230 -0.24572430 -0.22174886
+v 0.13624934 -0.19012221 -0.34985606
+v 0.11329424 -0.21408095 -0.30521279
+v -0.09916493 -0.21468606 -0.33537417
+f 6 3 2
+f 6 4 3
+f 6 2 5
+f 7 3 4
+f 8 2 3
+f 12 7 1
+f 12 8 3
+f 13 5 2
+f 14 1 9
+f 15 6 5
+f 15 4 6
+f 17 11 7
+f 17 7 4
+f 17 4 15
+f 18 1 7
+f 18 7 11
+f 19 12 3
+f 19 3 7
+f 19 7 12
+f 20 5 13
+f 21 2 8
+f 22 1 14
+f 23 15 5
+f 23 5 10
+f 23 17 15
+f 23 11 17
+f 25 10 5
+f 25 24 10
+f 25 16 24
+f 26 18 11
+f 26 1 18
+f 26 24 16
+f 26 16 9
+f 26 9 1
+f 27 20 13
+f 27 13 9
+f 27 9 16
+f 27 25 20
+f 27 16 25
+f 28 21 13
+f 28 13 2
+f 29 21 8
+f 29 8 14
+f 30 14 9
+f 31 1 22
+f 31 12 1
+f 31 8 12
+f 31 22 14
+f 31 14 8
+f 32 25 5
+f 32 5 20
+f 33 26 11
+f 33 11 23
+f 33 23 26
+f 34 26 23
+f 34 23 10
+f 34 10 26
+f 35 26 10
+f 35 10 24
+f 35 24 26
+f 36 28 2
+f 36 2 21
+f 36 21 28
+f 37 30 9
+f 37 21 29
+f 37 29 14
+f 37 14 30
+f 37 9 13
+f 37 13 21
+f 38 32 20
+f 38 20 25
+f 38 25 32
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_13/collision/model_normalized_collision_20.obj b/objects/objaverse/pear/pear_13/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88c57ac002d507f08ef8d2f576df20528db7385d
--- /dev/null
+++ b/objects/objaverse/pear/pear_13/collision/model_normalized_collision_20.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.14622160 -0.19208245 -0.17707292
+v 0.23184909 -0.10380749 -0.32176296
+v 0.23256024 -0.10390622 -0.16187239
+v 0.20207856 -0.10378389 -0.10336307
+v 0.17246640 -0.13442376 -0.37356757
+v 0.14130417 -0.17930693 -0.13369913
+v 0.15060775 -0.18935549 -0.31920073
+v 0.21769507 -0.10471199 -0.35238276
+v 0.17930372 -0.15648816 -0.16440578
+v 0.15003931 -0.17270786 -0.13723470
+v 0.16721234 -0.13007589 -0.08900405
+v 0.22494546 -0.11232960 -0.31879035
+v 0.15065586 -0.18829607 -0.17869105
+v 0.14343343 -0.18187861 -0.35162373
+v 0.19550556 -0.11222141 -0.10702984
+v 0.14083211 -0.16366992 -0.10365622
+v 0.22535658 -0.11164896 -0.16421150
+v 0.14256337 -0.19622613 -0.32235774
+f 3 2 4
+f 8 5 4
+f 8 4 2
+f 10 9 3
+f 10 6 1
+f 10 1 9
+f 11 4 5
+f 12 2 3
+f 12 8 2
+f 12 7 8
+f 13 1 7
+f 13 9 1
+f 14 8 7
+f 14 5 8
+f 15 10 3
+f 15 3 4
+f 15 4 11
+f 16 6 10
+f 16 15 11
+f 16 10 15
+f 16 11 5
+f 16 5 14
+f 17 12 3
+f 17 7 12
+f 17 13 7
+f 17 3 9
+f 17 9 13
+f 18 14 7
+f 18 7 1
+f 18 1 6
+f 18 16 14
+f 18 6 16
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_13/collision/model_normalized_collision_21.obj b/objects/objaverse/pear/pear_13/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46be472e167b992cbb64c8acad3c2dda70d5dcbb
--- /dev/null
+++ b/objects/objaverse/pear/pear_13/collision/model_normalized_collision_21.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.01293475 -0.20045024 -0.09993374
+v 0.14083211 -0.16366992 -0.10365622
+v 0.10868072 -0.14814278 0.00352506
+v 0.01385352 -0.00665553 0.00757576
+v 0.01385352 -0.00665553 -0.09848485
+v 0.17490377 -0.00862597 0.01797672
+v 0.01013240 -0.17253762 0.00442980
+v 0.11684686 -0.17527184 -0.10321280
+v 0.13729610 -0.11633321 0.00291650
+v 0.15021716 -0.00665553 -0.09848485
+v 0.08534801 -0.15506505 0.00397160
+v 0.01051855 -0.18927115 -0.07332241
+v 0.05544321 -0.19026944 -0.10457970
+f 7 4 5
+f 7 6 4
+f 8 2 3
+f 9 6 3
+f 9 3 2
+f 9 2 6
+f 10 5 4
+f 10 4 6
+f 10 6 2
+f 11 7 1
+f 11 3 6
+f 11 6 7
+f 11 8 3
+f 11 1 8
+f 12 7 5
+f 12 5 1
+f 12 1 7
+f 13 2 8
+f 13 10 2
+f 13 5 10
+f 13 8 1
+f 13 1 5
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_13/collision/model_normalized_collision_22.obj b/objects/objaverse/pear/pear_13/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5338d1d8ace272aa18bfe545f72f68cc002ebe4d
--- /dev/null
+++ b/objects/objaverse/pear/pear_13/collision/model_normalized_collision_22.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.03334846 -0.09697779 0.22920654
+v 0.08112030 -0.06071231 0.21394224
+v 0.03681822 0.05188647 0.26013682
+v 0.02781664 0.06559990 0.21879406
+v 0.06786509 -0.07732242 0.21449050
+v 0.07596847 0.02879863 0.21366918
+v 0.02416685 0.05576293 0.26190361
+v 0.02750745 -0.07739131 0.26187269
+v 0.07367877 0.01195824 0.24165511
+v 0.05377818 0.05748721 0.21609078
+v 0.05733686 -0.05334883 0.25184077
+v 0.04337007 -0.07010960 0.25256816
+v 0.07361665 -0.04514576 0.23947278
+v 0.05563983 0.02628367 0.25631355
+f 5 1 4
+f 6 5 4
+f 6 2 5
+f 8 3 7
+f 8 7 4
+f 8 4 1
+f 8 1 5
+f 9 6 3
+f 9 2 6
+f 10 6 4
+f 10 3 6
+f 10 7 3
+f 10 4 7
+f 12 11 8
+f 12 8 5
+f 12 5 11
+f 13 11 5
+f 13 5 2
+f 13 2 9
+f 14 9 3
+f 14 3 8
+f 14 8 11
+f 14 13 9
+f 14 11 13
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_13/collision/model_normalized_collision_23.obj b/objects/objaverse/pear/pear_13/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f474458ec41d866f68f852d1b5eefa4e94121283
--- /dev/null
+++ b/objects/objaverse/pear/pear_13/collision/model_normalized_collision_23.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.14260407 0.09257581 -0.43486224
+v 0.17713692 0.12127409 -0.37791160
+v 0.08961110 0.09940508 -0.35606061
+v 0.08879581 0.20330207 -0.35469291
+v 0.12542602 0.15822673 -0.40463475
+v 0.14747564 0.18305785 -0.35173884
+v 0.08486233 0.09514523 -0.46972054
+v 0.13842966 0.13431673 -0.41394292
+v 0.12921106 0.19027043 -0.35119143
+v 0.09651780 0.09200912 -0.46416060
+v 0.08413399 0.19083340 -0.37721238
+v 0.12396411 0.15005258 -0.41416287
+v 0.13907421 0.17268154 -0.37335386
+v 0.08172622 0.10748352 -0.46473303
+v 0.08508882 0.16237494 -0.41755004
+v 0.09944080 0.16011409 -0.41502746
+f 1 2 3
+f 6 3 2
+f 6 5 4
+f 8 2 1
+f 9 6 4
+f 9 4 3
+f 9 3 6
+f 10 1 3
+f 10 3 7
+f 11 3 4
+f 11 4 5
+f 12 5 8
+f 13 6 2
+f 13 2 8
+f 13 8 5
+f 13 5 6
+f 14 7 3
+f 14 3 11
+f 14 10 7
+f 14 12 8
+f 14 8 1
+f 14 1 10
+f 15 14 11
+f 16 15 11
+f 16 11 5
+f 16 5 12
+f 16 12 14
+f 16 14 15
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_13/collision/model_normalized_collision_24.obj b/objects/objaverse/pear/pear_13/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32766a8d75ce74ff0b96bc604c948eeb44b99462
--- /dev/null
+++ b/objects/objaverse/pear/pear_13/collision/model_normalized_collision_24.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.16796466 -0.00665553 -0.35606061
+v -0.16492396 -0.00681257 -0.44345558
+v -0.16258999 0.09566020 -0.42490824
+v -0.19388572 0.11875664 -0.37190558
+v -0.23962492 -0.00693991 -0.35386886
+v -0.15974695 0.07852776 -0.43640460
+v -0.22706856 -0.00781139 -0.37745523
+v -0.23041117 0.08946760 -0.34792385
+v -0.17359573 -0.00714721 -0.43596700
+v -0.21457485 0.07380484 -0.39295979
+v -0.17007064 0.07516391 -0.43019771
+v -0.19921823 0.08946843 -0.39977382
+f 1 3 4
+f 6 1 2
+f 6 3 1
+f 7 1 5
+f 8 5 1
+f 8 1 4
+f 9 2 1
+f 9 1 7
+f 10 7 5
+f 10 5 8
+f 10 9 7
+f 10 2 9
+f 11 6 2
+f 11 2 10
+f 11 3 6
+f 12 10 8
+f 12 8 4
+f 12 4 3
+f 12 11 10
+f 12 3 11
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_13/collision/model_normalized_collision_25.obj b/objects/objaverse/pear/pear_13/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7806a5ec982a86ebac872bcd96be0596c3a00d7d
--- /dev/null
+++ b/objects/objaverse/pear/pear_13/collision/model_normalized_collision_25.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.08961110 0.09940508 -0.35606061
+v 0.10710208 0.11509526 -0.44448344
+v 0.08471870 0.20778411 -0.35003298
+v -0.05865210 0.22307040 -0.34981679
+v -0.12701158 0.11353823 -0.44273493
+v 0.00697175 0.20223232 -0.40516848
+v -0.10735860 0.09940508 -0.35606061
+v 0.08320496 0.17319995 -0.40596317
+v 0.04012085 0.22505875 -0.34929045
+v -0.10502963 0.18079505 -0.40632273
+v -0.01246128 0.20275070 -0.40640599
+v -0.10479437 0.21060436 -0.35113725
+v -0.10394636 0.19017949 -0.39273633
+v 0.02168259 0.21633639 -0.37407976
+v -0.08802134 0.18702499 -0.40441904
+v -0.02742984 0.21708262 -0.37563227
+v -0.08748420 0.20217521 -0.37729562
+v -0.10333500 0.20490579 -0.36348675
+v -0.05719272 0.21737183 -0.36216629
+f 1 2 3
+f 5 2 1
+f 7 1 3
+f 7 5 1
+f 8 3 2
+f 8 2 6
+f 9 3 8
+f 9 7 3
+f 9 4 7
+f 11 6 2
+f 11 2 5
+f 11 5 10
+f 12 7 4
+f 12 10 5
+f 12 5 7
+f 13 10 12
+f 14 6 11
+f 14 9 8
+f 14 8 6
+f 15 13 11
+f 15 11 10
+f 15 10 13
+f 16 11 13
+f 16 14 11
+f 16 4 9
+f 16 9 14
+f 18 17 13
+f 18 13 12
+f 18 12 17
+f 19 16 13
+f 19 13 17
+f 19 4 16
+f 19 17 12
+f 19 12 4
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_13/collision/model_normalized_collision_26.obj b/objects/objaverse/pear/pear_13/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5546ad06789f3a0fab692d2e0eb4c2e5af7f2945
--- /dev/null
+++ b/objects/objaverse/pear/pear_13/collision/model_normalized_collision_26.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.03018282 -0.06830258 0.48976884
+v -0.02636370 -0.00955231 0.38758786
+v -0.02329318 0.01521016 0.38064976
+v -0.03575612 0.01423006 0.38391117
+v -0.04149595 -0.01276428 0.38969072
+v -0.03006343 -0.05258437 0.49725673
+v -0.02773260 -0.06032828 0.49517846
+v -0.04375700 -0.07086400 0.48771051
+v -0.02984411 -0.02261440 0.45158469
+v -0.03085790 -0.06786290 0.48760615
+v -0.04426200 -0.05946300 0.49547949
+v -0.03782050 0.00880200 0.39549851
+v -0.03968838 -0.05218875 0.49761625
+v -0.04284162 -0.02161037 0.40951195
+v -0.02638526 0.00973038 0.39244490
+v -0.03983517 -0.02233941 0.45186617
+v -0.04399541 -0.05029175 0.45918517
+f 5 3 2
+f 5 4 3
+f 7 1 2
+f 7 2 3
+f 7 3 6
+f 8 5 2
+f 9 6 3
+f 10 8 2
+f 10 2 1
+f 10 1 8
+f 11 8 1
+f 11 1 7
+f 12 3 4
+f 12 4 5
+f 13 11 7
+f 13 7 6
+f 13 6 9
+f 14 5 8
+f 14 12 5
+f 14 11 12
+f 15 12 9
+f 15 9 3
+f 15 3 12
+f 16 12 11
+f 16 11 13
+f 16 13 9
+f 16 9 12
+f 17 14 8
+f 17 8 11
+f 17 11 14
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_13/collision/model_normalized_collision_27.obj b/objects/objaverse/pear/pear_13/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b69c4b58be5b433e55d8f68e839855377985b64
--- /dev/null
+++ b/objects/objaverse/pear/pear_13/collision/model_normalized_collision_27.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01983867 -0.16865123 0.01263580
+v 0.01994661 -0.16089429 -0.43898497
+v 0.01385352 -0.00665553 0.00757576
+v -0.15391871 -0.00383597 0.01916364
+v -0.12393304 -0.14726710 -0.42126723
+v -0.10566329 -0.12976651 0.00213409
+v -0.15388580 -0.00503513 -0.45292728
+v 0.01385352 -0.00665553 -0.41666667
+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 8 3 2
+f 8 2 7
+f 8 7 4
+f 8 4 3
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_13/collision/model_normalized_collision_28.obj b/objects/objaverse/pear/pear_13/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5469dda41a0f7551b04822cda88282ef2cc63bde
--- /dev/null
+++ b/objects/objaverse/pear/pear_13/collision/model_normalized_collision_28.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.15021716 -0.00665553 -0.35606061
+v 0.17067995 -0.00798069 -0.44189962
+v 0.17713692 0.12127409 -0.37791160
+v -0.19388572 0.11875664 -0.37190558
+v -0.17990112 -0.00603907 -0.43046153
+v -0.16879688 0.09998493 -0.41773660
+v -0.16796466 -0.00665553 -0.35606061
+v 0.15372395 0.10255082 -0.42224369
+f 1 2 3
+f 1 3 4
+f 6 5 4
+f 6 2 5
+f 7 5 2
+f 7 2 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_13/collision/model_normalized_collision_29.obj b/objects/objaverse/pear/pear_13/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e6f0803d4a58e210f00fbe695916f732733d427
--- /dev/null
+++ b/objects/objaverse/pear/pear_13/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.26434129 -0.00600696 -0.23610435
+v 0.23523431 -0.00712444 -0.36153544
+v 0.22727929 0.11552136 -0.23498939
+v -0.10735860 0.11455659 -0.23484848
+v -0.10735860 -0.00665553 -0.23484848
+v -0.10735860 0.11455659 -0.35606061
+v 0.21241455 0.10366168 -0.35063478
+v -0.10735860 -0.00665553 -0.35606061
+f 5 2 1
+f 5 1 3
+f 5 3 4
+f 6 4 3
+f 6 5 4
+f 7 1 2
+f 7 3 1
+f 7 6 3
+f 7 2 6
+f 8 6 2
+f 8 2 5
+f 8 5 6
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_13/collision/model_normalized_collision_3.obj b/objects/objaverse/pear/pear_13/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a387b2f0d4a9d49c9fdc36bd68049ddfe3b6051e
--- /dev/null
+++ b/objects/objaverse/pear/pear_13/collision/model_normalized_collision_3.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.14743118 -0.15530538 -0.10001998
+v 0.26294177 -0.08869789 -0.23398604
+v 0.17762353 -0.07054853 -0.00020972
+v 0.14151616 0.10754067 -0.02796342
+v 0.15021716 0.11455659 -0.23484848
+v 0.25384386 0.07127824 -0.17846929
+v 0.14431537 -0.10744770 0.00544761
+v 0.19187219 -0.15623231 -0.23908119
+v 0.14031383 -0.14805491 -0.07370641
+v 0.25592131 -0.08189397 -0.16409604
+v 0.17971507 0.04108646 -0.00170848
+v 0.23270943 0.10833207 -0.23393938
+v 0.14121496 -0.13382386 -0.04156697
+v 0.25378784 0.02332884 -0.16285608
+v 0.23873628 -0.07824942 -0.12232060
+v 0.24070753 -0.09670256 -0.16414674
+v 0.22480499 0.10249879 -0.15376259
+v 0.14483369 0.07991346 0.00444343
+v 0.25899299 0.07444634 -0.23442281
+v 0.22328730 0.05592300 -0.09406998
+v 0.24746814 -0.10351291 -0.23395331
+v 0.23873994 0.10161639 -0.20876088
+v 0.20803567 0.10130359 -0.12443326
+v 0.23896940 0.07146650 -0.13920518
+v 0.23799349 -0.03728881 -0.12231438
+v 0.23918959 0.10191929 -0.21785127
+f 8 1 5
+f 9 5 1
+f 9 4 5
+f 12 5 4
+f 13 7 4
+f 13 4 9
+f 13 9 1
+f 14 10 2
+f 15 3 7
+f 15 13 10
+f 15 7 13
+f 15 11 3
+f 15 10 14
+f 16 2 10
+f 16 1 8
+f 16 13 1
+f 16 10 13
+f 17 12 4
+f 18 7 3
+f 18 3 11
+f 18 4 7
+f 19 2 8
+f 19 8 5
+f 19 5 12
+f 19 14 2
+f 19 6 14
+f 20 11 15
+f 21 16 8
+f 21 8 2
+f 21 2 16
+f 22 17 6
+f 22 12 17
+f 22 6 19
+f 23 17 4
+f 23 4 18
+f 23 18 11
+f 23 11 17
+f 24 20 14
+f 24 14 6
+f 24 6 17
+f 24 17 11
+f 24 11 20
+f 25 20 15
+f 25 15 14
+f 25 14 20
+f 26 22 19
+f 26 19 12
+f 26 12 22
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_13/collision/model_normalized_collision_30.obj b/objects/objaverse/pear/pear_13/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca3ea348e64ac24dd544f856e8b1f2fd8067a8b4
--- /dev/null
+++ b/objects/objaverse/pear/pear_13/collision/model_normalized_collision_30.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.17490377 -0.00862597 0.01797672
+v 0.15021716 -0.00665553 -0.23484848
+v 0.15021716 0.11455659 -0.23484848
+v -0.09578427 0.10359310 0.00218918
+v -0.15200950 -0.00264720 0.02404926
+v 0.13254794 0.10031184 -0.00270493
+v -0.10735860 -0.00665553 -0.23484848
+v 0.13698136 0.10388602 -0.01527690
+v -0.10735860 0.11455659 -0.23484848
+f 1 2 3
+f 5 1 4
+f 6 4 1
+f 7 2 1
+f 7 1 5
+f 7 3 2
+f 8 6 1
+f 8 1 3
+f 8 3 4
+f 8 4 6
+f 9 7 5
+f 9 5 4
+f 9 4 3
+f 9 3 7
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_13/collision/model_normalized_collision_31.obj b/objects/objaverse/pear/pear_13/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97db393068da4a9982525f0aacaff41dad770695
--- /dev/null
+++ b/objects/objaverse/pear/pear_13/collision/model_normalized_collision_31.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.19187219 -0.15623231 -0.23908119
+v 0.26384600 -0.00601534 -0.25123965
+v 0.26434129 -0.00600696 -0.23610435
+v 0.15021716 -0.00665553 -0.23484848
+v 0.17246640 -0.13442376 -0.37356757
+v 0.15021716 -0.00665553 -0.35606061
+v 0.23158359 -0.11857559 -0.23541842
+v 0.23523431 -0.00712444 -0.36153544
+v 0.21769507 -0.10471199 -0.35238276
+v 0.19336479 -0.15391126 -0.24934886
+f 5 1 4
+f 6 3 2
+f 6 4 3
+f 6 5 4
+f 7 3 4
+f 7 4 1
+f 7 2 3
+f 8 6 2
+f 8 5 6
+f 9 5 8
+f 9 8 2
+f 9 2 7
+f 10 9 7
+f 10 7 1
+f 10 1 5
+f 10 5 9
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_13/collision/model_normalized_collision_4.obj b/objects/objaverse/pear/pear_13/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..738e1ebd95b5d62eb79ab72d4b945c5035f3d719
--- /dev/null
+++ b/objects/objaverse/pear/pear_13/collision/model_normalized_collision_4.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v 0.13445968 -0.18788250 -0.35558380
+v 0.23261009 -0.08933185 -0.35227770
+v 0.14343343 -0.18187861 -0.35162373
+v 0.14747564 0.18305785 -0.35173884
+v 0.13258408 -0.00672205 -0.47456509
+v 0.21241455 0.10366168 -0.35063478
+v 0.13506564 -0.00665553 -0.35606061
+v 0.19778900 -0.07388150 -0.41645449
+v 0.24304959 0.03946487 -0.35113083
+v 0.15166379 0.17930299 -0.35057688
+v 0.18388865 0.05778310 -0.42866202
+v 0.12552200 -0.16308216 -0.39226585
+v 0.14378306 0.17766870 -0.36256142
+v 0.22912935 -0.08585977 -0.36177229
+v 0.23953963 0.06277658 -0.36024077
+v 0.16952633 0.04528558 -0.44563254
+v 0.12976442 -0.18278566 -0.36607440
+v 0.12945763 -0.06109306 -0.46837234
+v 0.14860143 0.17669283 -0.35760201
+v 0.24395659 0.06392768 -0.35158999
+v 0.21149741 0.05655947 -0.40611769
+v 0.22292842 -0.08126404 -0.37509689
+v 0.14189179 0.12223989 -0.41857795
+v 0.14140500 -0.05756867 -0.46328710
+v 0.12709139 -0.13424789 -0.41916237
+v 0.12749408 -0.08923629 -0.45010451
+v 0.20862291 -0.00555989 -0.40592370
+v 0.23820341 0.03971431 -0.36052546
+v 0.16587814 0.10165611 -0.41510589
+v 0.14348689 0.06263687 -0.45166420
+v 0.18389321 -0.06945736 -0.42827624
+v 0.13903876 -0.13072349 -0.41407713
+v 0.15215390 0.11798642 -0.41452440
+f 7 1 3
+f 7 3 4
+f 9 6 3
+f 9 3 2
+f 10 4 3
+f 10 3 6
+f 13 7 4
+f 13 12 7
+f 14 2 3
+f 14 3 1
+f 14 1 8
+f 14 9 2
+f 16 8 5
+f 17 1 7
+f 17 7 12
+f 17 12 8
+f 17 8 1
+f 19 13 4
+f 19 4 10
+f 20 6 9
+f 20 9 15
+f 20 15 10
+f 20 10 6
+f 21 13 19
+f 21 19 10
+f 21 10 15
+f 21 16 11
+f 21 8 16
+f 22 14 8
+f 22 9 14
+f 23 5 13
+f 24 18 5
+f 24 8 18
+f 26 13 5
+f 26 5 18
+f 26 12 13
+f 26 25 12
+f 26 18 25
+f 27 21 15
+f 27 22 8
+f 27 8 21
+f 28 15 9
+f 28 9 22
+f 28 27 15
+f 28 22 27
+f 29 11 16
+f 29 21 11
+f 29 13 21
+f 30 23 16
+f 30 16 5
+f 30 5 23
+f 31 24 5
+f 31 5 8
+f 31 8 24
+f 32 8 12
+f 32 12 25
+f 32 25 18
+f 32 18 8
+f 33 29 16
+f 33 16 23
+f 33 23 13
+f 33 13 29
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_13/collision/model_normalized_collision_5.obj b/objects/objaverse/pear/pear_13/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c659564b02a13ed12eddaeae4f45304b17a3a97
--- /dev/null
+++ b/objects/objaverse/pear/pear_13/collision/model_normalized_collision_5.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.05083186 -0.02243667 0.28073571
+v 0.11671750 -0.02357596 0.15555609
+v 0.05674123 0.05611406 0.21186838
+v -0.01152474 0.06773931 0.26248781
+v -0.11818182 -0.02208978 0.14326858
+v 0.02416685 0.05576293 0.26190361
+v 0.10844496 0.01464209 0.16854376
+v -0.09075645 -0.02322274 0.26027792
+v -0.06887162 0.07733880 0.12690331
+v 0.08456598 0.07469711 0.12472133
+v 0.08674305 -0.02161535 0.21814341
+v 0.07596847 0.02879863 0.21366918
+v -0.05612817 0.05267016 0.26174383
+v -0.00740336 0.06742077 0.26105295
+v 0.03881483 0.08475099 0.13947170
+v 0.11051357 0.03170618 0.13917937
+v 0.09533845 0.06169828 0.12368617
+v -0.07753641 0.02723611 0.26040210
+v -0.01131192 0.08174094 0.18559121
+v 0.00811378 0.08246964 0.18427475
+v 0.11669398 0.02126082 0.14235717
+v 0.10156973 0.05144215 0.12705943
+v -0.09649640 0.04481703 0.12624965
+v -0.10568787 0.01424732 0.20117855
+v -0.04201206 0.08312012 0.13997952
+v -0.10372842 0.03574657 0.12793959
+v -0.10772330 -0.02258618 0.20163075
+v -0.08872959 0.00751448 0.25906182
+v -0.08976534 0.02442901 0.22946175
+v -0.10826931 0.02682461 0.14061167
+v -0.06493911 0.06605642 0.18491492
+v -0.05972274 0.05407796 0.24522451
+f 6 4 1
+f 8 5 2
+f 8 2 1
+f 10 6 3
+f 11 7 1
+f 11 1 2
+f 11 2 7
+f 12 6 1
+f 12 1 7
+f 12 3 6
+f 13 1 4
+f 13 4 9
+f 14 4 6
+f 14 6 10
+f 15 10 9
+f 15 14 10
+f 17 9 10
+f 17 10 3
+f 18 8 1
+f 18 1 13
+f 20 4 14
+f 20 14 15
+f 20 19 4
+f 21 7 2
+f 21 12 7
+f 21 16 3
+f 21 3 12
+f 22 2 5
+f 22 5 17
+f 22 21 2
+f 22 16 21
+f 22 17 3
+f 22 3 16
+f 23 9 17
+f 24 9 23
+f 25 15 9
+f 25 9 4
+f 25 4 19
+f 25 20 15
+f 25 19 20
+f 26 23 17
+f 26 17 5
+f 26 24 23
+f 27 24 5
+f 27 5 8
+f 27 8 24
+f 28 24 8
+f 28 8 18
+f 28 18 24
+f 29 24 18
+f 29 18 13
+f 30 26 5
+f 30 5 24
+f 30 24 26
+f 31 13 9
+f 31 9 24
+f 31 24 29
+f 32 31 29
+f 32 29 13
+f 32 13 31
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_13/collision/model_normalized_collision_6.obj b/objects/objaverse/pear/pear_13/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..576ff25cb3ad05bc40780b26ed8d8ccdf522f5fb
--- /dev/null
+++ b/objects/objaverse/pear/pear_13/collision/model_normalized_collision_6.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v -0.18948053 -0.10363605 -0.09419272
+v -0.17625878 -0.09102284 -0.05819934
+v -0.24446072 -0.07072255 -0.13724261
+v -0.19658311 0.08269393 -0.11482641
+v -0.17539459 0.06181064 -0.05924673
+v -0.22902335 -0.09635281 -0.14988304
+v -0.21177852 -0.06821195 -0.07805682
+v -0.21515577 0.06692692 -0.12045339
+v -0.19832821 -0.08316819 -0.07835921
+v -0.21021956 -0.09470627 -0.11552445
+v -0.18652042 -0.07120650 -0.04673376
+v -0.19610248 0.05631359 -0.07957275
+v -0.23806245 0.03791707 -0.16036757
+v -0.17622510 0.04744337 -0.04342660
+v -0.18529654 -0.08519047 -0.06280783
+v -0.18927289 0.07480211 -0.09413555
+v -0.24067630 -0.03979421 -0.13800537
+v -0.22486283 -0.03939382 -0.10879565
+v -0.25134930 -0.07625910 -0.16087887
+v -0.20530416 0.07674041 -0.11936910
+v -0.17748266 -0.07703887 -0.04212528
+v -0.18458052 0.05617741 -0.06404945
+v -0.19442855 0.00604378 -0.06448783
+v -0.19204042 0.07848817 -0.10288400
+v -0.24113819 0.00573232 -0.15292292
+v -0.21012234 -0.05449226 -0.07826791
+v -0.24351360 0.00610245 -0.16255566
+v -0.17994202 0.04879259 -0.04962602
+v -0.23347662 0.04192449 -0.14893130
+f 5 2 1
+f 5 1 4
+f 6 4 1
+f 7 3 6
+f 9 7 1
+f 10 7 6
+f 10 6 1
+f 10 1 7
+f 11 7 9
+f 13 4 6
+f 14 2 5
+f 14 7 11
+f 15 11 9
+f 15 2 11
+f 15 9 1
+f 15 1 2
+f 16 8 12
+f 18 17 3
+f 18 12 17
+f 19 6 3
+f 20 13 8
+f 20 8 4
+f 20 4 13
+f 21 14 11
+f 21 11 2
+f 21 2 14
+f 22 14 5
+f 22 16 12
+f 22 5 16
+f 23 7 14
+f 24 16 5
+f 24 5 4
+f 24 4 8
+f 24 8 16
+f 25 3 17
+f 25 19 3
+f 25 17 12
+f 25 12 8
+f 26 12 18
+f 26 23 12
+f 26 7 23
+f 26 18 3
+f 26 3 7
+f 27 13 6
+f 27 6 19
+f 27 25 13
+f 27 19 25
+f 28 22 12
+f 28 14 22
+f 28 23 14
+f 28 12 23
+f 29 25 8
+f 29 8 13
+f 29 13 25
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_13/collision/model_normalized_collision_7.obj b/objects/objaverse/pear/pear_13/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9d6e25b8d0b937fb11bfe72cda810eb487f5faf
--- /dev/null
+++ b/objects/objaverse/pear/pear_13/collision/model_normalized_collision_7.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.02456174 -0.18910856 -0.08197896
+v 0.16096707 -0.15350739 -0.36451924
+v 0.15021716 -0.00665553 -0.09848485
+v 0.01385352 -0.00665553 -0.09848485
+v 0.02187726 -0.15140664 -0.44605671
+v 0.15403025 -0.14694083 -0.09638375
+v 0.01385352 -0.14301917 -0.35606061
+v 0.16152959 -0.00836932 -0.44929974
+v 0.01385352 -0.00665553 -0.41666667
+v 0.13570103 -0.12856655 -0.41767508
+v 0.15021716 -0.00665553 -0.35606061
+f 1 3 4
+f 5 2 1
+f 6 1 2
+f 6 3 1
+f 7 5 1
+f 7 1 4
+f 8 6 2
+f 8 3 6
+f 9 7 4
+f 9 5 7
+f 9 8 5
+f 9 4 3
+f 10 8 2
+f 10 2 5
+f 10 5 8
+f 11 9 3
+f 11 3 8
+f 11 8 9
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_13/collision/model_normalized_collision_8.obj b/objects/objaverse/pear/pear_13/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df46f2a4e8550e4110b40d6eabb3859899e56bfd
--- /dev/null
+++ b/objects/objaverse/pear/pear_13/collision/model_normalized_collision_8.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.01994661 -0.16089429 -0.43898497
+v 0.17067995 -0.00798069 -0.44189962
+v 0.13570103 -0.12856655 -0.41767508
+v -0.02964151 0.19745664 -0.40796364
+v -0.08594744 0.04985745 -0.48871751
+v 0.15372395 0.10255082 -0.42224369
+v -0.19163082 -0.07782810 -0.40822926
+v 0.10120531 -0.04649297 -0.48832508
+v 0.08700555 0.16814482 -0.41177132
+v -0.12393304 -0.14726710 -0.42126723
+v 0.01132979 0.19832930 -0.40870410
+v -0.16879688 0.09998493 -0.41773660
+v 0.12437239 -0.05549955 -0.47545314
+v 0.12432868 0.04363647 -0.47574191
+v -0.16435631 -0.11022335 -0.41207940
+v -0.09593646 -0.09137331 -0.47522384
+v -0.05835680 0.11561162 -0.47698250
+v -0.09028289 0.18244948 -0.40812051
+v -0.13148627 0.04988594 -0.47369523
+v 0.06567779 -0.10058622 -0.47435124
+v 0.13805868 0.05742246 -0.45838174
+v 0.14082095 -0.00690741 -0.46702051
+v 0.06879630 0.10042697 -0.47536305
+v -0.07048946 -0.06391875 -0.48972717
+v -0.04208940 -0.11394650 -0.47734745
+v -0.10868872 -0.10316779 -0.45970169
+v -0.01273213 0.16034516 -0.44613286
+v -0.09582603 0.12141462 -0.46197559
+v -0.19724467 -0.00670836 -0.41548437
+v -0.12997327 -0.03298698 -0.47363753
+v -0.08573350 0.11011700 -0.47570950
+v 0.11056975 -0.11496065 -0.44289038
+v 0.10055768 0.03428397 -0.48940257
+v 0.08398062 0.13081184 -0.44515884
+v 0.10817327 0.08887301 -0.45860066
+v -0.05668132 -0.12742742 -0.46038666
+v -0.08794277 -0.10048355 -0.47559634
+v 0.02483417 -0.11393304 -0.47440804
+v -0.00291819 -0.09063214 -0.48873268
+v -0.18540409 -0.07352645 -0.41546479
+v -0.11813317 -0.13345581 -0.43581374
+v 0.00880720 0.19119615 -0.41589667
+v 0.02381120 0.11674972 -0.47677729
+v -0.10668405 0.17240559 -0.41367071
+v -0.13985252 0.09037458 -0.44545839
+v -0.15690391 0.06139532 -0.44790097
+v -0.08567407 -0.03366559 -0.48976801
+v -0.02934262 0.09257784 -0.48881328
+v -0.11152288 0.07647162 -0.47450794
+v 0.11062862 -0.06958742 -0.47331457
+v -0.05909474 -0.07568988 -0.48878125
+v -0.10151737 -0.11258159 -0.46022709
+v 0.01065535 -0.13233428 -0.46345812
+v 0.05566604 -0.07668033 -0.48793595
+v -0.13880626 -0.08788813 -0.44431437
+v -0.15484501 -0.06009625 -0.44434828
+v 0.05513056 0.07936931 -0.48868803
+v 0.00828373 0.15941288 -0.44454809
+v 0.08508882 0.16237494 -0.41755004
+v -0.10488627 0.16505761 -0.42083754
+v -0.14037334 0.06043444 -0.46127949
+v -0.07035197 0.07987018 -0.48738003
+v 0.01171297 0.09281951 -0.48893012
+v -0.02868639 -0.09052627 -0.48799760
+f 6 3 2
+f 9 3 6
+f 10 1 3
+f 11 7 3
+f 11 4 7
+f 11 3 9
+f 13 2 3
+f 15 10 3
+f 15 3 7
+f 18 12 7
+f 18 7 4
+f 20 8 13
+f 21 14 6
+f 21 6 2
+f 21 2 14
+f 22 13 8
+f 22 14 2
+f 22 2 13
+f 27 18 4
+f 29 7 12
+f 30 29 19
+f 30 24 16
+f 32 13 3
+f 32 3 1
+f 32 1 20
+f 33 22 8
+f 33 14 22
+f 33 23 14
+f 34 9 6
+f 34 6 23
+f 35 23 6
+f 35 6 14
+f 35 14 23
+f 36 25 1
+f 36 1 10
+f 37 16 24
+f 37 36 10
+f 37 25 36
+f 38 20 1
+f 39 38 25
+f 39 33 8
+f 39 24 33
+f 40 7 29
+f 40 29 30
+f 41 10 15
+f 41 37 10
+f 42 27 4
+f 42 4 11
+f 42 11 9
+f 43 17 27
+f 43 34 23
+f 44 12 18
+f 44 27 17
+f 44 18 27
+f 45 12 28
+f 46 29 12
+f 46 19 29
+f 47 30 19
+f 47 19 5
+f 47 24 30
+f 47 33 24
+f 48 31 17
+f 48 47 5
+f 49 28 31
+f 49 45 28
+f 50 32 20
+f 50 20 13
+f 50 13 32
+f 51 37 24
+f 51 24 39
+f 52 26 16
+f 52 16 37
+f 52 41 26
+f 52 37 41
+f 53 38 1
+f 53 1 25
+f 53 25 38
+f 54 39 8
+f 54 8 20
+f 54 20 38
+f 54 38 39
+f 55 40 16
+f 55 16 26
+f 55 7 40
+f 55 15 7
+f 55 41 15
+f 55 26 41
+f 56 40 30
+f 56 30 16
+f 56 16 40
+f 57 43 23
+f 57 23 33
+f 58 43 27
+f 58 27 42
+f 58 42 9
+f 59 9 34
+f 59 34 43
+f 59 58 9
+f 59 43 58
+f 60 31 28
+f 60 28 12
+f 60 12 44
+f 60 44 17
+f 60 17 31
+f 61 19 46
+f 61 49 19
+f 61 45 49
+f 61 46 12
+f 61 12 45
+f 62 48 5
+f 62 31 48
+f 62 49 31
+f 62 5 19
+f 62 19 49
+f 63 33 47
+f 63 47 48
+f 63 57 33
+f 63 43 57
+f 63 48 17
+f 63 17 43
+f 64 25 37
+f 64 37 51
+f 64 51 39
+f 64 39 25
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_13/collision/model_normalized_collision_9.obj b/objects/objaverse/pear/pear_13/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0956cc6d0c2ba19d9502ac3404d340cc99d06ce
--- /dev/null
+++ b/objects/objaverse/pear/pear_13/collision/model_normalized_collision_9.obj
@@ -0,0 +1,117 @@
+# https://github.com/mikedh/trimesh
+v -0.17736585 0.09408126 -0.10254707
+v -0.10247688 0.09589446 -0.47079748
+v -0.10526035 0.16800954 -0.10329112
+v -0.10207345 0.21956920 -0.19548070
+v -0.23320737 0.09145690 -0.33930478
+v -0.09915145 0.10865454 -0.46638653
+v -0.13831423 0.20289551 -0.18257277
+v -0.13376060 0.12384884 -0.07983361
+v -0.11300420 0.09256903 -0.46466380
+v -0.10306713 0.19231191 -0.13840259
+v -0.14739499 0.20187688 -0.34669906
+v -0.23473701 0.09247144 -0.20843994
+v -0.13525870 0.19093659 -0.15384901
+v -0.20380970 0.09145168 -0.13636729
+v -0.10333500 0.20490579 -0.36348675
+v -0.15098707 0.20731079 -0.26628909
+v -0.13406535 0.17770614 -0.40262784
+v -0.21970462 0.09206697 -0.16195264
+v -0.12405683 0.17733075 -0.12536963
+v -0.20114567 0.09057493 -0.39479768
+v -0.19710828 0.11620822 -0.15384901
+v -0.10284254 0.22004546 -0.32283033
+v -0.11593230 0.21560706 -0.19696942
+v -0.18175711 0.16242665 -0.21075299
+v -0.21189812 0.13183325 -0.29247457
+v -0.21139047 0.11688206 -0.34555870
+v -0.10394636 0.19017949 -0.39273633
+v -0.11777568 0.18697858 -0.39242496
+v -0.12335144 0.16331870 -0.10977188
+v -0.11766715 0.18895560 -0.13988123
+v -0.17291368 0.09229635 -0.41870135
+v -0.15039936 0.20733960 -0.30792603
+v -0.22795350 0.10239293 -0.21045323
+v -0.18034653 0.16161606 -0.33817476
+v -0.19613301 0.14670164 -0.23637870
+v -0.16688366 0.13338579 -0.40112299
+v -0.10304689 0.13432872 -0.44953026
+v -0.13881089 0.15025487 -0.41381619
+v -0.11687520 0.21614999 -0.32210510
+v -0.21146040 0.13144918 -0.28144950
+f 6 3 2
+f 8 1 2
+f 8 2 3
+f 9 2 1
+f 10 6 4
+f 10 3 6
+f 13 1 8
+f 13 10 4
+f 13 4 7
+f 14 9 1
+f 14 12 5
+f 17 2 9
+f 18 12 14
+f 19 13 8
+f 19 3 10
+f 20 14 5
+f 20 9 14
+f 21 14 1
+f 21 1 13
+f 21 18 14
+f 21 13 7
+f 21 7 18
+f 22 15 11
+f 22 4 6
+f 22 6 15
+f 22 16 4
+f 23 16 7
+f 23 7 4
+f 23 4 16
+f 24 7 16
+f 24 18 7
+f 25 5 12
+f 26 5 11
+f 26 11 17
+f 26 20 5
+f 27 15 6
+f 28 17 11
+f 28 11 15
+f 28 27 17
+f 28 15 27
+f 29 19 8
+f 29 8 3
+f 29 3 19
+f 30 19 10
+f 30 10 13
+f 30 13 19
+f 31 9 20
+f 32 16 22
+f 32 25 16
+f 33 12 18
+f 33 18 24
+f 33 25 12
+f 34 11 5
+f 34 5 25
+f 34 32 11
+f 34 25 32
+f 35 24 16
+f 35 33 24
+f 36 26 17
+f 36 20 26
+f 36 31 20
+f 37 27 6
+f 37 17 27
+f 37 6 2
+f 37 2 17
+f 38 17 9
+f 38 9 31
+f 38 36 17
+f 38 31 36
+f 39 32 22
+f 39 22 11
+f 39 11 32
+f 40 35 16
+f 40 16 25
+f 40 25 33
+f 40 33 35
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_13/model.xml b/objects/objaverse/pear/pear_13/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..b1bfc3ee663d1fd4f0626743781f15e3c1a7bb59
--- /dev/null
+++ b/objects/objaverse/pear/pear_13/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="pear_1">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.12 0.12 0.12" refquat="0.4999999999999999 0.4999999999999999 0.5 0.5"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.12 0.12 0.12" refquat="0.4999999999999999 0.4999999999999999 0.5 0.5"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.12 0.12 0.12" refquat="0.4999999999999999 0.4999999999999999 0.5 0.5"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.12 0.12 0.12" refquat="0.4999999999999999 0.4999999999999999 0.5 0.5"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.12 0.12 0.12" refquat="0.4999999999999999 0.4999999999999999 0.5 0.5"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.12 0.12 0.12" refquat="0.4999999999999999 0.4999999999999999 0.5 0.5"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.12 0.12 0.12" refquat="0.4999999999999999 0.4999999999999999 0.5 0.5"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.12 0.12 0.12" refquat="0.4999999999999999 0.4999999999999999 0.5 0.5"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.12 0.12 0.12" refquat="0.4999999999999999 0.4999999999999999 0.5 0.5"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.12 0.12 0.12" refquat="0.4999999999999999 0.4999999999999999 0.5 0.5"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.12 0.12 0.12" refquat="0.4999999999999999 0.4999999999999999 0.5 0.5"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.12 0.12 0.12" refquat="0.4999999999999999 0.4999999999999999 0.5 0.5"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.12 0.12 0.12" refquat="0.4999999999999999 0.4999999999999999 0.5 0.5"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.12 0.12 0.12" refquat="0.4999999999999999 0.4999999999999999 0.5 0.5"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.12 0.12 0.12" refquat="0.4999999999999999 0.4999999999999999 0.5 0.5"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.12 0.12 0.12" refquat="0.4999999999999999 0.4999999999999999 0.5 0.5"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.12 0.12 0.12" refquat="0.4999999999999999 0.4999999999999999 0.5 0.5"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.12 0.12 0.12" refquat="0.4999999999999999 0.4999999999999999 0.5 0.5"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.12 0.12 0.12" refquat="0.4999999999999999 0.4999999999999999 0.5 0.5"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.12 0.12 0.12" refquat="0.4999999999999999 0.4999999999999999 0.5 0.5"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.12 0.12 0.12" refquat="0.4999999999999999 0.4999999999999999 0.5 0.5"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.12 0.12 0.12" refquat="0.4999999999999999 0.4999999999999999 0.5 0.5"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.12 0.12 0.12" refquat="0.4999999999999999 0.4999999999999999 0.5 0.5"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.12 0.12 0.12" refquat="0.4999999999999999 0.4999999999999999 0.5 0.5"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.12 0.12 0.12" refquat="0.4999999999999999 0.4999999999999999 0.5 0.5"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.12 0.12 0.12" refquat="0.4999999999999999 0.4999999999999999 0.5 0.5"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.12 0.12 0.12" refquat="0.4999999999999999 0.4999999999999999 0.5 0.5"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.12 0.12 0.12" refquat="0.4999999999999999 0.4999999999999999 0.5 0.5"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.12 0.12 0.12" refquat="0.4999999999999999 0.4999999999999999 0.5 0.5"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.12 0.12 0.12" refquat="0.4999999999999999 0.4999999999999999 0.5 0.5"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.12 0.12 0.12" refquat="0.4999999999999999 0.4999999999999999 0.5 0.5"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.12 0.12 0.12" refquat="0.4999999999999999 0.4999999999999999 0.5 0.5"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.12 0.12 0.12" refquat="0.4999999999999999 0.4999999999999999 0.5 0.5"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="M_Pear" 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="M_Pear"/>
+        <geom solimp="0.998 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"/>
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+      </body>
+      <site rgba="0 0 0 0" size="0.005" pos="-6.9888652399785474e-06 0.00047089406489345787 -0.031088904618510393" name="bottom_site"/>
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+      <site rgba="0 0 0 0" size="0.005" pos="0.029868151732889557 0.059713946067488186 0.0003160233010117286" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/pear/pear_13/visual/material.mtl b/objects/objaverse/pear/pear_13/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..33616803300962094e8955deb30562079542847b
--- /dev/null
+++ b/objects/objaverse/pear/pear_13/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/pear/pear_13/visual/model_normalized_0.obj b/objects/objaverse/pear/pear_13/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..166e9c2f70bb581e836725808f990b92942e91b2
--- /dev/null
+++ b/objects/objaverse/pear/pear_13/visual/model_normalized_0.obj
@@ -0,0 +1,1312 @@
+# 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_3/collision/model_normalized_collision_1.obj b/objects/objaverse/pear/pear_3/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f115b949cca779211b24f7f637996a398cedc7de
--- /dev/null
+++ b/objects/objaverse/pear/pear_3/collision/model_normalized_collision_1.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v 0.09174036 -0.18706158 0.40826957
+v 0.08563714 -0.18396599 0.41299292
+v -0.21082763 -0.18444509 0.26071713
+v -0.15089104 -0.03133463 0.35660912
+v 0.06240572 -0.04411711 0.40922615
+v -0.11203768 -0.19208366 0.41447676
+v 0.08516243 -0.07795013 0.41423177
+v 0.01974942 -0.02380185 0.26515153
+v -0.20513724 -0.09684176 0.31516136
+v -0.03772715 -0.04589973 0.42834780
+v 0.01974942 -0.19046852 0.26515153
+v 0.03294166 -0.02825396 0.41004075
+v 0.09039572 -0.07241099 0.40870607
+v -0.14959712 -0.06086374 0.36849883
+v -0.18973084 -0.18395149 0.30095233
+v -0.22202533 -0.02921629 0.25830047
+v 0.01372302 -0.04758099 0.42743887
+v 0.05850602 -0.15721895 0.43050411
+v -0.06354808 -0.03186625 0.41414799
+v -0.20451417 -0.07223849 0.31496883
+v -0.21992853 -0.11140656 0.28557527
+v -0.20528900 -0.13873586 0.29864182
+v -0.22504764 -0.14268483 0.25934905
+v -0.13396775 -0.03093239 0.36911873
+v 0.05869149 -0.07547844 0.42616874
+v 0.05758459 -0.04934345 0.41436565
+v -0.06499508 -0.11018079 0.42921796
+v 0.04795021 -0.17342786 0.42817066
+v -0.17616654 -0.04579257 0.33990289
+v -0.21964666 -0.05836385 0.28473096
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+v -0.10399984 -0.04594652 0.39763041
+v 0.02901917 -0.03324035 0.41433689
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\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_3/collision/model_normalized_collision_11.obj b/objects/objaverse/pear/pear_3/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c490ba0e0b9f220670027bae727a0858cd85f33
--- /dev/null
+++ b/objects/objaverse/pear/pear_3/collision/model_normalized_collision_11.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.00459791 -0.00865033 -0.23484848
+v 0.00751377 0.00118499 -0.40630849
+v 0.00459791 0.17316785 -0.23484848
+v -0.34714076 0.15113443 -0.23066756
+v -0.38746915 -0.01344153 -0.25885607
+v -0.22320116 0.20158480 -0.38579489
+v -0.37424972 0.09286220 -0.22893614
+v -0.33468862 -0.01013805 -0.34957858
+v 0.00459791 0.17316785 -0.35606060
+v -0.19237179 0.17316785 -0.23484848
+v -0.39692281 -0.00988045 -0.23170093
+v -0.31052702 0.10543426 -0.34337688
+v -0.35783061 -0.01236647 -0.31604284
+v -0.38492331 0.03325323 -0.24343378
+v -0.35315862 0.10750069 -0.27176253
+v -0.32652007 0.06172178 -0.34450295
+v -0.38921947 0.03430935 -0.23052685
+v -0.38541917 0.00304753 -0.25755976
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+v -0.29694313 0.14938345 -0.33075989
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+v -0.36977621 0.01914580 -0.28428678
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+v -0.28477310 0.15159807 -0.34778550
+v -0.32496565 0.13320115 -0.29965950
+v -0.32533157 0.14775975 -0.28549345
+v -0.29670165 0.13338438 -0.34395802
+v -0.34019857 0.14736668 -0.25482544
+f 1 2 3
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+f 13 1 5
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+f 29 4 6
+f 29 6 27
+f 29 27 19
+f 29 19 4
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_3/collision/model_normalized_collision_16.obj b/objects/objaverse/pear/pear_3/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae9c297388ddf6d4caeb2f1575214cc436241f9d
--- /dev/null
+++ b/objects/objaverse/pear/pear_3/collision/model_normalized_collision_16.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.22096573 -0.21415988 0.22545662
+v 0.23187064 -0.22077155 0.00757577
+v 0.23187064 0.15801634 0.00757577
+v 0.02123769 0.17556784 0.23686076
+v 0.01974942 -0.22077155 0.00757577
+v 0.21783578 0.08787060 0.20124351
+v 0.23439485 -0.02270022 0.23775118
+v 0.01974942 -0.22077155 0.23484850
+v 0.01974942 0.15801634 0.00757577
+v 0.22104691 0.14766854 0.16328329
+v 0.16028252 0.14916576 0.20465989
+v 0.01974942 -0.02380185 0.23484850
+v 0.21963579 0.13440172 0.17306120
+v 0.20356311 0.13170309 0.18679249
+v 0.18933316 0.14637052 0.18738758
+f 5 3 2
+f 7 1 2
+f 7 2 3
+f 8 5 2
+f 8 2 1
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+f 8 1 7
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+f 10 3 4
+f 10 7 3
+f 11 7 6
+f 11 4 7
+f 11 10 4
+f 12 9 8
+f 12 8 4
+f 12 4 9
+f 13 6 7
+f 13 7 10
+f 14 11 6
+f 14 6 13
+f 14 13 10
+f 15 14 10
+f 15 10 11
+f 15 11 14
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_3/collision/model_normalized_collision_20.obj b/objects/objaverse/pear/pear_3/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9453bb53aa8e355ca1d22ddaf600f5371fa690c1
--- /dev/null
+++ b/objects/objaverse/pear/pear_3/collision/model_normalized_collision_20.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.23604264 -0.23518655 -0.38217470
+v 0.21671912 -0.20562003 -0.23484848
+v -0.37469760 -0.18164113 -0.22768861
+v -0.39692281 -0.00988045 -0.23170093
+v 0.21671912 -0.00865033 -0.35606060
+v 0.21671912 -0.00865033 -0.23484848
+v -0.22249956 -0.23088577 -0.38280091
+v -0.40489278 -0.11203572 -0.22896564
+v -0.33468862 -0.01013805 -0.34957858
+v -0.19237179 -0.20562003 -0.23484848
+v -0.35693558 -0.12196396 -0.31180833
+v -0.38741180 -0.04063552 -0.27095259
+v -0.34325113 -0.17884618 -0.28178126
+v -0.38572284 -0.13712033 -0.25599204
+v -0.34286613 -0.09566042 -0.34264361
+v -0.40611734 -0.07119808 -0.23160851
+v -0.35783061 -0.01236647 -0.31604284
+v -0.34119974 -0.14873345 -0.31250084
+v -0.39132100 -0.15372651 -0.22812230
+v -0.37072403 -0.10729451 -0.29944784
+v -0.37249671 -0.17677653 -0.23851868
+v -0.38746915 -0.01344153 -0.25885607
+v -0.37115254 -0.02702255 -0.29945889
+v -0.32638734 -0.13411220 -0.34120086
+v -0.36974036 -0.13626231 -0.28294327
+v -0.40087531 -0.11325413 -0.23997326
+v -0.38602900 -0.15279950 -0.24133393
+v -0.34189565 -0.02742084 -0.34368585
+v -0.40112968 -0.07081269 -0.24386546
+f 6 3 2
+f 6 5 4
+f 6 2 1
+f 6 1 5
+f 7 5 1
+f 8 6 4
+f 9 4 5
+f 9 5 7
+f 10 7 1
+f 10 1 2
+f 10 2 3
+f 10 3 7
+f 13 7 3
+f 15 9 7
+f 16 8 4
+f 16 4 12
+f 17 4 9
+f 18 7 13
+f 19 3 6
+f 19 6 8
+f 20 15 11
+f 21 13 3
+f 22 12 4
+f 22 4 17
+f 23 22 17
+f 23 12 22
+f 23 20 12
+f 23 15 20
+f 24 15 7
+f 24 7 18
+f 24 18 11
+f 24 11 15
+f 25 11 18
+f 25 20 11
+f 25 14 20
+f 25 18 13
+f 26 19 8
+f 26 14 19
+f 26 20 14
+f 26 8 16
+f 27 19 14
+f 27 14 25
+f 27 25 13
+f 27 13 21
+f 27 21 3
+f 27 3 19
+f 28 23 17
+f 28 17 9
+f 28 9 15
+f 28 15 23
+f 29 26 16
+f 29 16 12
+f 29 12 20
+f 29 20 26
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_3/collision/model_normalized_collision_23.obj b/objects/objaverse/pear/pear_3/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..909ddfd36fd8dc2fdfc4c12341a53669cf8e2cd2
--- /dev/null
+++ b/objects/objaverse/pear/pear_3/collision/model_normalized_collision_23.obj
@@ -0,0 +1,141 @@
+# https://github.com/mikedh/trimesh
+v 0.22151089 -0.33258943 0.00431176
+v 0.38433987 -0.18442670 -0.23199316
+v 0.33885832 -0.18270005 0.09107211
+v 0.23187064 -0.19046852 0.12878789
+v 0.23187064 -0.19046852 -0.23484848
+v 0.22488332 -0.28758428 0.12395066
+v 0.35087331 -0.25251558 -0.07171501
+v 0.22884884 -0.31960664 -0.23281229
+v 0.32284118 -0.18351853 0.12124451
+v 0.40125200 -0.18408195 -0.11491690
+v 0.29187705 -0.25083552 0.09517347
+v 0.22590287 -0.32968938 -0.20225799
+v 0.23720529 -0.27880258 0.12440649
+v 0.35411397 -0.24944682 -0.18696827
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+v 0.28155013 -0.31036888 -0.05794716
+v 0.30487697 -0.22252847 0.11827027
+v 0.26470052 -0.26316960 0.12071103
+v 0.36543874 -0.24012218 -0.10024492
+v 0.39605902 -0.19636066 -0.14176612
+v 0.30940350 -0.27806519 -0.22752179
+v 0.32358694 -0.28036759 -0.07340938
+v 0.22606453 -0.34488944 -0.08323271
+v 0.31795332 -0.19911055 0.11882461
+v 0.33328397 -0.19551030 0.08954916
+v 0.35194843 -0.23514725 -0.03070181
+v 0.29369500 -0.29707598 -0.04543132
+v 0.37952844 -0.20975477 -0.05888085
+v 0.37933602 -0.20925347 -0.20133715
+v 0.40088897 -0.18478155 -0.14235747
+v 0.36647163 -0.23719561 -0.15667853
+v 0.39567434 -0.19576170 -0.11385073
+v 0.26767092 -0.30768936 -0.21546396
+v 0.35247040 -0.23843583 -0.23107764
+v 0.30944311 -0.29582566 -0.08625883
+v 0.26866147 -0.32343155 -0.08305893
+v 0.22472924 -0.34416771 -0.07104645
+v 0.30512234 -0.23797534 0.09222801
+v 0.37830503 -0.19532897 -0.02900215
+v 0.25280348 -0.31065228 -0.22813702
+v 0.26711083 -0.32436212 -0.11271868
+v 0.33740802 -0.26506381 -0.18668237
+v 0.37928231 -0.19644482 -0.22965223
+v 0.23761915 -0.33945745 -0.08031106
+v 0.25524772 -0.32226798 -0.16927854
+v 0.28135495 -0.30885629 -0.17166953
+v 0.30890705 -0.29502770 -0.14108986
+v 0.32324095 -0.28016266 -0.17275284
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+f 38 26 28
+f 38 25 17
+f 39 28 15
+f 39 15 25
+f 39 38 28
+f 39 25 38
+f 40 33 12
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+f 40 8 21
+f 40 21 33
+f 41 35 36
+f 42 34 14
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+f 43 34 2
+f 43 2 29
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+f 44 36 1
+f 44 1 37
+f 44 37 23
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+f 45 41 23
+f 45 23 12
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+f 46 33 21
+f 46 45 33
+f 46 41 45
+f 47 35 41
+f 47 41 46
+f 48 42 14
+f 48 14 35
+f 48 35 47
+f 48 21 42
+f 48 47 46
+f 48 46 21
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_3/collision/model_normalized_collision_25.obj b/objects/objaverse/pear/pear_3/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d305551799a4f7d89c2a5bfd7a1b35382b2f3406
--- /dev/null
+++ b/objects/objaverse/pear/pear_3/collision/model_normalized_collision_25.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.06341089 -0.28416287 0.33410599
+v 0.15530488 -0.19597625 0.35091544
+v -0.00456645 -0.18380221 0.41721222
+v -0.15371624 -0.18433427 0.34381231
+v -0.15682624 -0.20222387 0.33432065
+v 0.13303564 -0.18771248 0.37886118
+v 0.13408584 -0.24552069 0.33649310
+v -0.15966423 -0.18888958 0.33754046
+v -0.05054843 -0.28005036 0.34206554
+v -0.10799144 -0.20033916 0.39119440
+v 0.10385983 -0.18463961 0.40305439
+v 0.10459794 -0.26959799 0.33425444
+v 0.12590302 -0.23624509 0.35586575
+v -0.05199258 -0.28644901 0.33325498
+v 0.06132929 -0.22574850 0.40016967
+v -0.10880133 -0.19128745 0.39032265
+v 0.07657653 -0.18418226 0.41676488
+v 0.12720170 -0.21082382 0.37252148
+v 0.10076336 -0.26477594 0.34567078
+v 0.06209308 -0.27872857 0.34536863
+v -0.07903844 -0.27255599 0.33317028
+v -0.00451921 -0.22677571 0.39799224
+v 0.08600689 -0.23850832 0.38288257
+v 0.07270329 -0.19791288 0.41273674
+v 0.11194022 -0.21247011 0.38406654
+v -0.09636696 -0.25948653 0.33409131
+v -0.07602901 -0.26627603 0.34247452
+v -0.04752335 -0.25341026 0.36889536
+v -0.00116985 -0.19657290 0.41328409
+v 0.08786608 -0.25052999 0.37179567
+v 0.09984709 -0.19730343 0.39952913
+v -0.03514033 -0.23986856 0.38256775
+f 6 2 4
+f 8 4 2
+f 8 7 5
+f 8 2 7
+f 10 8 5
+f 10 4 8
+f 11 6 4
+f 12 5 7
+f 13 7 2
+f 14 12 1
+f 16 10 3
+f 16 3 4
+f 16 4 10
+f 17 11 4
+f 17 4 3
+f 18 13 2
+f 18 2 6
+f 19 12 7
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+f 20 14 1
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+f 20 1 12
+f 20 12 19
+f 21 5 12
+f 21 12 14
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+f 24 15 23
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+f 25 18 6
+f 25 6 11
+f 25 23 13
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+f 26 21 10
+f 26 10 5
+f 26 5 21
+f 27 21 9
+f 27 9 10
+f 27 10 21
+f 28 10 9
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+f 29 22 15
+f 29 3 10
+f 29 10 22
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+f 30 19 13
+f 30 13 23
+f 30 20 19
+f 30 23 15
+f 30 15 20
+f 31 24 23
+f 31 23 25
+f 31 25 11
+f 31 11 24
+f 32 28 22
+f 32 22 10
+f 32 10 28
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_3/collision/model_normalized_collision_26.obj b/objects/objaverse/pear/pear_3/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07e6218e1897c90320e681a7bfebf2d72817c761
--- /dev/null
+++ b/objects/objaverse/pear/pear_3/collision/model_normalized_collision_26.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.28391558 -0.01224712 -0.44096429
+v 0.26804442 -0.00963703 -0.45463399
+v 0.26464212 0.15980419 -0.41926171
+v 0.13243798 0.20305585 -0.45737151
+v 0.12581003 -0.00865033 -0.41666667
+v 0.18320753 0.09241911 -0.48907849
+v 0.25395550 0.06385285 -0.46392304
+v 0.12790584 -0.00760694 -0.49498808
+v 0.21191212 0.16748086 -0.45240216
+v 0.19818432 -0.00860230 -0.49229249
+v 0.12475260 0.16773454 -0.47681609
+v 0.22890265 0.18412463 -0.43228525
+v 0.22284781 0.09185018 -0.47476051
+v 0.12541266 0.09585269 -0.49245010
+v 0.15223445 0.16586547 -0.47280541
+v 0.25081822 0.13467724 -0.44430240
+v 0.20775280 0.12062803 -0.47205024
+v 0.19738553 0.05374122 -0.48942127
+v 0.19665279 0.16571811 -0.46007526
+v 0.25277323 0.15043209 -0.43451729
+v 0.23672057 0.15016195 -0.44589851
+v 0.25135678 0.09213878 -0.45933419
+v 0.23713329 0.12101389 -0.45826367
+f 5 1 3
+f 5 3 4
+f 7 1 2
+f 7 3 1
+f 8 1 5
+f 10 7 2
+f 10 2 1
+f 10 1 8
+f 11 5 4
+f 12 9 4
+f 12 4 3
+f 14 10 8
+f 14 6 10
+f 14 11 6
+f 14 8 5
+f 14 5 11
+f 15 6 11
+f 15 11 4
+f 17 13 6
+f 18 10 6
+f 18 6 13
+f 18 13 7
+f 18 7 10
+f 19 15 4
+f 19 4 9
+f 19 9 17
+f 19 17 6
+f 19 6 15
+f 20 12 3
+f 20 3 16
+f 21 9 12
+f 21 20 16
+f 21 12 20
+f 22 16 3
+f 22 3 7
+f 22 7 13
+f 23 13 17
+f 23 22 13
+f 23 16 22
+f 23 21 16
+f 23 17 9
+f 23 9 21
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_3/collision/model_normalized_collision_29.obj b/objects/objaverse/pear/pear_3/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..793de5a9a3c00e9c44deaf1d1555e784c0d1c7f1
--- /dev/null
+++ b/objects/objaverse/pear/pear_3/collision/model_normalized_collision_29.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v 0.21671912 0.17316785 -0.23484848
+v 0.25272427 0.20809657 -0.38967257
+v 0.21161604 0.32809143 -0.23166363
+v -0.01018142 0.37109219 -0.23031628
+v -0.22320116 0.20158480 -0.38579489
+v 0.12283682 0.30490483 -0.34492145
+v 0.12333543 0.35487285 -0.22960750
+v -0.19237179 0.17316785 -0.23484848
+v 0.20856066 0.27970300 -0.34787791
+v -0.05075429 0.30479010 -0.34502329
+v 0.18227909 0.33925788 -0.23055487
+v 0.04895353 0.36664405 -0.24307133
+v -0.18873807 0.33154068 -0.23164007
+v 0.20791908 0.30505738 -0.30176358
+v 0.18105879 0.29252886 -0.34625191
+v 0.04918738 0.37052458 -0.23109968
+v -0.02181034 0.32033963 -0.32999616
+v -0.18690909 0.26908395 -0.34947595
+v -0.15845122 0.34066401 -0.23096338
+v 0.20908328 0.32120571 -0.25972302
+v 0.16711097 0.31994691 -0.30105357
+v 0.20689625 0.29022790 -0.33112367
+v -0.00869295 0.36663932 -0.24493526
+v 0.12204568 0.35127370 -0.24366346
+v 0.09107521 0.32118955 -0.33023719
+v -0.17023178 0.27773762 -0.34725872
+v 0.18023229 0.33633844 -0.24563976
+v -0.03654500 0.35083759 -0.27199255
+v 0.12165758 0.33578544 -0.28632355
+v 0.16650799 0.30514232 -0.33048101
+v -0.14261052 0.30559186 -0.31365336
+v -0.18439119 0.29088347 -0.31555874
+v 0.15154104 0.33500447 -0.27209163
+v -0.06481127 0.35109684 -0.25648342
+v -0.15787820 0.33673574 -0.24253040
+v -0.17132809 0.30485509 -0.29913327
+v -0.17017624 0.32062941 -0.27005298
+v -0.18552230 0.32166738 -0.25680250
+f 1 2 3
+f 5 2 1
+f 8 5 1
+f 8 1 7
+f 10 6 2
+f 10 2 5
+f 11 7 1
+f 11 1 3
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+f 14 2 9
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+f 15 2 6
+f 16 4 7
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+f 19 7 4
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+f 23 16 12
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+f 25 23 12
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+f 26 10 5
+f 26 5 18
+f 27 11 3
+f 27 3 20
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+f 28 23 17
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+f 30 21 15
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+f 31 17 10
+f 31 10 26
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+f 33 27 21
+f 33 24 27
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+f 33 29 12
+f 33 12 24
+f 34 19 23
+f 34 23 28
+f 35 34 28
+f 35 19 34
+f 35 13 19
+f 36 31 26
+f 36 26 32
+f 37 35 28
+f 37 28 31
+f 37 31 36
+f 38 13 35
+f 38 35 37
+f 38 32 13
+f 38 37 36
+f 38 36 32
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_3/collision/model_normalized_collision_31.obj b/objects/objaverse/pear/pear_3/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63693464f638bebac84634f4e057b92b902bb706
--- /dev/null
+++ b/objects/objaverse/pear/pear_3/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.21671912 -0.00865033 -0.23484848
+v 0.24767715 -0.01372389 -0.46732529
+v 0.22890265 0.18412463 -0.43228525
+v 0.00459791 0.17316785 -0.23484848
+v 0.00627754 -0.00802473 -0.41815796
+v 0.21671912 0.17316785 -0.23484848
+v 0.00459791 -0.00865033 -0.23484848
+v 0.00459791 0.17316785 -0.41666667
+f 6 3 4
+f 6 4 1
+f 6 1 2
+f 6 2 3
+f 7 5 2
+f 7 2 1
+f 7 1 4
+f 8 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/pear/pear_3/collision/model_normalized_collision_4.obj b/objects/objaverse/pear/pear_3/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..acd5d5087aed91c34efd98a29f4d8308370da07a
--- /dev/null
+++ b/objects/objaverse/pear/pear_3/collision/model_normalized_collision_4.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.23143045 -0.28062245 0.12851332
+v 0.39323202 -0.11397793 0.00576060
+v 0.23439485 -0.02270022 0.23775118
+v 0.22840624 0.28843539 0.00511623
+v 0.23187064 -0.19046852 0.00757577
+v 0.36429941 0.07545984 0.04440500
+v 0.22197758 -0.22958281 0.21158714
+v 0.35547017 -0.20598745 0.01363839
+v 0.23803271 0.28291544 0.00168291
+v 0.33454581 -0.10079417 0.13409131
+v 0.22297065 0.06263572 0.20961566
+v 0.22532574 -0.27290865 0.15539759
+v 0.22568738 0.28418065 0.01796568
+v 0.40057247 -0.06746986 0.00214537
+v 0.29208279 0.00102814 0.17406225
+v 0.24644149 -0.17026671 0.22144836
+v 0.33455430 -0.16526646 0.11639203
+v 0.22510223 -0.20115579 0.22911543
+v 0.27669725 -0.23855214 0.14440826
+v 0.22230934 0.22439714 0.10270229
+v 0.23572444 0.27812663 0.01533678
+v 0.37037671 0.10593262 0.00242861
+v 0.34878785 -0.14021821 0.10354855
+v 0.35092580 -0.02847210 0.10243014
+v 0.25074235 -0.02770934 0.22404665
+v 0.27621012 0.04283959 0.17326941
+v 0.31849790 -0.15686554 0.14600601
+v 0.25262752 -0.26506591 0.13492297
+v 0.30338366 -0.21084539 0.13248140
+v 0.23448506 -0.25171145 0.17728919
+v 0.26088871 -0.22394881 0.17500464
+v 0.23403442 0.26372405 0.04269231
+v 0.34023333 0.16464544 0.00189294
+v 0.40053050 -0.01063269 0.00237304
+v 0.39522803 -0.06734011 0.01458225
+v 0.37864263 -0.11097696 0.04590051
+v 0.35667674 -0.18410161 0.04754043
+v 0.32089653 -0.02921583 0.14639202
+v 0.26232722 0.00246458 0.20302736
+v 0.33451595 -0.12655146 0.13360262
+v 0.23345036 0.11799106 0.17188314
+v 0.33463559 0.08948042 0.08480548
+v 0.29116411 -0.16778104 0.17496820
+v 0.25447922 -0.26863852 0.12347584
+v 0.22375448 -0.25663958 0.18175039
+v 0.26224720 -0.25127695 0.14678334
+v 0.29056775 -0.19686922 0.15962071
+v 0.22464092 0.26841227 0.04605757
+v 0.25972250 0.24882189 0.02928318
+v 0.33559096 0.16198749 0.01614641
+v 0.38611441 0.06325353 0.00323646
+v 0.37940288 0.04895330 0.02973386
+v 0.39548265 -0.01213698 0.01372327
+v 0.36274329 -0.15382718 0.06156555
+v 0.35207539 -0.18295861 0.06142870
+v 0.29091799 0.04473945 0.15814264
+v 0.23268877 0.06008382 0.20289431
+v 0.22308700 0.12035108 0.17898600
+v 0.29324195 0.14680855 0.09703597
+v 0.34898662 0.07538647 0.07176962
+v 0.23210931 -0.19884686 0.22326436
+v 0.22277847 0.23775153 0.08868597
+v 0.27867030 0.24167449 0.00222966
+v 0.24624081 0.26279155 0.02812425
+f 8 5 2
+f 8 1 5
+f 9 5 4
+f 12 5 1
+f 13 4 5
+f 14 2 5
+f 14 5 9
+f 18 11 7
+f 18 3 11
+f 18 16 3
+f 20 7 11
+f 21 9 4
+f 21 4 13
+f 25 3 16
+f 28 12 1
+f 29 19 8
+f 29 17 27
+f 30 19 7
+f 31 18 7
+f 31 7 19
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+f 34 33 22
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+f 40 36 35
+f 40 35 10
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+f 44 1 8
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+f 46 28 44
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+f 48 32 13
+f 50 6 22
+f 50 22 33
+f 50 42 6
+f 51 34 22
+f 51 22 6
+f 52 51 6
+f 52 34 51
+f 53 35 34
+f 53 24 35
+f 53 52 24
+f 53 34 52
+f 54 36 23
+f 54 2 36
+f 54 37 2
+f 54 23 17
+f 55 29 8
+f 55 8 37
+f 55 17 29
+f 55 54 17
+f 55 37 54
+f 56 39 15
+f 56 26 39
+f 56 15 42
+f 56 41 26
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+f 57 11 3
+f 57 3 39
+f 57 41 11
+f 57 26 41
+f 58 41 20
+f 58 20 11
+f 58 11 41
+f 59 20 41
+f 59 56 42
+f 59 41 56
+f 59 42 50
+f 59 50 49
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+f 60 15 38
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+f 60 6 42
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+f 62 48 13
+f 62 32 48
+f 62 49 32
+f 62 59 49
+f 62 20 59
+f 62 13 7
+f 62 7 20
+f 63 33 9
+f 63 9 49
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+f 64 9 21
+f 64 21 32
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\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_3/collision/model_normalized_collision_5.obj b/objects/objaverse/pear/pear_3/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..945da1c9d83f2f0f8f6c7d51b31545a6aebb0523
--- /dev/null
+++ b/objects/objaverse/pear/pear_3/collision/model_normalized_collision_5.obj
@@ -0,0 +1,117 @@
+# https://github.com/mikedh/trimesh
+v 0.06049665 -0.30857308 0.26168149
+v 0.06505193 -0.31105811 0.23482848
+v 0.01974942 -0.19046852 0.26515153
+v -0.16723085 -0.18507860 0.33296186
+v -0.12258281 -0.28105437 0.26098876
+v 0.01974942 -0.19046852 0.34090910
+v -0.05187764 -0.31147446 0.26332170
+v -0.20621081 -0.18999362 0.26458599
+v 0.06407076 -0.30716103 0.26436169
+v 0.01892087 -0.31829349 0.23366974
+v -0.07548829 -0.27776614 0.33001281
+v 0.06198662 -0.31181195 0.23441250
+v -0.16029577 -0.23456502 0.30098540
+v -0.19522075 -0.18609139 0.28864032
+v 0.02105644 -0.29776533 0.31949948
+v -0.09398069 -0.29618029 0.26119159
+v -0.19541075 -0.21344638 0.25863581
+v 0.01950639 -0.28879186 0.33763281
+v 0.02039042 -0.31785367 0.23577130
+v -0.16079887 -0.20932057 0.32637499
+v -0.13449010 -0.26405661 0.28742549
+v -0.19178336 -0.19777402 0.28617082
+v 0.01753676 -0.30853485 0.29083982
+v -0.03846908 -0.30917836 0.28830611
+v -0.16337042 -0.25288002 0.25932385
+v -0.13376629 -0.24971288 0.31385649
+v -0.07663052 -0.29256822 0.30283091
+v -0.17454062 -0.19965856 0.31516506
+v -0.19191451 -0.21140151 0.27047504
+v 0.04676727 -0.30785193 0.27669676
+v -0.06417620 -0.29265294 0.31575587
+v -0.12172493 -0.27805630 0.27328743
+v -0.16121984 -0.24966773 0.27431466
+v -0.11978185 -0.25014083 0.32475994
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+v -0.05156930 -0.30916133 0.27689300
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+v -0.09296529 -0.29264365 0.27490662
+v -0.17700778 -0.23809723 0.26013335
+v -0.17412352 -0.23612565 0.27366044
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+f 33 25 32
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+f 35 31 11
+f 35 27 31
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+f 40 17 39
+f 40 13 29
+f 40 39 33
+f 40 33 13
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_3/collision/model_normalized_collision_6.obj b/objects/objaverse/pear/pear_3/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5985ac85b1028541c477e2740d69cf1ca3e38202
--- /dev/null
+++ b/objects/objaverse/pear/pear_3/collision/model_normalized_collision_6.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.17927850 -0.34536229 0.00921912
+v -0.17052376 -0.32701815 0.05956746
+v -0.38708908 -0.06886006 0.02654939
+v -0.17423960 0.33429674 0.00505950
+v -0.20352277 -0.00941703 0.27664856
+v -0.39031075 0.00335281 0.00114097
+v -0.36149321 -0.19658816 0.00080637
+v -0.17066717 0.06259802 0.24545266
+v -0.28070803 0.17819985 0.06976311
+v -0.37239675 -0.01269198 0.04177764
+v -0.17038967 -0.24457772 0.26296776
+v -0.39104778 -0.12677941 0.00220137
+v -0.18700338 0.32990177 0.00114693
+v -0.16895200 0.28112790 0.08865032
+v -0.38685060 -0.05487719 0.02673512
+v -0.33924076 0.11882903 0.02758019
+v -0.25327000 -0.29493665 0.01594238
+v -0.21851589 -0.16790466 0.25691658
+v -0.32953084 0.16487506 0.00031985
+v -0.21486671 -0.32768566 0.00196637
+v -0.16959849 0.31316627 0.04492941
+v -0.25225961 0.26412817 0.02489865
+v -0.19154925 0.20640874 0.14290461
+v -0.16760355 0.12149976 0.20836209
+v -0.38490808 0.00295937 0.01280389
+v -0.23445008 -0.05881675 0.24606585
+v -0.31038421 0.09356731 0.08371155
+v -0.32500654 -0.22300993 0.02686023
+v -0.35898918 -0.09711360 0.06927895
+v -0.36967967 -0.15201766 0.02631116
+v -0.18918186 -0.22304728 0.25674195
+v -0.34441007 0.13555115 0.00111389
+v -0.32419851 0.16278277 0.01369101
+v -0.25421150 -0.29956126 0.00148544
+v -0.21162960 -0.32411781 0.01547526
+v -0.18474725 0.32373188 0.01583396
+v -0.28630725 0.24023926 0.00085213
+v -0.26630058 0.16383395 0.09820811
+v -0.16912281 0.22261024 0.14646159
+v -0.23544185 0.20810184 0.09951528
+v -0.37020762 0.03030378 0.02769868
+v -0.22202533 -0.02921629 0.25830047
+v -0.35935277 -0.05662151 0.06795181
+v -0.31005611 0.12017170 0.07104661
+v -0.28282584 -0.26230996 0.03089995
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+v -0.23397639 -0.12606563 0.24365813
+v -0.37524669 -0.16878114 0.00167408
+v -0.37024932 -0.12306798 0.04178776
+v -0.35550702 -0.19497415 0.01345149
+v -0.32471524 0.13283416 0.04066054
+v -0.34023311 0.13355962 0.01238259
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+v -0.28202829 0.23693757 0.01179761
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+v -0.25204913 0.22145218 0.06781335
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+v -0.18033722 0.27615456 0.08586509
+v -0.35624205 0.01695027 0.05451357
+v -0.28164045 0.13526717 0.09777671
+v -0.37111834 -0.16642355 0.01340986
+v -0.17700778 -0.23809723 0.26013335
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+f 19 7 6
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+f 63 31 18
+f 64 50 11
+f 64 11 31
+f 64 31 50
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_3/collision/model_normalized_collision_7.obj b/objects/objaverse/pear/pear_3/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..761137636754aa4bbeaef36ceac901cc35433b4d
--- /dev/null
+++ b/objects/objaverse/pear/pear_3/collision/model_normalized_collision_7.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.00459791 -0.20562003 -0.35606060
+v 0.05571801 -0.00600950 -0.45651618
+v 0.00470332 0.30856126 -0.35543813
+v -0.15805684 0.28091319 -0.34909520
+v -0.22387741 -0.09145081 -0.45911669
+v -0.06788474 0.29801177 -0.34883775
+v 0.00272807 -0.20342158 -0.46755413
+v -0.33431383 -0.11019594 -0.34741614
+v -0.12646469 0.17778141 -0.47331476
+v -0.30037633 0.12130325 -0.34709239
+v -0.31835229 -0.13845746 -0.34710789
+v 0.00382161 0.19584528 -0.47451221
+v -0.21057569 -0.06574004 -0.47632970
+v -0.03650914 0.24820292 -0.43120596
+v -0.17915303 0.21969201 -0.41480909
+v -0.22249956 -0.23088577 -0.38280091
+v -0.23780529 -0.13689326 -0.42910734
+v 0.05428587 0.06899587 -0.48084331
+v -0.15535577 -0.19867066 -0.45743751
+v -0.22481976 0.09247225 -0.44621599
+v -0.32789510 -0.10845925 -0.35547056
+v -0.12901334 0.26158815 -0.39002366
+v -0.03749062 0.23361178 -0.44588302
+v 0.00456979 0.26330611 -0.41897735
+v -0.18690909 0.26908395 -0.34947595
+v -0.27822734 -0.18676641 -0.35087896
+v -0.20887509 -0.18360147 -0.43000858
+v 0.05511661 0.05663882 -0.47823709
+v -0.08621743 -0.15871372 -0.47610538
+v -0.15289672 0.15153749 -0.47369313
+v -0.02453397 0.19415580 -0.47462323
+v -0.18210892 -0.19807114 -0.44325552
+v -0.22418434 0.13455058 -0.43048811
+v -0.26573333 -0.10829834 -0.41619355
+v -0.29526544 0.06220041 -0.38711698
+v -0.31144463 -0.13583653 -0.35644011
+v -0.15720283 0.27454546 -0.36054743
+v -0.02308604 0.26123603 -0.41919414
+v -0.11319466 0.21903719 -0.44539371
+v 0.00363098 0.23613340 -0.44707474
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+v -0.27820607 0.14968825 -0.35992303
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+v -0.17919227 0.14995142 -0.45936689
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+v -0.29529519 0.11730485 -0.35795447
+v -0.19856055 -0.09333638 -0.47268535
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+f 63 54 62
+f 63 62 35
+f 63 35 10
+f 64 55 19
+f 64 13 55
+f 64 47 13
+f 64 19 47
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_3/collision/model_normalized_collision_9.obj b/objects/objaverse/pear/pear_3/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a524b243c8a3bfc5488a8144bc9f060702dd13f
--- /dev/null
+++ b/objects/objaverse/pear/pear_3/collision/model_normalized_collision_9.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v 0.34704763 -0.19625363 0.05594726
+v 0.41064119 -0.11183806 -0.20172475
+v 0.40892038 0.01936175 -0.03033547
+v 0.34031908 0.15949614 0.00877301
+v 0.37095443 -0.20626697 -0.24297801
+v 0.35514904 0.16662995 -0.23831060
+v 0.36957243 -0.12233285 0.06404966
+v 0.41047631 -0.15506623 -0.08814939
+v 0.41003901 0.04649196 -0.18614136
+v 0.39755625 0.06295541 -0.23134431
+v 0.39524476 0.03304841 -0.00072641
+v 0.39620878 -0.18320638 -0.18615128
+v 0.37975145 -0.14230799 0.02904812
+v 0.41120609 0.06146916 -0.08511808
+v 0.39581286 -0.15451528 -0.23021458
+v 0.41129688 0.00462845 -0.21443565
+v 0.39547394 0.10442951 -0.15589958
+v 0.41144715 -0.08019568 -0.02839527
+v 0.36502656 0.11854967 0.00083156
+v 0.41006133 -0.15515577 -0.15622919
+v 0.39337962 -0.18209058 -0.05864923
+v 0.36325586 -0.16962146 0.04652485
+v 0.39561502 0.09271144 -0.05767116
+v 0.38433987 -0.18442670 -0.23199316
+v 0.41023418 0.03302992 -0.20061448
+v 0.41042513 -0.08277459 -0.21376060
+v 0.41015552 0.06155995 -0.15666883
+v 0.36492145 0.14823686 -0.23192737
+v 0.36583885 0.14951284 -0.04229374
+v 0.37642859 -0.11333974 0.05037385
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+v 0.39488964 -0.16882892 -0.21544364
+v 0.36425018 -0.18182998 0.03063649
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+v 0.35667674 -0.18410161 0.04754043
+v 0.37853375 0.13539999 -0.07200176
+v 0.35079675 0.14815022 -0.00022010
+v 0.38037823 0.11884990 -0.04251565
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+f 42 23 35
+f 42 37 29
+f 42 35 37
+f 43 38 29
+f 43 29 4
+f 43 4 19
+f 43 19 38
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+f 44 19 23
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\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_3/model.xml b/objects/objaverse/pear/pear_3/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..1dc145b592a753c7421c4226d7dd52f9d32587e7
--- /dev/null
+++ b/objects/objaverse/pear/pear_3/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="pear_19">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.09000000000000001 0.09000000000000001 0.09000000000000001" refquat="0.5879378012096792 0.5879378012096793 0.3928474791935511 0.3928474791935512"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.09000000000000001 0.09000000000000001 0.09000000000000001" refquat="0.5879378012096792 0.5879378012096793 0.3928474791935511 0.3928474791935512"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.09000000000000001 0.09000000000000001 0.09000000000000001" refquat="0.5879378012096792 0.5879378012096793 0.3928474791935511 0.3928474791935512"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.09000000000000001 0.09000000000000001 0.09000000000000001" refquat="0.5879378012096792 0.5879378012096793 0.3928474791935511 0.3928474791935512"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.09000000000000001 0.09000000000000001 0.09000000000000001" refquat="0.5879378012096792 0.5879378012096793 0.3928474791935511 0.3928474791935512"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.09000000000000001 0.09000000000000001 0.09000000000000001" refquat="0.5879378012096792 0.5879378012096793 0.3928474791935511 0.3928474791935512"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.09000000000000001 0.09000000000000001 0.09000000000000001" refquat="0.5879378012096792 0.5879378012096793 0.3928474791935511 0.3928474791935512"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.09000000000000001 0.09000000000000001 0.09000000000000001" refquat="0.5879378012096792 0.5879378012096793 0.3928474791935511 0.3928474791935512"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.09000000000000001 0.09000000000000001 0.09000000000000001" refquat="0.5879378012096792 0.5879378012096793 0.3928474791935511 0.3928474791935512"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.09000000000000001 0.09000000000000001 0.09000000000000001" refquat="0.5879378012096792 0.5879378012096793 0.3928474791935511 0.3928474791935512"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.09000000000000001 0.09000000000000001 0.09000000000000001" refquat="0.5879378012096792 0.5879378012096793 0.3928474791935511 0.3928474791935512"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.09000000000000001 0.09000000000000001 0.09000000000000001" refquat="0.5879378012096792 0.5879378012096793 0.3928474791935511 0.3928474791935512"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.09000000000000001 0.09000000000000001 0.09000000000000001" refquat="0.5879378012096792 0.5879378012096793 0.3928474791935511 0.3928474791935512"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.09000000000000001 0.09000000000000001 0.09000000000000001" refquat="0.5879378012096792 0.5879378012096793 0.3928474791935511 0.3928474791935512"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.09000000000000001 0.09000000000000001 0.09000000000000001" refquat="0.5879378012096792 0.5879378012096793 0.3928474791935511 0.3928474791935512"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.09000000000000001 0.09000000000000001 0.09000000000000001" refquat="0.5879378012096792 0.5879378012096793 0.3928474791935511 0.3928474791935512"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.09000000000000001 0.09000000000000001 0.09000000000000001" refquat="0.5879378012096792 0.5879378012096793 0.3928474791935511 0.3928474791935512"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.09000000000000001 0.09000000000000001 0.09000000000000001" refquat="0.5879378012096792 0.5879378012096793 0.3928474791935511 0.3928474791935512"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.09000000000000001 0.09000000000000001 0.09000000000000001" refquat="0.5879378012096792 0.5879378012096793 0.3928474791935511 0.3928474791935512"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.09000000000000001 0.09000000000000001 0.09000000000000001" refquat="0.5879378012096792 0.5879378012096793 0.3928474791935511 0.3928474791935512"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.09000000000000001 0.09000000000000001 0.09000000000000001" refquat="0.5879378012096792 0.5879378012096793 0.3928474791935511 0.3928474791935512"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.09000000000000001 0.09000000000000001 0.09000000000000001" refquat="0.5879378012096792 0.5879378012096793 0.3928474791935511 0.3928474791935512"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.09000000000000001 0.09000000000000001 0.09000000000000001" refquat="0.5879378012096792 0.5879378012096793 0.3928474791935511 0.3928474791935512"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.09000000000000001 0.09000000000000001 0.09000000000000001" refquat="0.5879378012096792 0.5879378012096793 0.3928474791935511 0.3928474791935512"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.09000000000000001 0.09000000000000001 0.09000000000000001" refquat="0.5879378012096792 0.5879378012096793 0.3928474791935511 0.3928474791935512"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.09000000000000001 0.09000000000000001 0.09000000000000001" refquat="0.5879378012096792 0.5879378012096793 0.3928474791935511 0.3928474791935512"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.09000000000000001 0.09000000000000001 0.09000000000000001" refquat="0.5879378012096792 0.5879378012096793 0.3928474791935511 0.3928474791935512"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.09000000000000001 0.09000000000000001 0.09000000000000001" refquat="0.5879378012096792 0.5879378012096793 0.3928474791935511 0.3928474791935512"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.09000000000000001 0.09000000000000001 0.09000000000000001" refquat="0.5879378012096792 0.5879378012096793 0.3928474791935511 0.3928474791935512"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.09000000000000001 0.09000000000000001 0.09000000000000001" refquat="0.5879378012096792 0.5879378012096793 0.3928474791935511 0.3928474791935512"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.09000000000000001 0.09000000000000001 0.09000000000000001" refquat="0.5879378012096792 0.5879378012096793 0.3928474791935511 0.3928474791935512"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.09000000000000001 0.09000000000000001 0.09000000000000001" refquat="0.5879378012096792 0.5879378012096793 0.3928474791935511 0.3928474791935512"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.09000000000000001 0.09000000000000001 0.09000000000000001" refquat="0.5879378012096792 0.5879378012096793 0.3928474791935511 0.3928474791935512"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="RedPolyPear_u1_v1" texture="image0" specular="0.5" shininess="0.0"/>
+  </asset>
+  <worldbody>
+    <body>
+      <body name="object">
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_0_vis" conaffinity="0" contype="0" group="1" material="RedPolyPear_u1_v1"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_22._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_23._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_21._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_20._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_24._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_30._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_18._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_19._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_31._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_25._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_27._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_26._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
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+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_16._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_28._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 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"/>
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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_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="-0.0006991079139429497 -2.3032799999999357e-05 -0.03544172258444696" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="-0.0006991079139429497 -2.3032799999999357e-05 0.0397038244186408" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.03518163473017817 0.044502861600000006 0.002131050917096918" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/pear/pear_8/collision/model_normalized_collision_0.obj b/objects/objaverse/pear/pear_8/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..848eff90c3af0762513c96d022849201f4241ea6
--- /dev/null
+++ b/objects/objaverse/pear/pear_8/collision/model_normalized_collision_0.obj
@@ -0,0 +1,132 @@
+# https://github.com/mikedh/trimesh
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+f 44 33 24
+f 44 24 40
+f 44 17 33
+f 44 42 17
+f 44 40 42
+f 45 43 14
+f 45 14 32
+f 45 32 43
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_8/collision/model_normalized_collision_1.obj b/objects/objaverse/pear/pear_8/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00331896e5ae107bd58e87d3b45334e23ad1ec52
--- /dev/null
+++ b/objects/objaverse/pear/pear_8/collision/model_normalized_collision_1.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v 0.17617802 0.12068184 0.14384475
+v 0.21018048 0.15633643 0.03816940
+v 0.03789024 0.25804288 0.00069098
+v -0.14120672 0.25787406 0.00331512
+v -0.15709212 0.12074875 0.00757575
+v -0.00859140 0.14913731 0.22834362
+v 0.12460661 0.22928428 0.01217137
+v -0.03731219 0.25298418 0.03192301
+v -0.13542512 0.11222849 0.23181343
+v 0.17395689 0.20721176 0.00337605
+v 0.03265588 0.13357719 0.24042762
+v -0.00858058 0.23954304 0.05515566
+v -0.09133487 0.22359951 0.08798390
+v -0.15607152 0.21110999 0.08334486
+v 0.16554803 0.13426055 0.13775499
+v 0.15681464 0.21719868 0.00272659
+v -0.06386590 0.14681142 0.22832057
+v 0.06199586 0.23700474 0.03369940
+v 0.03539605 0.25242394 0.01525667
+v -0.09407782 0.25328697 0.02956815
+v -0.05621988 0.22255562 0.09029613
+v -0.15413748 0.25163678 0.00581774
+v -0.15240840 0.11331017 0.21529607
+v -0.13530797 0.25421468 0.01659118
+v 0.13630595 0.14898667 0.13738689
+v 0.12542124 0.23194486 0.00384869
+v -0.10063500 0.13603862 0.22714066
+v 0.03283534 0.23973026 0.04149717
+v -0.14723948 0.18166101 0.13289676
+v -0.15260348 0.24193463 0.03084168
+v -0.10699877 0.23700327 0.05812679
+v 0.02061601 0.14122123 0.23151964
+v -0.14979598 0.12019404 0.20925863
+v -0.12787454 0.12137980 0.22694170
+f 5 2 1
+f 5 4 3
+f 8 3 4
+f 9 5 1
+f 10 2 5
+f 11 9 1
+f 12 8 6
+f 15 1 2
+f 15 2 10
+f 15 11 1
+f 16 10 5
+f 16 5 3
+f 16 15 10
+f 16 7 15
+f 17 11 6
+f 17 9 11
+f 17 6 13
+f 17 13 14
+f 18 11 7
+f 19 3 8
+f 19 8 12
+f 19 18 7
+f 19 7 3
+f 20 13 8
+f 20 8 4
+f 21 13 6
+f 21 6 8
+f 21 8 13
+f 22 4 5
+f 22 5 14
+f 23 14 5
+f 23 5 9
+f 24 14 13
+f 24 20 4
+f 25 15 7
+f 25 7 11
+f 25 11 15
+f 26 16 3
+f 26 3 7
+f 26 7 16
+f 27 17 14
+f 27 9 17
+f 28 18 19
+f 28 19 12
+f 28 12 6
+f 29 14 23
+f 29 27 14
+f 30 22 14
+f 30 14 24
+f 30 24 4
+f 30 4 22
+f 31 24 13
+f 31 13 20
+f 31 20 24
+f 32 28 6
+f 32 6 11
+f 32 11 18
+f 32 18 28
+f 33 29 23
+f 33 23 9
+f 34 9 27
+f 34 27 29
+f 34 33 9
+f 34 29 33
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_8/collision/model_normalized_collision_10.obj b/objects/objaverse/pear/pear_8/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0bc1847c5ab3784109ac0c0327f1ffa971fd6915
--- /dev/null
+++ b/objects/objaverse/pear/pear_8/collision/model_normalized_collision_10.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v 0.02576639 -0.14012907 0.35283896
+v 0.02472606 -0.12167549 0.23484848
+v 0.02061601 0.14122123 0.23151964
+v -0.09462405 0.13836356 0.22679634
+v -0.17694737 -0.10151472 0.22914794
+v -0.14946617 0.10898677 0.22416496
+v -0.07562229 0.10018387 0.33102228
+v -0.16705421 -0.11864287 0.23200106
+v -0.18948643 -0.07248596 0.22692185
+v 0.01826105 0.10364301 0.32984346
+v -0.04330197 0.13266710 0.27350503
+v -0.08462255 0.10405501 0.31475407
+v -0.13877622 -0.05324720 0.33111922
+v -0.07635239 0.13133274 0.25597206
+v -0.00583339 0.13163465 0.27713560
+v -0.12590858 0.06105159 0.32661505
+v -0.11088636 -0.10887926 0.32896525
+v -0.13725395 -0.08365164 0.31353732
+v -0.14238003 0.02294381 0.32756184
+v 0.01729555 0.13339776 0.26022949
+v -0.11142117 0.07464866 0.32828782
+v -0.16973329 -0.10047191 0.24278165
+v -0.13888142 -0.10966070 0.28494544
+v -0.16831848 -0.07068460 0.26822265
+v -0.15434851 -0.02744866 0.31791920
+v -0.19122621 0.05434931 0.22784087
+v 0.01852213 0.11674515 0.30153581
+v -0.17552207 0.08209926 0.22661828
+v -0.18371507 -0.04188328 0.25549422
+v -0.18545542 0.05026117 0.24139211
+v -0.17163032 0.07925661 0.23628762
+v -0.16815532 -0.04092780 0.28545209
+v -0.18477611 0.02633245 0.25698952
+v -0.15353659 0.01235676 0.31421629
+v -0.16995113 0.02615506 0.28171716
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 8 5 2
+f 8 2 1
+f 9 6 2
+f 9 2 5
+f 10 7 1
+f 10 1 3
+f 11 3 4
+f 11 7 10
+f 12 7 4
+f 12 4 6
+f 14 11 4
+f 14 4 7
+f 14 7 11
+f 15 11 10
+f 15 3 11
+f 17 8 1
+f 17 1 13
+f 18 17 13
+f 19 13 1
+f 19 1 7
+f 20 3 15
+f 21 12 6
+f 21 7 12
+f 21 19 7
+f 21 16 19
+f 22 18 5
+f 22 5 8
+f 22 8 18
+f 23 18 8
+f 23 8 17
+f 23 17 18
+f 24 18 13
+f 24 9 5
+f 24 5 18
+f 25 13 19
+f 25 24 13
+f 26 6 9
+f 27 20 15
+f 27 15 10
+f 27 10 3
+f 27 3 20
+f 28 21 6
+f 28 6 26
+f 29 9 24
+f 30 19 16
+f 31 16 21
+f 31 21 28
+f 31 30 16
+f 31 28 26
+f 31 26 30
+f 32 29 24
+f 32 24 25
+f 32 25 29
+f 33 26 9
+f 33 9 29
+f 33 30 26
+f 33 29 25
+f 34 33 25
+f 34 25 19
+f 35 19 30
+f 35 30 33
+f 35 34 19
+f 35 33 34
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_8/collision/model_normalized_collision_11.obj b/objects/objaverse/pear/pear_8/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57b01b986a9343b46a548283a89ac3e1b8848b09
--- /dev/null
+++ b/objects/objaverse/pear/pear_8/collision/model_normalized_collision_11.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.26315273 0.04499118 0.00757575
+v -0.26315273 0.04499118 -0.23484849
+v -0.29731500 0.14442259 0.02795872
+v -0.30874448 0.13832647 -0.25269327
+v -0.35353707 0.04289349 -0.02567129
+v -0.33622555 0.05537108 -0.24809096
+v -0.34714789 0.04347874 0.00686778
+v -0.34286074 0.11680038 -0.15738845
+v -0.35315559 0.04426314 -0.15927525
+v -0.33533337 0.11449682 -0.02592165
+v -0.31588721 0.13333000 -0.24282354
+v -0.35308760 0.05864756 -0.15576790
+v -0.33833323 0.08352046 0.00302483
+v -0.35194585 0.07199603 -0.05143066
+v -0.32727292 0.11478813 0.00008900
+v -0.35068488 0.05739678 -0.02659770
+v -0.35212257 0.07384844 -0.14190550
+f 1 2 3
+f 3 2 4
+f 5 2 1
+f 6 4 2
+f 7 5 1
+f 7 1 3
+f 8 3 4
+f 9 6 2
+f 9 2 5
+f 10 3 8
+f 11 8 4
+f 11 4 6
+f 11 6 8
+f 12 8 6
+f 12 6 9
+f 12 9 5
+f 13 7 3
+f 14 10 8
+f 14 13 10
+f 14 12 5
+f 15 13 3
+f 15 3 10
+f 15 10 13
+f 16 14 5
+f 16 5 7
+f 16 7 13
+f 16 13 14
+f 17 14 8
+f 17 8 12
+f 17 12 14
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_8/collision/model_normalized_collision_12.obj b/objects/objaverse/pear/pear_8/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ff5733c5381967a4ea17ea649bdc79a27e19bfd
--- /dev/null
+++ b/objects/objaverse/pear/pear_8/collision/model_normalized_collision_12.obj
@@ -0,0 +1,171 @@
+# https://github.com/mikedh/trimesh
+v 0.16108969 0.12074875 -0.23484849
+v 0.15230426 0.11412228 -0.43969872
+v 0.16029916 0.23796867 -0.23266545
+v -0.15484776 0.25760248 -0.23054139
+v -0.17224364 0.12074875 -0.23484849
+v 0.04974264 0.18050687 -0.43413976
+v -0.05079791 0.27423201 -0.22983038
+v 0.15256980 0.21005073 -0.31472965
+v -0.16559561 0.11515818 -0.42194254
+v 0.13992044 0.24587372 -0.23156847
+v -0.12469781 0.22199765 -0.33254766
+v 0.11882581 0.15111360 -0.43626874
+v -0.17044278 0.25267144 -0.23313277
+v -0.07940210 0.11473215 -0.47019550
+v 0.11164468 0.25599241 -0.23109219
+v 0.13504901 0.22435808 -0.30343492
+v 0.00199611 0.20679754 -0.38225639
+v -0.09795956 0.25342495 -0.27067543
+v 0.14756079 0.12320266 -0.43836451
+v -0.16599883 0.18245746 -0.36931588
+v -0.16612601 0.23967542 -0.27230658
+v 0.11201784 0.11911806 -0.46084878
+v 0.14226682 0.23830360 -0.25404544
+v 0.06735267 0.25429283 -0.27090228
+v 0.09564666 0.19054022 -0.39177998
+v 0.00142486 0.18184419 -0.43251037
+v -0.05160544 0.26894533 -0.24613844
+v 0.14595477 0.15016462 -0.40475847
+v -0.16305195 0.15138118 -0.39840794
+v -0.16122724 0.20924849 -0.33318151
+v -0.15079961 0.22512206 -0.31389351
+v -0.15241641 0.25406371 -0.24167778
+v 0.13896681 0.11441695 -0.45300261
+v 0.04117059 0.14448812 -0.46001758
+v 0.12230077 0.13798473 -0.44946888
+v 0.11014032 0.25265359 -0.24435568
+v 0.02375205 0.27317148 -0.23083610
+v 0.09610359 0.22308067 -0.33574235
+v 0.06793171 0.20817175 -0.37788056
+v 0.09451579 0.16423359 -0.43414586
+v 0.11695963 0.20972435 -0.34529073
+v -0.13456120 0.18136227 -0.38661970
+v -0.16292879 0.12653299 -0.41606855
+v -0.15198974 0.20771730 -0.34220511
+v 0.13688381 0.12669759 -0.44771675
+v 0.05068516 0.16882721 -0.44581875
+v 0.11202581 0.12765350 -0.45786196
+v 0.09589048 0.25050615 -0.26386592
+v 0.02471982 0.26865259 -0.24152548
+v 0.12267833 0.22155678 -0.31905423
+v -0.10919560 0.20862563 -0.35910982
+v -0.06236349 0.15026256 -0.44695491
+v -0.13963461 0.16684384 -0.39815704
+v 0.09553579 0.15383517 -0.44480196
+v -0.00374023 0.16748038 -0.44592870
+v -0.05952257 0.16361953 -0.43410831
+v -0.07616981 0.12536520 -0.46347898
+v 0.01273664 0.14691150 -0.45775194
+f 1 2 3
+f 5 2 1
+f 7 5 1
+f 7 4 5
+f 8 3 2
+f 9 2 5
+f 10 1 3
+f 13 9 5
+f 13 5 4
+f 14 2 9
+f 15 7 1
+f 15 1 10
+f 16 3 8
+f 19 8 2
+f 20 9 13
+f 21 13 4
+f 21 20 13
+f 23 10 3
+f 23 3 16
+f 26 17 6
+f 26 11 17
+f 27 18 4
+f 27 4 7
+f 27 17 11
+f 27 11 18
+f 28 12 8
+f 28 8 19
+f 29 9 20
+f 30 20 21
+f 31 21 18
+f 31 18 11
+f 31 30 21
+f 32 21 4
+f 32 4 18
+f 32 18 21
+f 33 2 14
+f 33 14 22
+f 34 22 14
+f 36 23 16
+f 36 15 10
+f 36 10 23
+f 37 7 15
+f 37 15 24
+f 37 27 7
+f 39 6 17
+f 39 17 27
+f 39 24 38
+f 39 38 25
+f 39 25 6
+f 40 6 25
+f 40 12 35
+f 41 8 12
+f 41 40 25
+f 41 12 40
+f 41 25 38
+f 43 29 14
+f 43 14 9
+f 43 9 29
+f 44 31 11
+f 44 30 31
+f 44 42 20
+f 44 20 30
+f 45 19 2
+f 45 2 33
+f 45 33 35
+f 45 28 19
+f 45 35 12
+f 45 12 28
+f 46 26 6
+f 47 35 33
+f 47 33 22
+f 47 22 34
+f 47 46 35
+f 47 34 46
+f 48 24 15
+f 48 15 36
+f 48 38 24
+f 48 36 16
+f 48 16 38
+f 49 37 24
+f 49 24 39
+f 49 39 27
+f 49 27 37
+f 50 41 38
+f 50 38 16
+f 50 16 8
+f 50 8 41
+f 51 11 26
+f 51 26 42
+f 51 44 11
+f 51 42 44
+f 53 29 20
+f 53 20 42
+f 53 42 52
+f 54 40 35
+f 54 35 46
+f 54 46 6
+f 54 6 40
+f 55 46 34
+f 55 26 46
+f 56 52 42
+f 56 42 26
+f 56 55 52
+f 56 26 55
+f 57 53 52
+f 57 14 29
+f 57 29 53
+f 57 55 14
+f 57 52 55
+f 58 55 34
+f 58 34 14
+f 58 14 55
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_8/collision/model_normalized_collision_13.obj b/objects/objaverse/pear/pear_8/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e77bbf200c0305779e4fc094ee61959bfe8544b
--- /dev/null
+++ b/objects/objaverse/pear/pear_8/collision/model_normalized_collision_13.obj
@@ -0,0 +1,141 @@
+# https://github.com/mikedh/trimesh
+v 0.09791491 -0.11337755 -0.40912641
+v 0.15690959 -0.07329338 -0.41076055
+v -0.17139685 0.11988037 -0.41476461
+v -0.09207381 0.16043169 -0.42430540
+v -0.03390877 -0.03934456 -0.49100219
+v 0.16163063 0.12113744 -0.41696682
+v 0.12676583 -0.09932309 -0.40884201
+v -0.16736468 -0.11575031 -0.40757138
+v -0.08909806 0.07120362 -0.49120496
+v 0.15009483 0.03039048 -0.45946525
+v 0.11820834 -0.04588527 -0.46128457
+v 0.05256096 -0.10704777 -0.43197683
+v -0.08766408 0.12403026 -0.46009857
+v -0.16361100 -0.04146343 -0.44293996
+v 0.12519962 0.11334304 -0.46029254
+v 0.14609794 -0.03305146 -0.44541336
+v 0.09285037 -0.02289646 -0.47682059
+v 0.09635640 -0.06000966 -0.46124592
+v -0.12555031 -0.10626242 -0.43021543
+v -0.09895103 0.09691803 -0.47352255
+v -0.16384551 0.05383798 -0.44562307
+v -0.10131071 0.02002716 -0.48980166
+v 0.14921019 0.07489732 -0.45985538
+v -0.01043681 0.10774984 -0.48188402
+v -0.07981484 0.16226919 -0.42636700
+v 0.12904345 -0.03281654 -0.46272273
+v 0.09375548 -0.10668014 -0.41743568
+v 0.01020108 -0.06738430 -0.47421190
+v -0.07111994 -0.04904614 -0.47685845
+v -0.16490695 -0.08344368 -0.42682095
+v -0.07750102 0.11047650 -0.47339153
+v -0.16559561 0.11515818 -0.42194254
+v -0.10010473 0.05630008 -0.48946831
+v 0.14564254 0.11205323 -0.44928612
+v 0.08116711 0.04989133 -0.47840572
+v -0.07744103 0.15529826 -0.43496221
+v 0.05062346 -0.07776962 -0.46114598
+v -0.04429829 -0.06255161 -0.47788550
+v -0.04709126 -0.03747950 -0.48978287
+v -0.10109520 -0.02441795 -0.47476257
+v -0.15043191 -0.09542400 -0.42703625
+v -0.07680688 0.08236268 -0.48989334
+v -0.16218155 0.09776190 -0.43115376
+v 0.13871723 0.10007557 -0.46140798
+v 0.00139770 0.00693193 -0.49212135
+v -0.16352723 -0.11004898 -0.41272108
+v 0.04463234 0.09222974 -0.47738051
+v -0.04370170 0.08165556 -0.48839731
+f 6 4 3
+f 7 6 3
+f 7 2 6
+f 8 7 3
+f 8 1 7
+f 10 6 2
+f 11 2 7
+f 12 1 8
+f 13 3 4
+f 14 8 3
+f 16 10 2
+f 18 11 7
+f 18 7 1
+f 18 17 11
+f 19 12 8
+f 21 14 3
+f 22 9 5
+f 22 14 21
+f 23 6 10
+f 23 10 17
+f 25 4 6
+f 25 6 15
+f 26 10 16
+f 26 17 10
+f 26 11 17
+f 26 16 2
+f 26 2 11
+f 27 18 1
+f 27 1 12
+f 28 5 17
+f 28 17 18
+f 28 12 19
+f 30 8 14
+f 31 20 13
+f 32 20 9
+f 32 3 13
+f 32 13 20
+f 32 21 3
+f 33 22 21
+f 33 9 22
+f 34 15 6
+f 34 6 23
+f 35 23 17
+f 36 25 15
+f 36 15 24
+f 36 24 31
+f 36 31 13
+f 36 13 4
+f 36 4 25
+f 37 27 12
+f 37 18 27
+f 37 28 18
+f 37 12 28
+f 38 28 19
+f 38 5 28
+f 38 19 29
+f 39 22 5
+f 39 38 29
+f 39 5 38
+f 40 14 22
+f 40 39 29
+f 40 22 39
+f 40 30 14
+f 40 29 30
+f 41 30 29
+f 41 29 19
+f 42 9 20
+f 42 20 31
+f 42 31 24
+f 43 32 9
+f 43 9 33
+f 43 33 21
+f 43 21 32
+f 44 34 23
+f 44 15 34
+f 44 23 35
+f 45 35 17
+f 45 17 5
+f 45 5 9
+f 45 9 42
+f 45 24 35
+f 46 8 30
+f 46 30 41
+f 46 41 19
+f 46 19 8
+f 47 44 35
+f 47 35 24
+f 47 24 15
+f 47 15 44
+f 48 45 42
+f 48 42 24
+f 48 24 45
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_8/collision/model_normalized_collision_14.obj b/objects/objaverse/pear/pear_8/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..076cbc94a4ee0e2b44f8c756ac42800e9f2e5e18
--- /dev/null
+++ b/objects/objaverse/pear/pear_8/collision/model_normalized_collision_14.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.35675700 -0.05497270 0.44841016
+v 0.35854497 -0.05251812 0.44284026
+v 0.26234766 -0.00979848 0.49146137
+v 0.16276066 -0.01260361 0.48489181
+v 0.15962600 -0.01682963 0.46465292
+v 0.25071666 -0.03529570 0.49247434
+v 0.34809914 -0.02346279 0.45108049
+v 0.17361161 -0.02350345 0.47032538
+v 0.15756452 -0.01188930 0.46889888
+v 0.31950203 -0.04836574 0.47712267
+v 0.19890264 -0.02727576 0.49644311
+v 0.35989661 -0.04229341 0.44866387
+v 0.35258248 -0.02897138 0.44357632
+v 0.16171805 -0.01728267 0.48839798
+v 0.31788248 -0.01539889 0.46537361
+v 0.29854683 -0.04447738 0.48397429
+v 0.19277338 -0.02969022 0.48247144
+v 0.26214844 -0.00979562 0.49152177
+v 0.34904285 -0.05356909 0.46044712
+v 0.35638713 -0.04861472 0.43947288
+v 0.35626406 -0.03570630 0.44696709
+v 0.32401327 -0.01678546 0.46202668
+v 0.17869007 -0.02351504 0.49194217
+v 0.18074925 -0.01391503 0.48922869
+v 0.34668111 -0.05303249 0.46195193
+v 0.32085344 -0.04852059 0.47641843
+f 8 5 2
+f 8 2 1
+f 12 1 2
+f 13 9 7
+f 13 5 9
+f 14 5 8
+f 14 9 5
+f 14 4 9
+f 15 9 3
+f 15 3 10
+f 16 10 3
+f 16 6 11
+f 17 8 1
+f 17 16 11
+f 17 10 16
+f 18 11 6
+f 18 9 4
+f 18 3 9
+f 18 16 3
+f 18 6 16
+f 19 1 12
+f 19 17 1
+f 19 10 17
+f 19 12 7
+f 20 2 5
+f 20 5 13
+f 20 13 12
+f 20 12 2
+f 21 13 7
+f 21 7 12
+f 21 12 13
+f 22 15 7
+f 22 7 9
+f 22 9 15
+f 23 14 8
+f 23 8 17
+f 23 17 11
+f 23 11 14
+f 24 14 11
+f 24 11 18
+f 24 18 4
+f 24 4 14
+f 25 19 7
+f 25 10 19
+f 26 25 7
+f 26 10 25
+f 26 15 10
+f 26 7 15
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_8/collision/model_normalized_collision_15.obj b/objects/objaverse/pear/pear_8/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9637197b8e4d9d7b5a7920228dcddc0d6b3795cb
--- /dev/null
+++ b/objects/objaverse/pear/pear_8/collision/model_normalized_collision_15.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.00483192 -0.27404733 0.00358285
+v 0.02266263 -0.26675970 0.00565304
+v 0.02459984 -0.20723849 0.23318991
+v -0.14946617 0.10898677 0.22416496
+v -0.15709212 0.12074875 0.00757575
+v -0.15453678 -0.26717521 0.00603674
+v 0.02472606 0.12074875 0.00757575
+v -0.10767952 -0.27064525 0.04675083
+v -0.14499742 -0.15380168 0.22646961
+v -0.13685105 -0.27490981 0.00429008
+v 0.03265588 0.13357719 0.24042762
+v -0.02597760 -0.27003718 0.04681484
+v -0.08719631 -0.19411985 0.22475395
+v -0.14864174 -0.25263914 0.06172845
+v -0.06300596 -0.20892960 0.21053148
+v -0.13639885 -0.27177617 0.01822586
+v -0.14663052 -0.22782137 0.11347653
+v -0.09998179 -0.25531030 0.08925146
+v -0.13521242 -0.23847225 0.10362977
+v -0.11504415 -0.17929004 0.22409941
+v -0.14415015 -0.18101481 0.18914706
+f 1 2 3
+f 6 4 5
+f 7 2 1
+f 7 1 5
+f 9 4 6
+f 10 6 5
+f 10 5 1
+f 10 1 8
+f 11 3 2
+f 11 2 7
+f 11 9 3
+f 11 4 9
+f 11 7 5
+f 11 5 4
+f 12 8 1
+f 12 1 3
+f 12 3 8
+f 13 3 9
+f 15 3 13
+f 16 10 8
+f 16 8 14
+f 16 14 6
+f 16 6 10
+f 17 9 6
+f 17 6 14
+f 18 8 3
+f 18 3 15
+f 18 14 8
+f 19 15 13
+f 19 18 15
+f 19 14 18
+f 19 17 14
+f 19 13 17
+f 20 17 13
+f 20 13 9
+f 21 20 9
+f 21 9 17
+f 21 17 20
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_8/collision/model_normalized_collision_16.obj b/objects/objaverse/pear/pear_8/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..025d3b67f3ea7ff152f203576d78e28ba381c402
--- /dev/null
+++ b/objects/objaverse/pear/pear_8/collision/model_normalized_collision_16.obj
@@ -0,0 +1,120 @@
+# https://github.com/mikedh/trimesh
+v 0.20143094 -0.18813602 0.02440986
+v 0.18981634 -0.18391090 -0.24717773
+v 0.16853731 0.23823345 -0.21590218
+v -0.10995943 0.28507573 -0.08591881
+v -0.17224364 -0.16713003 0.00757575
+v -0.16576580 0.25628950 -0.22867691
+v 0.16835906 0.21386954 -0.00087826
+v 0.17029294 0.23235385 -0.23228711
+v -0.17224364 -0.16713003 -0.23484849
+v 0.02042156 0.28629237 -0.18597083
+v -0.16756211 0.24957952 0.00183010
+v 0.16629537 0.23816435 -0.05784828
+v 0.11164468 0.25599241 -0.23109219
+v -0.10982108 0.28530232 -0.14402512
+v -0.16664329 0.26898095 -0.08405378
+v 0.01898604 0.26860451 -0.01574689
+v 0.06366485 0.25263444 0.00086865
+v 0.05241454 0.28551769 -0.15930636
+v 0.05029479 0.27042838 -0.22907748
+v 0.15605071 0.24074623 -0.22923410
+v -0.09342019 0.27057897 -0.22755195
+v -0.04703504 0.28545112 -0.05494689
+v -0.15256145 0.26881491 -0.05827933
+v -0.16652004 0.26906309 -0.16004932
+v -0.10805994 0.26694935 -0.00689600
+v 0.15219247 0.22126084 -0.00122907
+v 0.08058464 0.26787482 -0.05984934
+v 0.13861342 0.25514436 -0.18657721
+v -0.06240707 0.28385097 -0.18769545
+v -0.15334404 0.27010591 -0.18022700
+v 0.02212187 0.28570625 -0.07264914
+v -0.16393067 0.25473510 -0.01455309
+v -0.14881217 0.25601962 0.00147723
+v -0.00765772 0.28519647 -0.05539629
+v -0.09267753 0.28432833 -0.07111175
+v 0.16268476 0.22402846 -0.01796513
+v 0.13768181 0.25442354 -0.07128236
+v 0.04601807 0.26933432 -0.03219246
+v 0.12880990 0.25531439 -0.21671139
+v 0.05311441 0.28383872 -0.10167771
+v 0.09302957 0.26983682 -0.18777836
+f 8 1 2
+f 8 7 1
+f 9 2 1
+f 9 1 5
+f 9 6 2
+f 11 5 1
+f 11 9 5
+f 12 8 3
+f 12 7 8
+f 13 8 2
+f 13 2 6
+f 15 4 14
+f 17 1 7
+f 19 13 6
+f 19 10 18
+f 20 3 8
+f 20 8 13
+f 21 19 6
+f 21 10 19
+f 22 14 4
+f 22 10 14
+f 23 4 15
+f 24 6 9
+f 24 9 11
+f 24 11 15
+f 24 15 14
+f 25 17 16
+f 26 17 7
+f 28 12 3
+f 29 21 14
+f 29 14 10
+f 29 10 21
+f 30 21 6
+f 30 14 21
+f 30 24 14
+f 30 6 24
+f 31 18 10
+f 31 10 22
+f 32 23 15
+f 32 15 11
+f 33 17 25
+f 33 11 1
+f 33 1 17
+f 33 32 11
+f 33 23 32
+f 33 25 4
+f 33 4 23
+f 34 25 16
+f 34 22 25
+f 34 31 22
+f 35 25 22
+f 35 22 4
+f 35 4 25
+f 36 26 7
+f 36 7 12
+f 37 28 18
+f 37 12 28
+f 37 36 12
+f 37 17 26
+f 37 26 36
+f 38 16 17
+f 38 37 27
+f 38 17 37
+f 38 27 31
+f 38 34 16
+f 38 31 34
+f 39 19 18
+f 39 13 19
+f 39 20 13
+f 39 28 3
+f 39 3 20
+f 40 31 27
+f 40 27 37
+f 40 37 18
+f 40 18 31
+f 41 39 18
+f 41 18 28
+f 41 28 39
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_8/collision/model_normalized_collision_17.obj b/objects/objaverse/pear/pear_8/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40eb0ea56b409780013fe924149dcc9ec9630ac3
--- /dev/null
+++ b/objects/objaverse/pear/pear_8/collision/model_normalized_collision_17.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.00809679 -0.27744528 0.00465119
+v 0.09781221 -0.23592801 -0.23226818
+v 0.09350910 -0.25516791 -0.17118687
+v 0.09959611 -0.24091041 0.00667059
+v 0.00329176 -0.27007579 0.01732617
+v 0.09593591 -0.25467035 -0.11526085
+v -0.00616988 -0.28502789 -0.15852323
+v 0.09651991 -0.24210756 0.00653720
+v 0.04253258 -0.25210643 -0.23874032
+v -0.00839316 -0.28918777 -0.05577585
+v 0.01771684 -0.26979909 0.00153714
+v 0.07892769 -0.25408998 -0.19878364
+v -0.00803411 -0.28787507 -0.14194728
+v 0.08000060 -0.25472332 -0.04070423
+v 0.00465667 -0.28534177 -0.14160864
+v 0.03440478 -0.27019332 -0.02729915
+v 0.04808328 -0.25512191 -0.22719021
+v 0.00299914 -0.28572385 -0.05484542
+v 0.00170678 -0.28146491 -0.16928475
+v 0.09386105 -0.23939680 -0.22632063
+v 0.04953130 -0.26917515 -0.07037248
+v 0.03559228 -0.25841435 -0.22856563
+f 6 3 2
+f 6 2 4
+f 8 4 5
+f 9 5 4
+f 9 4 2
+f 9 7 1
+f 9 1 5
+f 11 8 5
+f 11 5 1
+f 12 2 3
+f 13 10 1
+f 13 1 7
+f 14 6 4
+f 14 4 8
+f 15 3 6
+f 15 10 13
+f 15 13 7
+f 16 8 11
+f 16 14 8
+f 16 11 1
+f 17 9 2
+f 18 15 6
+f 18 10 15
+f 18 14 16
+f 18 16 1
+f 18 1 10
+f 19 12 3
+f 19 3 15
+f 19 15 7
+f 20 17 2
+f 20 2 12
+f 20 12 17
+f 21 18 6
+f 21 6 14
+f 21 14 18
+f 22 17 12
+f 22 12 19
+f 22 9 17
+f 22 19 7
+f 22 7 9
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_8/collision/model_normalized_collision_18.obj b/objects/objaverse/pear/pear_8/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78775a038103c5d719172a88dafad301fd50fbe1
--- /dev/null
+++ b/objects/objaverse/pear/pear_8/collision/model_normalized_collision_18.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.00777034 -0.28978771 -0.09804327
+v -0.00872377 -0.28590360 -0.15607800
+v -0.00557697 -0.16713003 -0.09848485
+v -0.08133455 -0.16713003 -0.09848485
+v -0.14160848 -0.28578216 -0.15876412
+v -0.13047316 -0.28703823 -0.09660721
+v -0.00557697 -0.16713003 -0.15909091
+v -0.13970579 -0.28626800 -0.15689197
+v -0.14180374 -0.28717623 -0.11377020
+v -0.12985946 -0.28465794 -0.16851142
+v -0.14016982 -0.28755692 -0.11541577
+v -0.08133455 -0.16713003 -0.15909091
+v -0.12354073 -0.28787223 -0.09790559
+f 6 1 3
+f 6 3 4
+f 7 1 2
+f 7 3 1
+f 7 4 3
+f 8 2 1
+f 9 6 4
+f 9 4 5
+f 10 7 2
+f 10 8 5
+f 10 2 8
+f 11 9 5
+f 11 5 8
+f 11 8 1
+f 11 6 9
+f 12 10 5
+f 12 5 4
+f 12 4 7
+f 12 7 10
+f 13 11 1
+f 13 1 6
+f 13 6 11
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_8/collision/model_normalized_collision_19.obj b/objects/objaverse/pear/pear_8/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..642bd457d363ef0a9a28712ed034a19ff364e90e
--- /dev/null
+++ b/objects/objaverse/pear/pear_8/collision/model_normalized_collision_19.obj
@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
+v -0.17224364 0.12074875 0.00757575
+v -0.17224364 0.12074875 -0.23484849
+v -0.16695334 0.25665766 -0.02527556
+v -0.16756211 0.24957952 0.00183010
+v -0.34286074 0.11680038 -0.15738845
+v -0.32727292 0.11478813 0.00008900
+v -0.17044278 0.25267144 -0.23313277
+v -0.22473920 0.22146880 0.00682653
+v -0.16792436 0.25725312 -0.21777298
+v -0.31588721 0.13333000 -0.24282354
+v -0.32123295 0.12721848 0.00145804
+v -0.19382159 0.23905832 0.00131487
+v -0.25315522 0.22362129 -0.08622273
+v -0.33956905 0.11771513 -0.05240078
+v -0.19365509 0.25401889 -0.05902851
+v -0.29188266 0.18058685 -0.02614960
+v -0.31043128 0.18100623 -0.18047344
+v -0.19917815 0.25111895 -0.20597494
+v -0.22435210 0.23934975 -0.05784237
+v -0.26840690 0.19413309 0.00097586
+v -0.32121537 0.15369543 -0.05293097
+v -0.31348132 0.15976045 -0.21666484
+v -0.29669913 0.19357783 -0.10200888
+v -0.25325599 0.22200520 -0.18767747
+v -0.18213234 0.25437396 -0.21441756
+v -0.23442915 0.22717534 -0.03099295
+v -0.22707987 0.23737332 -0.19942765
+v -0.30740961 0.15497886 -0.00428859
+v -0.31899681 0.13979922 -0.01276483
+v -0.33885232 0.13080665 -0.16018632
+v -0.29790174 0.17631679 -0.22819618
+v -0.27013093 0.20975730 -0.05960522
+v -0.30897339 0.18184581 -0.10302476
+v -0.29857522 0.19342227 -0.15406941
+v -0.33404648 0.12930179 -0.05337401
+v -0.20677387 0.23842301 -0.23200988
+v -0.30470018 0.16366853 -0.23254224
+v -0.30693059 0.17045600 -0.21421741
+v -0.23845690 0.22316353 -0.22388003
+f 1 2 3
+f 1 3 4
+f 6 5 2
+f 6 2 1
+f 8 1 4
+f 9 3 2
+f 9 2 7
+f 10 7 2
+f 10 2 5
+f 11 6 1
+f 11 1 8
+f 12 8 4
+f 12 4 3
+f 14 5 6
+f 14 6 11
+f 15 3 9
+f 15 12 3
+f 18 15 9
+f 19 12 15
+f 19 15 18
+f 20 11 8
+f 25 18 9
+f 25 9 7
+f 25 7 18
+f 26 8 12
+f 26 12 19
+f 26 20 8
+f 27 19 18
+f 27 13 19
+f 27 24 13
+f 28 20 16
+f 28 11 20
+f 28 16 21
+f 29 14 11
+f 29 28 21
+f 29 11 28
+f 30 5 14
+f 30 17 22
+f 30 22 10
+f 30 10 5
+f 32 16 20
+f 32 20 26
+f 32 13 23
+f 32 26 19
+f 32 19 13
+f 33 21 16
+f 33 32 23
+f 33 16 32
+f 33 30 21
+f 33 17 30
+f 34 23 13
+f 34 13 24
+f 34 24 17
+f 34 33 23
+f 34 17 33
+f 35 29 21
+f 35 14 29
+f 35 30 14
+f 35 21 30
+f 36 7 10
+f 36 18 7
+f 37 10 22
+f 37 22 31
+f 37 36 10
+f 37 31 36
+f 38 31 22
+f 38 22 17
+f 38 17 31
+f 39 31 17
+f 39 17 24
+f 39 24 27
+f 39 36 31
+f 39 27 18
+f 39 18 36
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_8/collision/model_normalized_collision_2.obj b/objects/objaverse/pear/pear_8/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7da7a53b9b480d60c3bc9f4a5f6afe78ee767a17
--- /dev/null
+++ b/objects/objaverse/pear/pear_8/collision/model_normalized_collision_2.obj
@@ -0,0 +1,180 @@
+# https://github.com/mikedh/trimesh
+v 0.15955476 -0.20985372 -0.23322307
+v 0.25552368 -0.12803499 -0.22921492
+v 0.18440632 -0.19950245 -0.22868105
+v 0.16029916 0.23796867 -0.23266545
+v 0.15257903 0.08846173 -0.45364071
+v 0.22794537 0.19618241 -0.22743899
+v 0.15305500 0.21568585 -0.30343920
+v 0.15476582 -0.08220554 -0.40641726
+v 0.18418046 0.22721614 -0.23062437
+v 0.28138229 0.10259290 -0.25827507
+v 0.15549615 -0.19915663 -0.25844065
+v 0.23596893 0.15293377 -0.29597468
+v 0.17927274 -0.15026351 -0.31249489
+v 0.16953362 0.22534464 -0.25760345
+v 0.28948111 0.10384808 -0.23251365
+v 0.23411322 0.00246583 -0.36083696
+v 0.15670677 0.22863390 -0.26048977
+v 0.15326428 -0.18489685 -0.28681751
+v 0.16506602 -0.19614325 -0.25621574
+v 0.21017523 0.19444988 -0.27318480
+v 0.26376555 0.11277556 -0.28602300
+v 0.20572028 -0.06708070 -0.37066095
+v 0.20724182 -0.16536425 -0.25371101
+v 0.28265479 0.12743826 -0.22958411
+v 0.23317801 -0.04060265 -0.34591024
+v 0.15230426 0.11412228 -0.43969872
+v 0.15308013 0.00108107 -0.45320099
+v 0.15520586 -0.15323317 -0.33123105
+v 0.16487354 -0.17868830 -0.28529578
+v 0.26385906 0.15280894 -0.24490584
+v 0.23410415 0.05505077 -0.35842916
+v 0.16318410 -0.07982355 -0.40104190
+v 0.21928737 -0.10806590 -0.31460634
+v 0.17730916 -0.17891124 -0.27052160
+v 0.20643197 -0.03684444 -0.38768893
+v 0.16029996 0.18343271 -0.34682796
+v 0.16100355 0.08282695 -0.44897317
+v 0.23426413 0.13842674 -0.31259297
+v 0.16451668 -0.15036866 -0.32654207
+v 0.17998736 -0.19629330 -0.23921748
+v 0.26593726 0.15565713 -0.23133541
+v 0.27838302 0.11309468 -0.25649586
+v 0.17638993 -0.03723750 -0.41613637
+v 0.23395193 -0.13670539 -0.25612746
+v 0.23373157 -0.06812073 -0.32974430
+v 0.21990432 -0.02451459 -0.37516409
+v 0.15307030 0.14050422 -0.40870807
+v 0.16594806 0.20822079 -0.30246765
+v 0.20596338 0.17887690 -0.30147731
+v 0.20410340 0.08450791 -0.38714129
+v 0.20764222 0.03374330 -0.40147959
+v 0.15919501 0.11014192 -0.43444777
+v 0.27916349 0.12514227 -0.24176970
+v 0.17596674 -0.06463058 -0.40042272
+v 0.25200885 -0.12423023 -0.24227736
+v 0.21943978 -0.09479591 -0.32711415
+v 0.15687290 0.18709661 -0.34482889
+v 0.15607843 0.14037587 -0.40560514
+v 0.20422356 0.04229839 -0.40410016
+v 0.16029902 0.00133845 -0.44646483
+v 0.19299986 0.01626106 -0.41524045
+f 1 3 4
+f 6 3 2
+f 9 4 3
+f 9 3 6
+f 11 1 4
+f 14 7 4
+f 14 4 9
+f 17 11 4
+f 17 4 7
+f 17 7 11
+f 18 11 7
+f 19 3 1
+f 19 1 11
+f 19 11 18
+f 20 7 14
+f 20 14 9
+f 20 9 6
+f 23 2 3
+f 24 6 2
+f 24 2 15
+f 24 15 10
+f 25 15 2
+f 25 10 15
+f 25 16 10
+f 26 18 7
+f 27 8 18
+f 27 26 5
+f 27 18 26
+f 28 18 8
+f 29 19 18
+f 29 18 28
+f 30 20 6
+f 30 12 20
+f 30 21 12
+f 31 21 10
+f 31 10 16
+f 32 22 13
+f 33 13 22
+f 34 23 3
+f 34 13 23
+f 34 29 13
+f 37 5 26
+f 37 27 5
+f 38 26 12
+f 38 12 21
+f 39 28 8
+f 39 29 28
+f 39 13 29
+f 39 32 13
+f 39 8 32
+f 40 3 19
+f 40 19 29
+f 40 34 3
+f 40 29 34
+f 41 30 6
+f 41 6 24
+f 41 24 30
+f 42 24 10
+f 42 10 21
+f 42 21 30
+f 43 8 27
+f 43 35 22
+f 44 23 13
+f 44 13 33
+f 44 2 23
+f 45 25 2
+f 45 22 35
+f 46 16 25
+f 46 45 35
+f 46 25 45
+f 47 26 7
+f 48 7 20
+f 48 20 36
+f 49 36 20
+f 49 20 12
+f 50 21 31
+f 50 31 37
+f 50 38 21
+f 50 37 38
+f 51 31 16
+f 51 16 46
+f 52 38 37
+f 52 37 26
+f 52 26 38
+f 53 42 30
+f 53 30 24
+f 53 24 42
+f 54 32 8
+f 54 8 43
+f 54 43 22
+f 54 22 32
+f 55 44 33
+f 55 2 44
+f 55 45 2
+f 55 33 45
+f 56 45 33
+f 56 33 22
+f 56 22 45
+f 57 47 7
+f 57 36 47
+f 57 48 36
+f 57 7 48
+f 58 12 26
+f 58 26 47
+f 58 49 12
+f 58 47 36
+f 58 36 49
+f 59 51 37
+f 59 37 31
+f 59 31 51
+f 60 27 37
+f 60 43 27
+f 60 35 43
+f 61 51 46
+f 61 46 35
+f 61 35 60
+f 61 60 37
+f 61 37 51
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_8/collision/model_normalized_collision_20.obj b/objects/objaverse/pear/pear_8/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5dbf4fdf814d998f9ce1a04e0ccc4a8ca8e930f
--- /dev/null
+++ b/objects/objaverse/pear/pear_8/collision/model_normalized_collision_20.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.02257938 -0.28793875 -0.15640356
+v 0.04253258 -0.25210643 -0.23874032
+v 0.04893092 -0.26999364 -0.15986180
+v -0.23517937 -0.24685723 -0.15978480
+v -0.13826972 -0.26951652 -0.22845950
+v 0.03498439 -0.27437544 -0.15725230
+v -0.02157565 -0.26859593 -0.22886371
+v -0.12649722 -0.28708869 -0.15616929
+v -0.21526290 -0.23813672 -0.23238594
+v -0.22909225 -0.25101842 -0.15750219
+v 0.03772705 -0.27078926 -0.18536986
+v -0.00140800 -0.26074166 -0.24075242
+v -0.02316969 -0.28532789 -0.17036478
+v -0.22759555 -0.23658261 -0.21754688
+v -0.18273306 -0.27476270 -0.15697297
+v -0.21188962 -0.26127293 -0.15694257
+v 0.00558757 -0.26934850 -0.21403051
+v -0.18183425 -0.25707640 -0.23046774
+v -0.12405482 -0.28509871 -0.17175587
+v -0.20857572 -0.25363501 -0.19945005
+v 0.03559228 -0.25841435 -0.22856563
+v -0.18094824 -0.26952914 -0.18550526
+v -0.22264688 -0.24091938 -0.21505942
+v -0.20861887 -0.24435420 -0.22814940
+f 3 2 4
+f 10 6 3
+f 10 3 4
+f 11 6 1
+f 11 2 3
+f 11 3 6
+f 12 7 5
+f 12 9 2
+f 13 5 7
+f 13 11 1
+f 14 4 2
+f 14 2 9
+f 16 8 1
+f 16 1 6
+f 16 6 10
+f 16 15 8
+f 17 7 12
+f 17 13 7
+f 17 11 13
+f 18 12 5
+f 18 9 12
+f 19 5 13
+f 19 8 15
+f 19 13 1
+f 19 1 8
+f 20 10 4
+f 20 16 10
+f 21 17 12
+f 21 12 2
+f 21 2 11
+f 21 11 17
+f 22 18 5
+f 22 20 18
+f 22 15 16
+f 22 16 20
+f 22 19 15
+f 22 5 19
+f 23 20 4
+f 23 4 14
+f 24 9 18
+f 24 18 20
+f 24 20 23
+f 24 23 14
+f 24 14 9
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_8/collision/model_normalized_collision_21.obj b/objects/objaverse/pear/pear_8/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c594b3b77fbc095b556ec5ebd6dc9c2e1e5c03ed
--- /dev/null
+++ b/objects/objaverse/pear/pear_8/collision/model_normalized_collision_21.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v -0.29168509 -0.18491950 -0.16551500
+v -0.27153641 -0.17480809 -0.24034692
+v -0.26315273 0.04499118 -0.15909091
+v -0.31017184 0.17797635 -0.16595104
+v -0.33569350 -0.05664290 -0.22852783
+v -0.29802770 0.17025706 -0.23675408
+v -0.33872896 -0.10111551 -0.15659070
+v -0.26315273 0.04499118 -0.23484849
+v -0.33645543 0.08711326 -0.22994098
+v -0.30843880 -0.15947010 -0.15917717
+v -0.32704990 0.15845551 -0.15726409
+v -0.35323313 -0.00001284 -0.17477858
+v -0.29135724 -0.15682303 -0.22944089
+v -0.32044470 0.15727034 -0.20046915
+v -0.33885232 0.13080665 -0.16018632
+v -0.30554046 -0.15527166 -0.18385138
+v -0.32012257 -0.10270703 -0.23108948
+v -0.32301541 0.13016848 -0.22970674
+v -0.35267662 0.04563430 -0.17119085
+v -0.33496930 0.13140520 -0.18375585
+v -0.35382728 -0.00002724 -0.15876151
+v -0.32022814 -0.12821483 -0.18672263
+v -0.33402155 -0.08679384 -0.20035408
+v -0.30950450 0.15852299 -0.22948236
+v -0.35315559 0.04426314 -0.15927525
+v -0.31979973 -0.11224347 -0.21660318
+v -0.30446877 -0.14257076 -0.21464469
+f 1 2 3
+f 6 4 3
+f 8 6 3
+f 8 3 2
+f 8 2 6
+f 9 6 2
+f 9 2 5
+f 10 1 3
+f 10 3 7
+f 11 7 3
+f 11 3 4
+f 12 9 5
+f 12 5 7
+f 13 2 1
+f 14 11 4
+f 14 4 6
+f 16 13 1
+f 16 1 10
+f 17 5 2
+f 17 2 13
+f 18 6 9
+f 19 15 9
+f 19 9 12
+f 20 15 11
+f 20 11 14
+f 20 14 18
+f 20 18 9
+f 20 9 15
+f 21 7 11
+f 21 12 7
+f 22 16 10
+f 22 10 7
+f 23 7 5
+f 23 5 17
+f 24 18 14
+f 24 14 6
+f 24 6 18
+f 25 21 11
+f 25 11 15
+f 25 15 19
+f 25 19 12
+f 25 12 21
+f 26 22 7
+f 26 23 17
+f 26 7 23
+f 27 13 16
+f 27 16 22
+f 27 22 26
+f 27 26 17
+f 27 17 13
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_8/collision/model_normalized_collision_22.obj b/objects/objaverse/pear/pear_8/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f5a953d3045c8bc87e5b301acb8a059204cf658
--- /dev/null
+++ b/objects/objaverse/pear/pear_8/collision/model_normalized_collision_22.obj
@@ -0,0 +1,126 @@
+# https://github.com/mikedh/trimesh
+v 0.21932701 -0.18024693 0.00630869
+v 0.29967062 -0.01313283 0.00159749
+v 0.16748398 -0.04411934 0.23065422
+v 0.17395689 0.20721176 0.00337605
+v 0.23983601 -0.15877967 -0.00097230
+v 0.18799162 0.06756442 0.19097573
+v 0.16856151 -0.13081751 0.12348218
+v 0.22628074 -0.17480900 0.00197206
+v 0.25409855 0.14043804 -0.00013165
+v 0.28529673 -0.07197803 0.00286565
+v 0.23233674 0.03948953 0.13552077
+v 0.16804286 0.07026643 0.21321553
+v 0.16561554 -0.10068699 0.16981554
+v 0.16752889 0.20293841 0.01620192
+v 0.18178945 0.20363885 0.00046545
+v 0.21708593 -0.16471816 0.03092360
+v 0.20198052 -0.02439572 0.17920436
+v 0.23514410 -0.15654665 0.01131420
+v 0.18931443 0.02580078 0.20753009
+v 0.23601496 0.06725370 0.11579425
+v 0.19693829 0.13145773 0.10508702
+v 0.16675746 0.14013264 0.12430290
+v 0.22255090 -0.17120770 0.01571046
+v 0.21577904 -0.17653340 0.01971550
+v 0.29450572 -0.01262589 0.01263339
+v 0.20264173 0.05497679 0.17765359
+v 0.19030795 -0.01106261 0.20567311
+v 0.16931362 0.04248722 0.22844346
+v 0.30000943 0.02907167 0.00185787
+v 0.18943678 0.10518120 0.15084740
+v 0.19062421 0.18139655 0.02747810
+v 0.18239498 0.13309266 0.11940864
+v 0.23291970 0.00198836 0.13357403
+v 0.17524724 0.03856205 0.22282072
+v 0.17560454 0.06687577 0.20656459
+v 0.26368942 0.04183789 0.07423033
+v 0.28481008 0.08539400 0.00270311
+v 0.21849943 0.07946144 0.13184917
+v 0.21995477 0.10560100 0.10232467
+v 0.16868370 0.11083003 0.16833205
+v 0.25138022 0.13478900 0.01253612
+v 0.27818392 0.06795843 0.02791132
+v 0.17810491 0.10709911 0.16237438
+f 8 1 4
+f 9 2 5
+f 10 5 2
+f 13 3 12
+f 14 4 1
+f 14 1 7
+f 14 7 13
+f 15 8 4
+f 15 5 8
+f 15 9 5
+f 17 3 10
+f 18 10 3
+f 18 5 10
+f 18 3 16
+f 22 14 13
+f 22 13 12
+f 22 4 14
+f 23 1 8
+f 23 18 16
+f 23 8 5
+f 23 5 18
+f 24 16 3
+f 24 3 13
+f 24 13 7
+f 24 7 1
+f 24 23 16
+f 24 1 23
+f 25 17 10
+f 25 10 2
+f 26 19 11
+f 26 20 6
+f 26 11 20
+f 27 11 19
+f 27 19 3
+f 27 3 17
+f 28 12 3
+f 29 2 9
+f 29 25 2
+f 30 12 6
+f 31 21 9
+f 31 9 15
+f 31 15 21
+f 32 21 15
+f 32 15 4
+f 32 4 22
+f 33 11 27
+f 33 27 17
+f 33 17 25
+f 34 28 3
+f 34 3 19
+f 34 19 26
+f 34 26 6
+f 34 6 28
+f 35 28 6
+f 35 6 12
+f 35 12 28
+f 36 20 11
+f 36 25 29
+f 36 33 25
+f 36 11 33
+f 37 29 9
+f 38 30 6
+f 38 6 20
+f 39 21 30
+f 39 30 38
+f 39 38 20
+f 40 22 12
+f 40 32 22
+f 40 21 32
+f 41 37 9
+f 41 20 37
+f 41 39 20
+f 41 9 21
+f 41 21 39
+f 42 36 29
+f 42 29 37
+f 42 37 20
+f 42 20 36
+f 43 40 12
+f 43 12 30
+f 43 30 21
+f 43 21 40
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_8/collision/model_normalized_collision_23.obj b/objects/objaverse/pear/pear_8/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99c6567dc8a28817ab4d015b1a23f7f8756129e1
--- /dev/null
+++ b/objects/objaverse/pear/pear_8/collision/model_normalized_collision_23.obj
@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
+v 0.17094393 -0.22884009 -0.05391036
+v 0.27118985 -0.13112031 -0.18633222
+v 0.26699895 -0.14093791 -0.02816002
+v 0.18267311 -0.12929650 0.10636567
+v 0.19875759 -0.17199359 -0.25260580
+v 0.27229136 -0.13044325 -0.02689735
+v 0.19346812 -0.19564059 0.02524356
+v 0.21120615 -0.21037584 -0.07408606
+v 0.16901467 -0.21423506 -0.21391163
+v 0.25552368 -0.12803499 -0.22921492
+v 0.26438836 -0.15453399 -0.14034282
+v 0.20513204 -0.15666168 0.05614120
+v 0.16907453 -0.19869345 0.04598254
+v 0.19609618 -0.20944546 -0.01274260
+v 0.17412595 -0.13567602 0.11208860
+v 0.16996692 -0.22981980 -0.15531325
+v 0.19297220 -0.19507338 -0.22480953
+v 0.26384668 -0.15510039 -0.05320720
+v 0.25748896 -0.13072714 -0.00010872
+v 0.20452339 -0.18395209 0.02702319
+v 0.17830713 -0.22803398 -0.05861779
+v 0.16884934 -0.21349116 0.01735613
+v 0.17275358 -0.20483108 -0.23091548
+v 0.16941619 -0.14715456 0.10780648
+v 0.19529936 -0.13125428 0.09009521
+v 0.20698641 -0.21096170 -0.14032716
+v 0.24986052 -0.16689662 -0.15435350
+v 0.24976449 -0.13691598 -0.22534892
+v 0.22107345 -0.19735592 -0.04074653
+v 0.25088055 -0.14466350 -0.00240549
+v 0.18196084 -0.20795706 0.01339604
+v 0.17973188 -0.19560973 0.04079644
+v 0.18083274 -0.20874159 -0.21169664
+v 0.17918603 -0.14199394 0.10152301
+v 0.18431706 -0.22375108 -0.15585062
+v 0.26549507 -0.13882181 -0.18380731
+v 0.19381155 -0.20998830 -0.18301340
+v 0.23820502 -0.17952349 -0.15019077
+v 0.25077392 -0.16858691 -0.04348186
+v 0.20497164 -0.19708962 0.00208395
+v 0.23417348 -0.16822316 -0.00378227
+v 0.19141034 -0.14295357 0.08553044
+f 10 5 4
+f 10 6 2
+f 10 4 6
+f 11 2 6
+f 15 4 5
+f 18 11 6
+f 18 6 3
+f 18 8 11
+f 19 6 4
+f 21 8 14
+f 21 1 16
+f 22 21 14
+f 22 1 21
+f 22 16 1
+f 22 9 16
+f 23 15 5
+f 23 5 17
+f 24 20 12
+f 24 22 13
+f 24 9 22
+f 24 23 9
+f 24 15 23
+f 25 4 15
+f 25 19 4
+f 25 12 19
+f 26 11 8
+f 28 10 2
+f 28 17 5
+f 28 5 10
+f 29 14 8
+f 30 3 6
+f 30 6 19
+f 30 19 12
+f 30 12 20
+f 31 22 14
+f 31 14 7
+f 31 7 22
+f 32 22 7
+f 32 13 22
+f 32 24 13
+f 32 7 20
+f 32 20 24
+f 33 23 17
+f 33 9 23
+f 34 24 12
+f 34 15 24
+f 34 25 15
+f 35 21 16
+f 35 16 9
+f 35 9 33
+f 35 26 8
+f 35 8 21
+f 36 2 11
+f 36 11 27
+f 36 28 2
+f 36 27 17
+f 36 17 28
+f 37 17 27
+f 37 33 17
+f 37 35 33
+f 37 26 35
+f 38 27 11
+f 38 11 26
+f 38 37 27
+f 38 26 37
+f 39 29 8
+f 39 8 18
+f 39 18 3
+f 40 20 7
+f 40 7 14
+f 40 14 29
+f 40 29 39
+f 41 30 20
+f 41 3 30
+f 41 39 3
+f 41 40 39
+f 41 20 40
+f 42 34 12
+f 42 12 25
+f 42 25 34
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_8/collision/model_normalized_collision_24.obj b/objects/objaverse/pear/pear_8/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..010e51544cad4210d0a959a450e7d5d89b575eb9
--- /dev/null
+++ b/objects/objaverse/pear/pear_8/collision/model_normalized_collision_24.obj
@@ -0,0 +1,186 @@
+# https://github.com/mikedh/trimesh
+v 0.21708593 -0.16471816 0.03092360
+v 0.29428931 -0.05674899 -0.22955978
+v 0.30943772 0.04267785 -0.02875065
+v 0.17092213 0.23122681 -0.04321304
+v 0.19875759 -0.17199359 -0.25260580
+v 0.26593726 0.15565713 -0.23133541
+v 0.17395689 0.20721176 0.00337605
+v 0.29428129 -0.09852580 -0.05627821
+v 0.31006719 0.05820643 -0.17214414
+v 0.27852119 0.15807255 -0.08627730
+v 0.17029294 0.23235385 -0.23228711
+v 0.29327489 0.08783894 -0.23122774
+v 0.29240463 0.06843822 -0.00021316
+v 0.29455912 -0.04222470 0.00031314
+v 0.27986524 -0.12447634 -0.17021629
+v 0.31021287 -0.05700292 -0.14132341
+v 0.31027545 0.08707814 -0.08502676
+v 0.22311073 0.19366393 -0.04196255
+v 0.21115169 0.22378175 -0.15917822
+v 0.26533445 0.12364065 0.00010211
+v 0.31112242 -0.05683102 -0.07196581
+v 0.26764150 -0.12910067 -0.01469457
+v 0.25552368 -0.12803499 -0.22921492
+v 0.28028240 -0.12722512 -0.04364274
+v 0.31018743 -0.02777694 -0.17205962
+v 0.29376441 -0.09952956 -0.16892500
+v 0.29494538 0.12715320 -0.17264473
+v 0.29406526 0.11121573 -0.04376907
+v 0.19359996 0.21374863 -0.03491969
+v 0.28014078 0.15491064 -0.17332855
+v 0.23453787 0.19758652 -0.21673590
+v 0.22535384 0.20922641 -0.08688759
+v 0.19277289 0.19385588 0.00259974
+v 0.26680021 0.16847904 -0.07295896
+v 0.29354682 -0.08383553 -0.02824023
+v 0.30994360 -0.01044284 -0.02753055
+v 0.31087303 0.07096083 -0.05690501
+v 0.28130299 -0.08482596 -0.00096793
+v 0.26597153 -0.12430222 -0.21221091
+v 0.27823037 -0.09624569 -0.22702301
+v 0.29411188 -0.07131295 -0.21487059
+v 0.31014605 0.08612137 -0.14264092
+v 0.28265479 0.12743826 -0.22958411
+v 0.29437021 0.12560667 -0.07333252
+v 0.18100194 0.21277961 -0.01454802
+v 0.21337244 0.20877811 -0.22925343
+v 0.24871126 0.18378927 -0.20873253
+v 0.21348307 0.22091973 -0.11168301
+v 0.19859159 0.22331520 -0.07284797
+v 0.22283207 0.18012583 -0.01414709
+v 0.27916751 0.13717637 -0.04463180
+v 0.27761979 -0.11033698 -0.01662015
+v 0.29246283 -0.07233067 -0.01405111
+v 0.26861371 -0.11359874 -0.00272016
+v 0.29230641 0.11502533 -0.20199492
+v 0.27780979 0.14148755 -0.21662104
+v 0.17424471 0.21505607 -0.01268107
+v 0.19731931 0.22421205 -0.21736510
+v 0.26552638 0.16455786 -0.20377862
+v 0.17852837 0.22692555 -0.04478350
+v 0.26347657 0.13923908 -0.01585925
+v 0.25748896 -0.13072714 -0.00010872
+v 0.18418046 0.22721614 -0.23062437
+f 7 5 1
+f 7 4 5
+f 11 6 5
+f 11 5 4
+f 12 2 5
+f 12 5 6
+f 12 9 2
+f 14 13 1
+f 19 11 4
+f 20 1 13
+f 24 1 5
+f 24 5 15
+f 24 22 1
+f 25 16 2
+f 25 2 9
+f 25 21 16
+f 25 9 21
+f 26 24 15
+f 26 8 24
+f 26 21 8
+f 26 16 21
+f 28 20 13
+f 30 19 10
+f 30 10 27
+f 31 19 30
+f 32 10 19
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+f 33 7 1
+f 33 1 20
+f 34 32 18
+f 34 10 32
+f 35 8 21
+f 35 24 8
+f 36 3 13
+f 36 13 14
+f 37 21 9
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+f 37 13 3
+f 38 14 1
+f 39 15 5
+f 39 5 23
+f 40 23 5
+f 40 5 2
+f 40 39 23
+f 40 26 15
+f 40 15 39
+f 41 2 16
+f 41 16 26
+f 41 40 2
+f 41 26 40
+f 42 27 17
+f 42 9 12
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+f 42 37 9
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+f 43 12 6
+f 43 30 27
+f 44 27 10
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+f 45 7 33
+f 46 31 6
+f 46 6 11
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+f 47 6 31
+f 48 32 19
+f 48 19 4
+f 49 29 32
+f 49 48 4
+f 49 32 48
+f 50 33 20
+f 50 18 29
+f 50 45 33
+f 50 29 45
+f 50 34 18
+f 51 10 34
+f 51 44 10
+f 51 28 44
+f 51 20 28
+f 52 22 24
+f 52 24 35
+f 53 36 14
+f 53 35 21
+f 53 21 36
+f 53 14 38
+f 53 52 35
+f 53 38 52
+f 54 38 1
+f 54 52 38
+f 54 22 52
+f 55 43 27
+f 55 27 12
+f 55 12 43
+f 56 43 6
+f 56 6 30
+f 56 30 43
+f 57 45 4
+f 57 4 7
+f 57 7 45
+f 58 11 19
+f 58 19 31
+f 58 31 46
+f 59 47 30
+f 59 30 6
+f 59 6 47
+f 60 49 4
+f 60 4 29
+f 60 29 49
+f 61 50 20
+f 61 20 51
+f 61 51 34
+f 61 34 50
+f 62 54 1
+f 62 1 22
+f 62 22 54
+f 63 58 46
+f 63 46 11
+f 63 11 58
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_8/collision/model_normalized_collision_25.obj b/objects/objaverse/pear/pear_8/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0acedad607a1afc401fee2c9a9540170543a071
--- /dev/null
+++ b/objects/objaverse/pear/pear_8/collision/model_normalized_collision_25.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.25510211 -0.12410330 -0.23634456
+v 0.29904481 -0.02878018 -0.22990251
+v 0.28948111 0.10384808 -0.23251365
+v 0.28318180 0.11101866 -0.24508816
+v 0.24430733 -0.01434018 -0.33778356
+v 0.27840505 0.04337201 -0.28649931
+v 0.26737592 -0.11232053 -0.22758212
+v 0.24479598 0.10316595 -0.32145851
+v 0.29629213 0.07363281 -0.23063411
+v 0.27869463 0.00276026 -0.28496674
+v 0.28044237 -0.07989131 -0.24499413
+v 0.24304349 -0.11332766 -0.27456315
+v 0.24539518 0.07233939 -0.33632534
+v 0.29258951 0.07292068 -0.24378819
+v 0.29484726 -0.02740254 -0.24305699
+v 0.28261719 -0.08588528 -0.23069059
+v 0.27942139 -0.06869682 -0.25455330
+v 0.26405948 -0.10807159 -0.24204568
+v 0.25005299 0.07015181 -0.33044171
+v 0.27943036 0.08570131 -0.27179713
+v 0.27703985 -0.04130122 -0.27078859
+v 0.24947179 -0.09660237 -0.28335915
+v 0.24875158 -0.10858992 -0.27160411
+v 0.25134075 0.09875634 -0.31432025
+v 0.28138229 0.10259290 -0.25827507
+v 0.26433030 0.08555489 -0.29985672
+v 0.24339665 -0.10001242 -0.28837679
+f 1 3 4
+f 7 3 1
+f 8 1 4
+f 9 7 2
+f 9 3 7
+f 10 5 6
+f 12 8 5
+f 12 1 8
+f 13 5 8
+f 14 9 2
+f 14 3 9
+f 15 10 6
+f 15 2 11
+f 15 14 2
+f 15 6 14
+f 16 11 2
+f 16 2 7
+f 17 15 11
+f 18 7 1
+f 18 16 7
+f 18 11 16
+f 19 6 5
+f 19 5 13
+f 20 14 6
+f 21 17 5
+f 21 5 10
+f 21 10 15
+f 21 15 17
+f 22 5 17
+f 22 17 11
+f 23 18 1
+f 23 1 12
+f 23 22 11
+f 23 11 18
+f 24 19 13
+f 24 13 8
+f 25 4 3
+f 25 3 14
+f 25 14 20
+f 25 24 8
+f 25 8 4
+f 26 20 6
+f 26 6 19
+f 26 19 24
+f 26 25 20
+f 26 24 25
+f 27 12 5
+f 27 5 22
+f 27 23 12
+f 27 22 23
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_8/collision/model_normalized_collision_26.obj b/objects/objaverse/pear/pear_8/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8fc0141025f15051c9c8307bb1216be56f174027
--- /dev/null
+++ b/objects/objaverse/pear/pear_8/collision/model_normalized_collision_26.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v -0.27160685 -0.17603559 0.01317548
+v -0.29168509 -0.18491950 -0.16551500
+v -0.26315273 0.04499118 -0.15909091
+v -0.34714789 0.04347874 0.00686778
+v -0.35124396 -0.08629348 -0.05364322
+v -0.26315273 0.04499118 0.00757575
+v -0.32062995 -0.13895813 -0.02711072
+v -0.35315559 0.04426314 -0.15927525
+v -0.32413522 -0.13560397 -0.09482654
+v -0.31047546 -0.15081452 -0.02562039
+v -0.33600871 -0.09845346 0.00138325
+v -0.34976307 -0.05795425 -0.15649805
+v -0.35174399 0.02609124 0.00299084
+v -0.33580616 -0.11272606 -0.02532525
+v -0.32142524 -0.12557914 0.00279508
+v -0.35130389 -0.04277767 0.00213136
+v -0.35141752 -0.08448881 -0.11374568
+v -0.35183129 0.04134226 -0.01194036
+v -0.34921304 -0.07166447 -0.01120712
+v -0.29593793 -0.15606268 0.00270199
+v -0.33303316 -0.11563280 -0.15462646
+v -0.34990027 -0.07557224 -0.13839141
+v -0.30843880 -0.15947010 -0.15917717
+f 1 2 3
+f 6 1 3
+f 6 4 1
+f 8 3 2
+f 8 6 3
+f 8 4 6
+f 9 2 7
+f 10 7 2
+f 10 2 1
+f 12 8 2
+f 14 9 7
+f 14 5 9
+f 15 7 10
+f 15 1 11
+f 15 14 7
+f 15 11 14
+f 16 11 1
+f 16 1 4
+f 16 4 13
+f 16 13 8
+f 16 8 5
+f 17 5 8
+f 17 8 12
+f 17 9 5
+f 18 13 4
+f 18 4 8
+f 18 8 13
+f 19 14 11
+f 19 5 14
+f 19 16 5
+f 19 11 16
+f 20 15 10
+f 20 10 1
+f 20 1 15
+f 21 12 2
+f 21 9 17
+f 22 21 17
+f 22 17 12
+f 22 12 21
+f 23 21 2
+f 23 2 9
+f 23 9 21
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_8/collision/model_normalized_collision_27.obj b/objects/objaverse/pear/pear_8/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e552dc1840c75cdfe10190d805f7e12dea29a3fd
--- /dev/null
+++ b/objects/objaverse/pear/pear_8/collision/model_normalized_collision_27.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.09651991 -0.24210756 0.00653720
+v 0.18981634 -0.18391090 -0.24717773
+v 0.20143094 -0.18813602 0.02440986
+v 0.10048363 -0.16713003 0.00757575
+v 0.09781221 -0.23592801 -0.23226818
+v 0.09541040 -0.24358706 -0.21496020
+v 0.12603542 -0.21229185 -0.25724218
+v 0.14114473 -0.23983920 -0.06964200
+v 0.16956156 -0.22382113 -0.18560722
+v 0.16743953 -0.22360538 -0.01177887
+v 0.12429269 -0.24068640 -0.02557382
+v 0.13684138 -0.22315878 -0.22613442
+v 0.13945814 -0.23891018 -0.16909333
+v 0.17243524 -0.21641921 0.00430111
+v 0.15398968 -0.22478088 0.00247032
+v 0.10750958 -0.23922980 -0.21367360
+v 0.16843378 -0.20847145 -0.22653034
+f 1 3 4
+f 3 2 4
+f 6 1 4
+f 6 4 5
+f 7 5 4
+f 7 4 2
+f 9 2 3
+f 10 9 3
+f 10 8 9
+f 11 1 6
+f 11 6 8
+f 11 8 10
+f 12 6 5
+f 12 5 7
+f 13 9 8
+f 13 8 6
+f 13 6 9
+f 14 10 3
+f 15 11 10
+f 15 1 11
+f 15 10 14
+f 15 14 3
+f 15 3 1
+f 16 12 9
+f 16 9 6
+f 16 6 12
+f 17 12 7
+f 17 7 2
+f 17 2 9
+f 17 9 12
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_8/collision/model_normalized_collision_28.obj b/objects/objaverse/pear/pear_8/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7adf0aac73a9635b5f56b38c787c5222d50b3664
--- /dev/null
+++ b/objects/objaverse/pear/pear_8/collision/model_normalized_collision_28.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.17741990 -0.02759192 0.48939303
+v 0.17361161 -0.02350345 0.47032538
+v 0.17671228 -0.01673324 0.49022714
+v 0.01414787 0.03074924 0.39439000
+v 0.03285216 -0.02166404 0.39293322
+v 0.17416349 -0.01866583 0.46961743
+v 0.08061484 -0.00578695 0.44826065
+v 0.06364757 -0.00212018 0.39102540
+v 0.13649386 -0.01938628 0.48008373
+v 0.03169398 0.00691417 0.41459622
+v 0.04791658 0.01436399 0.40090456
+v 0.06309424 -0.01339087 0.39120295
+v 0.16276066 -0.01260361 0.48489181
+v 0.08684602 -0.01864999 0.44908959
+v 0.06299467 0.00085480 0.43621466
+v 0.13365370 -0.01219444 0.47475700
+v 0.03618859 -0.01406853 0.40636338
+v 0.03900286 -0.00761791 0.41376961
+f 5 2 1
+f 6 4 3
+f 6 1 2
+f 6 3 1
+f 8 5 4
+f 9 1 3
+f 10 4 5
+f 11 8 4
+f 11 4 6
+f 11 6 8
+f 12 8 6
+f 12 6 2
+f 12 2 5
+f 12 5 8
+f 13 9 3
+f 13 3 4
+f 14 9 7
+f 14 5 1
+f 14 1 9
+f 14 7 10
+f 15 10 7
+f 15 4 10
+f 16 13 4
+f 16 7 9
+f 16 9 13
+f 16 15 7
+f 16 4 15
+f 17 10 5
+f 17 5 14
+f 18 17 14
+f 18 14 10
+f 18 10 17
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_8/collision/model_normalized_collision_29.obj b/objects/objaverse/pear/pear_8/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce010e234702e1bf7d83d1aeae6371dd7db21a34
--- /dev/null
+++ b/objects/objaverse/pear/pear_8/collision/model_normalized_collision_29.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v -0.22526276 -0.24708820 -0.07163387
+v -0.22708755 -0.23171475 -0.22873254
+v -0.22822628 -0.22256088 0.00562547
+v -0.29911655 -0.15905106 -0.01151084
+v -0.29006572 -0.18587270 -0.17006778
+v -0.26013326 -0.18251713 -0.24899098
+v -0.27655099 -0.19939327 -0.05730911
+v -0.22274026 -0.23298251 -0.01049506
+v -0.23680029 -0.24128626 -0.18312633
+v -0.25657395 -0.18972891 0.01930461
+v -0.29752311 -0.16083916 -0.20110695
+v -0.25999361 -0.19821087 -0.22964654
+v -0.29124547 -0.18552136 -0.10251551
+v -0.22585606 -0.24787462 -0.18664841
+v -0.24999139 -0.22442492 -0.05912925
+v -0.28879308 -0.16229629 0.00500237
+v -0.23729889 -0.21575426 0.00347790
+v -0.23175214 -0.22850327 -0.22846832
+v -0.28649874 -0.16128040 -0.23190988
+v -0.27675058 -0.19883015 -0.18257177
+v -0.23539420 -0.24058586 -0.07414367
+v -0.28148769 -0.17178616 0.00273658
+v -0.23376222 -0.22460228 -0.01381058
+v -0.24790594 -0.22571202 -0.19708011
+v -0.29213529 -0.17001008 -0.20062537
+v -0.29445678 -0.16527068 -0.01426590
+v -0.27958597 -0.17287714 -0.22837722
+f 6 3 2
+f 8 2 3
+f 10 3 6
+f 13 7 4
+f 13 9 7
+f 13 5 9
+f 13 11 5
+f 13 4 11
+f 14 8 1
+f 14 2 8
+f 14 1 9
+f 16 10 6
+f 17 3 10
+f 17 7 15
+f 17 8 3
+f 18 12 6
+f 18 6 2
+f 18 14 9
+f 18 2 14
+f 19 6 12
+f 19 16 6
+f 19 11 4
+f 19 4 16
+f 20 9 5
+f 21 1 8
+f 21 8 15
+f 21 9 1
+f 21 15 7
+f 21 7 9
+f 22 16 4
+f 22 10 16
+f 22 17 10
+f 23 17 15
+f 23 15 8
+f 23 8 17
+f 24 18 9
+f 24 12 18
+f 24 20 12
+f 24 9 20
+f 25 12 20
+f 25 11 19
+f 25 20 5
+f 25 5 11
+f 26 22 4
+f 26 4 7
+f 26 7 17
+f 26 17 22
+f 27 25 19
+f 27 19 12
+f 27 12 25
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_8/collision/model_normalized_collision_3.obj b/objects/objaverse/pear/pear_8/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14517cc5a9de203bbfa20b0b5868503e8a6795ed
--- /dev/null
+++ b/objects/objaverse/pear/pear_8/collision/model_normalized_collision_3.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.01028319 -0.28554083 -0.02630905
+v 0.00660299 -0.28682302 -0.09708383
+v 0.00329176 -0.27007579 0.01732617
+v -0.21292949 -0.23626095 0.00558813
+v -0.19414288 -0.27002514 -0.15640983
+v -0.23517937 -0.24685723 -0.15978480
+v -0.12396028 -0.27892805 0.00549762
+v -0.22724789 -0.23566645 -0.03963446
+v -0.12985946 -0.28465794 -0.16851142
+v -0.03908652 -0.28651262 -0.01062226
+v -0.19423995 -0.27014796 -0.08494260
+v -0.00809679 -0.27744528 0.00465119
+v -0.13713094 -0.28694225 -0.08551584
+v -0.00777034 -0.28978771 -0.09804327
+v -0.19249013 -0.25460244 -0.01350196
+v -0.22181500 -0.25412789 -0.08683223
+v -0.22169517 -0.25572477 -0.15635864
+v -0.09446628 -0.28600343 -0.01022965
+v -0.13695841 -0.28495995 -0.05550497
+v -0.12675843 -0.28661839 -0.15878392
+v -0.15057255 -0.26873166 0.00451068
+v -0.20623144 -0.24197759 0.00258813
+v -0.12354073 -0.28787223 -0.09790559
+v -0.12158276 -0.28397626 -0.02565260
+f 1 2 3
+f 6 3 2
+f 7 3 4
+f 8 4 3
+f 8 3 6
+f 9 6 2
+f 9 5 6
+f 12 10 1
+f 12 1 3
+f 12 3 7
+f 12 7 10
+f 13 11 5
+f 14 2 1
+f 14 1 10
+f 14 9 2
+f 16 4 8
+f 16 8 6
+f 16 11 15
+f 17 6 5
+f 17 5 11
+f 17 16 6
+f 17 11 16
+f 18 10 7
+f 18 14 10
+f 19 7 11
+f 19 11 13
+f 19 13 18
+f 20 13 5
+f 20 5 9
+f 20 9 14
+f 21 15 11
+f 21 11 7
+f 21 7 4
+f 22 16 15
+f 22 4 16
+f 22 21 4
+f 22 15 21
+f 23 18 13
+f 23 14 18
+f 23 20 14
+f 23 13 20
+f 24 19 18
+f 24 18 7
+f 24 7 19
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_8/collision/model_normalized_collision_30.obj b/objects/objaverse/pear/pear_8/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c56c46b814382f2d85f2b99717c021ac7b60a7fd
--- /dev/null
+++ b/objects/objaverse/pear/pear_8/collision/model_normalized_collision_30.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.02266263 -0.26675970 0.00565304
+v 0.17243524 -0.21641921 0.00430111
+v 0.02591524 -0.22103289 0.14519629
+v 0.04049559 0.16248726 0.16162446
+v 0.02472606 0.12074875 0.00757575
+v 0.17617802 0.12068184 0.14384475
+v 0.06595888 -0.21315111 0.14041337
+v 0.04880809 -0.25751100 0.00255167
+v 0.01944275 -0.25895446 0.03441967
+v 0.02192159 -0.22578965 0.12712751
+v 0.10376905 -0.19588699 0.13741328
+v 0.21018048 0.15633643 0.03816940
+v 0.14181742 -0.22859350 0.00389072
+v 0.07622873 -0.20903412 0.13994295
+v 0.15996704 -0.14331595 0.12875354
+v 0.14031023 -0.22520730 0.01645466
+v 0.16564350 -0.20926664 0.03006258
+v 0.16719156 -0.19542826 0.05385889
+v 0.15688181 -0.15350377 0.12021202
+f 8 5 2
+f 8 1 5
+f 9 5 1
+f 9 7 3
+f 9 1 7
+f 10 3 4
+f 10 4 5
+f 10 9 3
+f 10 5 9
+f 11 6 4
+f 11 4 3
+f 12 5 4
+f 12 4 6
+f 12 2 5
+f 13 7 1
+f 13 8 2
+f 13 1 8
+f 14 11 3
+f 14 3 7
+f 14 7 2
+f 15 6 11
+f 15 12 6
+f 16 13 2
+f 16 2 7
+f 16 7 13
+f 17 14 2
+f 17 11 14
+f 18 2 12
+f 18 12 15
+f 18 17 2
+f 18 11 17
+f 19 18 15
+f 19 15 11
+f 19 11 18
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_8/collision/model_normalized_collision_31.obj b/objects/objaverse/pear/pear_8/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2d60e5f7403df25a1a8019a4c22ac8ae0a4b832
--- /dev/null
+++ b/objects/objaverse/pear/pear_8/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.17224364 -0.16713003 0.00757575
+v -0.17224364 -0.16713003 -0.23484849
+v -0.17224364 0.12074875 0.00757575
+v -0.29731500 0.14442259 0.02795872
+v -0.27160685 -0.17603559 0.01317548
+v -0.30874448 0.13832647 -0.25269327
+v -0.17224364 0.12074875 -0.23484849
+v -0.27153641 -0.17480809 -0.24034692
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 6 5 4
+f 7 3 2
+f 7 2 6
+f 7 6 4
+f 7 4 3
+f 8 6 2
+f 8 2 5
+f 8 5 6
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_8/collision/model_normalized_collision_4.obj b/objects/objaverse/pear/pear_8/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b63172dd2c9a51a617239a751666f7da8f5c9c8
--- /dev/null
+++ b/objects/objaverse/pear/pear_8/collision/model_normalized_collision_4.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.16845876 -0.26201231 -0.23028401
+v -0.16531991 -0.09956409 -0.41842323
+v -0.16554330 0.19889133 -0.34539189
+v -0.17044278 0.25267144 -0.23313277
+v -0.34122967 -0.02680855 -0.22784349
+v -0.16719725 -0.25723945 -0.24274247
+v -0.19747293 0.24271608 -0.23103407
+v -0.25985565 0.08159010 -0.35776365
+v -0.16497987 0.14194794 -0.40497432
+v -0.27671747 -0.13719408 -0.28685504
+v -0.20861887 -0.24435420 -0.22814940
+v -0.17021010 0.24865312 -0.25335270
+v -0.28960872 0.15522305 -0.27370310
+v -0.19082172 0.05280655 -0.42850690
+v -0.30541165 -0.01386541 -0.31275715
+v -0.30839965 -0.12844439 -0.23014986
+v -0.18183425 -0.25707640 -0.23046774
+v -0.20417253 -0.16739004 -0.34155126
+v -0.25118331 0.15368953 -0.32176194
+v -0.25271951 0.20756010 -0.24760793
+v -0.16519751 0.08522335 -0.43506558
+v -0.30603084 0.04277045 -0.31317460
+v -0.20510953 -0.05524350 -0.41368712
+v -0.27958597 -0.17287714 -0.22837722
+v -0.31979530 -0.05656521 -0.27064103
+v -0.18046190 -0.23888488 -0.26905380
+v -0.23608709 -0.21128130 -0.25357162
+v -0.21732813 0.11245877 -0.38343056
+v -0.28760991 0.12723338 -0.30109572
+v -0.17753268 0.19695895 -0.34175950
+v -0.24723605 0.18156110 -0.29805502
+v -0.19975461 0.23869470 -0.24566187
+v -0.32301541 0.13016848 -0.22970674
+v -0.16583175 -0.07023859 -0.43228623
+v -0.31961862 -0.02657014 -0.28538996
+v -0.26024420 -0.09614435 -0.34293387
+v -0.18949670 -0.02800802 -0.43017328
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\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_8/collision/model_normalized_collision_5.obj b/objects/objaverse/pear/pear_8/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73567869f2bdeabe970ec530e0fa0c6191dc739d
--- /dev/null
+++ b/objects/objaverse/pear/pear_8/collision/model_normalized_collision_5.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v 0.02459984 -0.20723849 0.23318991
+v 0.09834125 -0.12051730 0.30943962
+v -0.04509674 -0.14968053 0.33024614
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+v -0.16705421 -0.11864287 0.23200106
+v 0.06728885 -0.11816012 0.35262404
+v 0.02472606 -0.12167549 0.23484848
+v -0.10400919 -0.18401188 0.22776508
+v 0.08749556 -0.11393169 0.33452283
+v -0.10310535 -0.11207758 0.33294725
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+v -0.16175459 -0.11457938 0.24382948
+v -0.06344013 -0.20081433 0.22939035
+v -0.12853887 -0.15157700 0.25246885
+v -0.16215960 -0.12989156 0.22908905
+v -0.07242359 -0.15114081 0.31156118
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+v -0.13925339 -0.13892981 0.25356549
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\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_8/collision/model_normalized_collision_6.obj b/objects/objaverse/pear/pear_8/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d8774f1f5a926f7242b11615aacf95ec232788d
--- /dev/null
+++ b/objects/objaverse/pear/pear_8/collision/model_normalized_collision_6.obj
@@ -0,0 +1,153 @@
+# https://github.com/mikedh/trimesh
+v 0.03516118 -0.20982161 0.21579863
+v 0.16225107 -0.12894693 0.13831591
+v 0.10108924 0.03679084 0.32335303
+v 0.02322455 0.17773612 0.14151836
+v 0.02439794 -0.22519818 0.12793288
+v 0.17133286 0.12956906 0.13741217
+v 0.01844899 0.09847669 0.33508536
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+v 0.11972075 -0.18444973 0.13660828
+v 0.15758926 -0.02613584 0.25708609
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+v 0.02241614 -0.17163695 0.30544058
+v 0.01924034 0.12169818 0.29034033
+v 0.04567035 0.08900084 0.32946456
+v 0.02576639 -0.14012907 0.35283896
+v 0.08449758 -0.18166445 0.24289081
+v 0.15930902 0.05308925 0.23452135
+v 0.15782065 -0.05534323 0.24240926
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+v 0.06537586 0.16889475 0.13951386
+v 0.13314064 -0.17061755 0.13781163
+v 0.04931487 -0.20924936 0.20173094
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+v 0.14513118 0.09029078 0.22198500
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+v 0.05890370 -0.16351465 0.30101544
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+v 0.09693209 -0.10147229 0.32982671
+v 0.15542863 0.13901307 0.13759658
+v 0.04939513 -0.19419932 0.25793296
+v 0.02262373 -0.21173235 0.21648604
+v 0.11585199 0.04682360 0.29845188
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+v 0.13103515 -0.16692858 0.15139594
+v 0.06540200 0.16466132 0.15027325
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\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_8/collision/model_normalized_collision_7.obj b/objects/objaverse/pear/pear_8/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5fd7ff2071df6f5da447782771c9c012702e24a5
--- /dev/null
+++ b/objects/objaverse/pear/pear_8/collision/model_normalized_collision_7.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.15453678 -0.26717521 0.00603674
+v -0.15007194 -0.25763855 0.04818611
+v -0.34070512 0.07165795 0.00485522
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+v -0.14946617 0.10898677 0.22416496
+v -0.32727292 0.11478813 0.00008900
+v -0.31068418 -0.14075673 0.00050498
+v -0.15260348 0.24193463 0.03084168
+v -0.27585827 0.06683621 0.13090187
+v -0.20623144 -0.24197759 0.00258813
+v -0.33957701 -0.08667236 0.00315972
+v -0.14762372 -0.17084425 0.19908193
+v -0.23819857 0.21469570 0.00447314
+v -0.31898780 0.09678886 0.04535812
+v -0.16286177 -0.25437253 0.04330763
+v -0.18378419 0.24252574 0.00167544
+v -0.33481918 -0.04143783 0.04612839
+v -0.19878682 -0.05384063 0.22203775
+v -0.21800753 -0.21111779 0.05774920
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+v -0.17887160 -0.25664269 0.00274699
+v -0.14961680 -0.23126829 0.10513534
+v -0.19358500 0.17688631 0.11721652
+v -0.33639927 0.04011327 0.04316772
+v -0.30621080 -0.09708286 0.07233763
+v -0.14960293 -0.14627280 0.23034175
+v -0.20082768 0.03876335 0.22224384
+v -0.30661750 -0.04139848 0.09901732
+v -0.19028197 -0.23867380 0.04435683
+v -0.27460585 0.09768076 0.11571313
+v -0.29369158 0.15437550 0.02985402
+v -0.17772258 -0.25356314 0.01750911
+v -0.18918585 -0.22633928 0.07093765
+v -0.18085373 0.23774410 0.01542026
+v -0.23104439 0.18040759 0.07649071
+v -0.15367444 0.16808714 0.14599549
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+v -0.17235242 0.08877418 0.22234569
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+v -0.21501446 0.02796797 0.20680937
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+f 16 6 13
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+f 21 14 6
+f 21 6 3
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+f 63 43 62
+f 64 44 28
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+f 64 38 44
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_8/collision/model_normalized_collision_8.obj b/objects/objaverse/pear/pear_8/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54a599f1d013abbbbc7b463f93482dce16b1960f
--- /dev/null
+++ b/objects/objaverse/pear/pear_8/collision/model_normalized_collision_8.obj
@@ -0,0 +1,180 @@
+# https://github.com/mikedh/trimesh
+v 0.06376027 -0.14039646 0.33139702
+v 0.08749556 -0.11393169 0.33452283
+v -0.05756645 -0.03725193 0.41456252
+v -0.04853413 0.10675429 0.33266993
+v 0.07886117 0.05593017 0.32994500
+v -0.13061972 -0.07090661 0.33317217
+v 0.01460800 -0.11195828 0.38639780
+v -0.01368316 0.06366541 0.40233724
+v -0.10909163 0.04998838 0.35945756
+v -0.11901476 0.06780995 0.32975560
+v 0.05810245 -0.12294280 0.35560075
+v -0.06126096 -0.14119702 0.33297613
+v 0.03282570 0.09352681 0.33427552
+v 0.06405654 -0.02223436 0.40501455
+v -0.12522594 -0.02655784 0.35756186
+v -0.07186028 0.07423029 0.37601128
+v -0.00706414 0.10881899 0.33266918
+v 0.03537908 -0.13544341 0.35606725
+v 0.08323104 -0.11425573 0.34026387
+v -0.08639376 -0.12643296 0.33243527
+v -0.04396934 -0.10666392 0.38443699
+v 0.06527112 0.00461954 0.40213266
+v -0.01309746 0.03917789 0.41508233
+v -0.02568722 -0.05480896 0.41273537
+v 0.04452412 -0.09705662 0.38171395
+v -0.08386666 -0.03962347 0.39775045
+v -0.13224770 0.04178873 0.33123991
+v -0.01433754 0.07780333 0.38988922
+v -0.09718560 0.07645229 0.34636399
+v -0.07001483 0.01413885 0.41321313
+v 0.03445259 -0.12194956 0.37129639
+v 0.05888396 -0.13539265 0.34130946
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+v -0.11610199 -0.09883523 0.33237122
+v -0.04497421 -0.11979005 0.37160030
+v 0.01426814 0.06388918 0.38735439
+v 0.09770526 0.01399764 0.33523478
+v 0.00452786 -0.08519441 0.40011172
+v -0.04513363 -0.05275811 0.41315658
+v -0.01558845 -0.04058980 0.41377165
+v 0.07074107 -0.11024945 0.35615913
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+v -0.11353508 0.06108613 0.34326958
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+v -0.07208398 -0.01298563 0.41363306
+v -0.05839115 -0.13537302 0.34277230
+v 0.03169165 0.08737435 0.34258346
+v 0.01557040 0.08536182 0.35995348
+v -0.12472798 -0.06967965 0.34113750
+v -0.08435296 -0.12150685 0.34041093
+v -0.10909082 0.02478750 0.37496619
+v -0.03213790 0.07939857 0.38399031
+v -0.04864822 0.04070302 0.41202798
+v -0.11241863 -0.09612195 0.33852417
+v -0.08218976 0.02606502 0.40207525
+f 5 2 1
+f 10 5 1
+f 17 10 4
+f 17 5 10
+f 17 13 5
+f 19 11 1
+f 19 1 2
+f 19 2 14
+f 20 10 1
+f 20 1 12
+f 23 22 8
+f 23 14 22
+f 25 14 7
+f 27 6 15
+f 27 9 10
+f 29 9 16
+f 31 18 11
+f 31 7 18
+f 31 25 7
+f 32 18 1
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+f 40 23 3
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+f 41 11 19
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+f 42 15 6
+f 43 21 3
+f 43 3 26
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+f 43 35 21
+f 44 27 15
+f 44 15 42
+f 45 8 28
+f 46 29 16
+f 46 4 29
+f 46 17 4
+f 47 13 17
+f 47 46 28
+f 47 17 46
+f 48 29 10
+f 48 10 9
+f 48 9 29
+f 49 29 4
+f 49 4 10
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+f 50 16 9
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+f 51 3 23
+f 51 23 30
+f 51 26 3
+f 51 42 26
+f 51 44 42
+f 52 20 12
+f 52 12 33
+f 52 33 35
+f 53 36 5
+f 53 5 13
+f 53 13 36
+f 54 36 13
+f 54 28 36
+f 54 47 28
+f 54 13 47
+f 55 42 6
+f 55 6 34
+f 56 34 20
+f 56 35 43
+f 56 52 35
+f 56 20 52
+f 57 9 27
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+f 57 50 9
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+f 58 45 28
+f 58 16 45
+f 58 46 16
+f 58 28 46
+f 59 23 8
+f 59 8 45
+f 59 45 50
+f 59 50 30
+f 59 30 23
+f 60 43 42
+f 60 42 55
+f 60 55 34
+f 60 56 43
+f 60 34 56
+f 61 30 50
+f 61 50 57
+f 61 57 51
+f 61 51 30
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_8/collision/model_normalized_collision_9.obj b/objects/objaverse/pear/pear_8/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4384ba1e13830a651af5b7419750f207123335c9
--- /dev/null
+++ b/objects/objaverse/pear/pear_8/collision/model_normalized_collision_9.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.09959611 -0.24091041 0.00667059
+v 0.12603542 -0.21229185 -0.25724218
+v 0.10048363 -0.16713003 0.00757575
+v -0.25657395 -0.18972891 0.01930461
+v -0.22708755 -0.23171475 -0.22873254
+v -0.26013326 -0.18251713 -0.24899098
+v 0.09781221 -0.23592801 -0.23226818
+v -0.22141035 -0.23015412 0.00270073
+f 1 2 3
+f 1 3 4
+f 6 3 2
+f 6 4 3
+f 6 5 4
+f 6 2 5
+f 7 5 2
+f 7 2 1
+f 7 1 5
+f 8 5 1
+f 8 1 4
+f 8 4 5
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_8/model.xml b/objects/objaverse/pear/pear_8/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..2b01050a95cbb5038922d222461e84f54c9a30ec
--- /dev/null
+++ b/objects/objaverse/pear/pear_8/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="pear_12">
+  <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 0.49999999999999983 0.4999999999999999"/>
+    <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 0.49999999999999983 0.4999999999999999"/>
+    <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 0.49999999999999983 0.4999999999999999"/>
+    <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 0.49999999999999983 0.4999999999999999"/>
+    <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 0.49999999999999983 0.4999999999999999"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.1 0.1 0.1" refquat="0.4999999999999999 0.5 0.49999999999999983 0.4999999999999999"/>
+    <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 0.49999999999999983 0.4999999999999999"/>
+    <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 0.49999999999999983 0.4999999999999999"/>
+    <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 0.49999999999999983 0.4999999999999999"/>
+    <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 0.49999999999999983 0.4999999999999999"/>
+    <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 0.49999999999999983 0.4999999999999999"/>
+    <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 0.49999999999999983 0.4999999999999999"/>
+    <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 0.49999999999999983 0.4999999999999999"/>
+    <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 0.49999999999999983 0.4999999999999999"/>
+    <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 0.49999999999999983 0.4999999999999999"/>
+    <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 0.49999999999999983 0.4999999999999999"/>
+    <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 0.49999999999999983 0.4999999999999999"/>
+    <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 0.49999999999999983 0.4999999999999999"/>
+    <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 0.49999999999999983 0.4999999999999999"/>
+    <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 0.49999999999999983 0.4999999999999999"/>
+    <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 0.49999999999999983 0.4999999999999999"/>
+    <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 0.49999999999999983 0.4999999999999999"/>
+    <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 0.49999999999999983 0.4999999999999999"/>
+    <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 0.49999999999999983 0.4999999999999999"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.1 0.1 0.1" refquat="0.4999999999999999 0.5 0.49999999999999983 0.4999999999999999"/>
+    <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 0.49999999999999983 0.4999999999999999"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.1 0.1 0.1" refquat="0.4999999999999999 0.5 0.49999999999999983 0.4999999999999999"/>
+    <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 0.49999999999999983 0.4999999999999999"/>
+    <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 0.49999999999999983 0.4999999999999999"/>
+    <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 0.49999999999999983 0.4999999999999999"/>
+    <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 0.49999999999999983 0.4999999999999999"/>
+    <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 0.49999999999999983 0.4999999999999999"/>
+    <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 0.49999999999999983 0.4999999999999999"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="material_1.011" texture="image0" specular="0.5" shininess="0.328416455"/>
+  </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_1.011"/>
+        <geom solimp="0.998 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="-0.00017476695187949864 0.0002160879264908128 -0.035382726837317406" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="-0.00017476695187949864 0.0002160879264908128 0.0359896615290941" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.02862923541528648 0.04964430787839228 0.00030346734588834745" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/pear/pear_8/visual/material.mtl b/objects/objaverse/pear/pear_8/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4398d0ee9a5b1539eacd4ff13c86b29ef257d8f5
--- /dev/null
+++ b/objects/objaverse/pear/pear_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 328.41645500
+map_Kd material_0.png
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_8/visual/model_normalized_0.obj b/objects/objaverse/pear/pear_8/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a15940956f65b58e00077c570e2e84850745201
--- /dev/null
+++ b/objects/objaverse/pear/pear_8/visual/model_normalized_0.obj
@@ -0,0 +1,128918 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v 0.35298752 -0.02940393 0.44327357
+v 0.34831622 -0.02441488 0.44676507
+v 0.35091556 -0.02714929 0.44942865
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\ No newline at end of file