diff --git a/objects/objaverse/knife/knife_19/collision/model_normalized_collision_0.obj b/objects/objaverse/knife/knife_19/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1acf50764ffb549c3d852406e1ca60bf615ce293
--- /dev/null
+++ b/objects/objaverse/knife/knife_19/collision/model_normalized_collision_0.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.16508927 -0.26283887 0.00508157
+v -0.11930068 -0.20250426 0.00488837
+v -0.20664914 -0.26575858 0.00688682
+v -0.13086163 -0.12948037 0.00580226
+v -0.20737932 -0.26525471 -0.00689175
+v -0.11580543 -0.12941415 0.00658116
+v -0.13171568 -0.23838778 -0.00246844
+v -0.20722374 -0.14418095 0.00231531
+v -0.13171568 -0.23838778 0.00246845
+v -0.14467645 -0.25522102 -0.00246844
+v -0.11648023 -0.12892484 -0.00654084
+v -0.13469038 -0.23273655 0.00373255
+v -0.14467645 -0.25522102 0.00246845
+v -0.13159657 -0.12894816 -0.00577645
+v -0.20714136 -0.14422378 -0.00234344
+f 1 2 3
+f 5 1 3
+f 6 3 2
+f 6 4 3
+f 8 5 3
+f 8 3 4
+f 9 7 2
+f 10 1 5
+f 10 5 7
+f 10 7 9
+f 11 6 2
+f 11 2 7
+f 11 7 5
+f 12 9 2
+f 12 2 1
+f 12 1 9
+f 13 10 9
+f 13 9 1
+f 13 1 10
+f 14 4 6
+f 14 6 11
+f 14 8 4
+f 14 11 5
+f 15 14 5
+f 15 5 8
+f 15 8 14
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_19/collision/model_normalized_collision_10.obj b/objects/objaverse/knife/knife_19/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..345478ad1c440a7ebb15bca233ece80c1ef5446f
--- /dev/null
+++ b/objects/objaverse/knife/knife_19/collision/model_normalized_collision_10.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.27729244 0.32560238 0.03008724
+v 0.34928650 0.38908382 -0.03008723
+v 0.34928650 0.38908382 0.03008724
+v 0.27729247 0.38619702 0.03008709
+v 0.27729244 0.32560238 -0.03008723
+v 0.30871957 0.33639626 0.03008724
+v 0.27729244 0.38619705 -0.03008723
+v 0.30871957 0.33639626 -0.03008723
+f 1 3 4
+f 6 2 3
+f 6 3 1
+f 6 1 5
+f 7 2 5
+f 7 3 2
+f 7 4 3
+f 7 5 1
+f 7 1 4
+f 8 6 5
+f 8 5 2
+f 8 2 6
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_19/collision/model_normalized_collision_14.obj b/objects/objaverse/knife/knife_19/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b400065f3da97e1c6e512baa7195eecc8ec3d679
--- /dev/null
+++ b/objects/objaverse/knife/knife_19/collision/model_normalized_collision_14.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.12580577 0.14381837 0.00998179
+v 0.12580577 0.14381837 -0.00998179
+v 0.11922852 0.18853968 -0.01594130
+v 0.03355070 0.18481595 0.00998179
+v 0.03479999 0.14354816 -0.00422038
+v 0.11858087 0.18823943 0.01522973
+v 0.13057083 0.17923514 -0.01688649
+v 0.03480843 0.14356821 0.00422007
+v 0.03364111 0.18490026 -0.00998179
+v 0.13008551 0.17871372 0.01612593
+f 5 2 1
+f 6 3 4
+f 7 1 2
+f 7 3 6
+f 7 2 5
+f 8 5 1
+f 8 4 5
+f 9 5 4
+f 9 4 3
+f 9 7 5
+f 9 3 7
+f 10 6 4
+f 10 7 6
+f 10 1 7
+f 10 8 1
+f 10 4 8
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_19/collision/model_normalized_collision_15.obj b/objects/objaverse/knife/knife_19/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a67fd3f97af3de1935197796318a29f415a69809
--- /dev/null
+++ b/objects/objaverse/knife/knife_19/collision/model_normalized_collision_15.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.06038579 0.01110976 0.00191558
+v 0.12945182 0.10148536 -0.00686397
+v 0.12934741 0.10153050 0.00575661
+v 0.06518681 0.09833502 0.00516155
+v 0.06516642 0.09830366 -0.00516253
+v 0.11236757 0.07862270 0.00085509
+v 0.06039043 0.01111579 -0.00207740
+v 0.11222867 0.07844235 -0.00125074
+f 1 3 4
+f 5 1 4
+f 5 3 2
+f 5 4 3
+f 6 2 3
+f 6 3 1
+f 7 5 2
+f 7 1 5
+f 7 6 1
+f 8 7 2
+f 8 2 6
+f 8 6 7
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_19/collision/model_normalized_collision_17.obj b/objects/objaverse/knife/knife_19/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..870c71e42557ea545af95c0602557f2bdafc505c
--- /dev/null
+++ b/objects/objaverse/knife/knife_19/collision/model_normalized_collision_17.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.27475791 0.40851568 0.02394885
+v 0.27734579 0.41649321 -0.02339915
+v 0.28519023 0.44531623 0.02735493
+v 0.26922556 0.47128890 0.00998162
+v 0.26935559 0.41233093 -0.01640575
+v 0.28063076 0.47017569 -0.01442417
+v 0.27592335 0.44421738 0.02005436
+v 0.28299253 0.41542948 0.03008275
+v 0.28010988 0.47061862 0.01389026
+v 0.26922556 0.47128890 -0.00998179
+f 5 2 1
+f 5 1 4
+f 6 3 2
+f 7 3 4
+f 7 4 1
+f 8 1 2
+f 8 2 3
+f 8 7 1
+f 8 3 7
+f 9 4 3
+f 9 3 6
+f 10 5 4
+f 10 9 6
+f 10 4 9
+f 10 6 2
+f 10 2 5
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_19/collision/model_normalized_collision_18.obj b/objects/objaverse/knife/knife_19/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83e6eed5f524267c79d95427c615853656bc6811
--- /dev/null
+++ b/objects/objaverse/knife/knife_19/collision/model_normalized_collision_18.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.13008551 0.17871372 0.01612593
+v 0.13057083 0.17923514 -0.01688649
+v 0.13477890 0.19874154 0.03008724
+v 0.13445079 0.21457435 0.01624532
+v 0.11065710 0.17411571 -0.00998179
+v 0.13498637 0.21426538 -0.01731597
+v 0.11065710 0.17411571 0.00998179
+v 0.12721514 0.21010508 0.00945881
+v 0.13170693 0.19432490 0.02965144
+v 0.12843733 0.20930422 -0.01178603
+v 0.12545258 0.19142527 0.02277974
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 6 4 3
+f 6 2 5
+f 7 5 1
+f 8 4 6
+f 8 5 7
+f 9 7 1
+f 9 1 3
+f 9 3 4
+f 9 4 8
+f 10 8 6
+f 10 6 5
+f 10 5 8
+f 11 9 8
+f 11 8 7
+f 11 7 9
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_19/collision/model_normalized_collision_19.obj b/objects/objaverse/knife/knife_19/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5aae7fe49554913bd3da09f284335b07b7088d2d
--- /dev/null
+++ b/objects/objaverse/knife/knife_19/collision/model_normalized_collision_19.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.35492463 0.39640650 0.03008724
+v 0.36643587 0.41281368 -0.03008723
+v 0.37282869 0.46684954 0.03008708
+v 0.34485255 0.49681892 0.00943394
+v 0.27729244 0.38619705 -0.03008723
+v 0.37282869 0.46684954 -0.03008723
+v 0.27729247 0.38619702 0.03008709
+v 0.36643587 0.41281368 0.03008724
+v 0.35492463 0.39640650 -0.03008723
+v 0.37079419 0.47617498 -0.00990070
+v 0.28351478 0.47719641 -0.00998179
+v 0.28470372 0.46498992 0.01976785
+v 0.34486831 0.49680637 -0.00943424
+v 0.37077843 0.47618752 0.00990028
+v 0.28506897 0.46439364 -0.02033854
+v 0.28329679 0.47765632 0.00945250
+v 0.35763797 0.47857855 0.03008708
+v 0.35763797 0.47857855 -0.03008723
+v 0.31473588 0.49011206 -0.00998179
+v 0.31395234 0.47762551 0.02140423
+v 0.31423723 0.47697106 -0.02212645
+v 0.31461338 0.49026449 0.00978626
+f 6 3 2
+f 6 2 5
+f 8 1 2
+f 8 2 3
+f 8 7 1
+f 9 5 2
+f 9 2 1
+f 9 7 5
+f 9 1 7
+f 10 3 6
+f 13 10 6
+f 13 4 10
+f 14 10 4
+f 14 4 3
+f 14 3 10
+f 15 5 11
+f 16 11 5
+f 16 5 7
+f 16 7 12
+f 17 12 7
+f 17 3 4
+f 17 8 3
+f 17 7 8
+f 18 6 5
+f 18 5 15
+f 18 13 6
+f 19 11 16
+f 19 13 18
+f 20 16 12
+f 20 12 17
+f 21 19 18
+f 21 18 15
+f 21 15 11
+f 21 11 19
+f 22 19 16
+f 22 4 13
+f 22 13 19
+f 22 16 20
+f 22 20 17
+f 22 17 4
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_19/collision/model_normalized_collision_21.obj b/objects/objaverse/knife/knife_19/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0599fa01a90e46cefa47fd1e01c06f66795c576
--- /dev/null
+++ b/objects/objaverse/knife/knife_19/collision/model_normalized_collision_21.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.21067129 0.20905315 0.03008724
+v 0.23659288 0.24271960 -0.02343686
+v 0.23659288 0.24271960 0.02200914
+v 0.21669777 0.23471037 -0.03008723
+v 0.21067129 0.20905315 -0.03008723
+v 0.21669777 0.23471037 0.03008724
+v 0.23095476 0.23539692 -0.03008723
+v 0.23095476 0.23539692 0.03008724
+f 5 1 4
+f 6 4 1
+f 6 3 2
+f 6 2 4
+f 7 5 4
+f 7 4 2
+f 7 2 3
+f 7 1 5
+f 8 6 1
+f 8 3 6
+f 8 7 3
+f 8 1 7
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_19/collision/model_normalized_collision_24.obj b/objects/objaverse/knife/knife_19/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..986aadf42f9600759c9ab9797e53fe795866516e
--- /dev/null
+++ b/objects/objaverse/knife/knife_19/collision/model_normalized_collision_24.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.26983716 0.28589660 0.02200914
+v 0.30308145 0.32907358 -0.03008723
+v 0.30308145 0.32907358 0.03008724
+v 0.27729244 0.32560238 0.03008724
+v 0.27729244 0.32560238 -0.03008723
+v 0.27715984 0.29540714 0.03008724
+v 0.26983716 0.28589660 -0.02343686
+v 0.27715984 0.29540714 -0.03008723
+f 3 2 4
+f 5 1 4
+f 5 4 2
+f 6 3 4
+f 6 4 1
+f 6 2 3
+f 7 1 5
+f 7 6 1
+f 8 7 5
+f 8 5 2
+f 8 2 6
+f 8 6 7
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_19/collision/model_normalized_collision_27.obj b/objects/objaverse/knife/knife_19/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4145f2bd6b7da03be2e7db8f21f305b92c01842a
--- /dev/null
+++ b/objects/objaverse/knife/knife_19/collision/model_normalized_collision_27.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.20746284 -0.26519708 0.00682203
+v -0.20737932 -0.26525471 -0.00689175
+v -0.20714136 -0.14422378 -0.00234344
+v -0.24272790 -0.14987893 0.00054033
+v -0.30779975 -0.26758065 -0.00054033
+v -0.20722374 -0.14418095 0.00231531
+v -0.30779976 -0.26758066 0.00054036
+v -0.24272790 -0.14987893 -0.00054033
+v -0.29718674 -0.24430951 0.00054033
+v -0.29718674 -0.24430951 -0.00054033
+f 1 2 3
+f 6 1 3
+f 6 4 1
+f 7 5 2
+f 7 2 1
+f 8 3 2
+f 8 6 3
+f 8 4 6
+f 9 7 1
+f 9 1 4
+f 9 5 7
+f 9 4 8
+f 10 8 2
+f 10 2 5
+f 10 9 8
+f 10 5 9
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_19/collision/model_normalized_collision_3.obj b/objects/objaverse/knife/knife_19/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f461dc3848d7f381d534f9adcc3b6f02855e8594
--- /dev/null
+++ b/objects/objaverse/knife/knife_19/collision/model_normalized_collision_3.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.07818791 -0.16886700 0.00246845
+v -0.02821259 -0.08146306 0.00505308
+v -0.07344941 -0.12712336 0.00662607
+v -0.05589019 -0.00773522 0.00506008
+v -0.02559545 -0.00773327 -0.00654064
+v -0.02493666 -0.00823411 0.00658851
+v -0.07101712 -0.05319775 -0.00601358
+v -0.03930549 -0.11836735 0.00246845
+v -0.07034700 -0.05370706 0.00606181
+v -0.07818791 -0.16886700 -0.00246844
+v -0.05582344 -0.00778595 -0.00508104
+v -0.03930549 -0.11836735 -0.00246844
+f 6 3 2
+f 6 5 4
+f 6 2 5
+f 8 2 3
+f 8 3 1
+f 9 6 4
+f 9 3 6
+f 9 4 7
+f 9 7 1
+f 9 1 3
+f 10 7 5
+f 10 1 7
+f 10 8 1
+f 11 7 4
+f 11 4 5
+f 11 5 7
+f 12 5 2
+f 12 2 8
+f 12 10 5
+f 12 8 10
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_19/collision/model_normalized_collision_30.obj b/objects/objaverse/knife/knife_19/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be84c65c39b44685520b7d79ffdcabea102c4192
--- /dev/null
+++ b/objects/objaverse/knife/knife_19/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.18474969 0.17538670 0.03008724
+v 0.20334861 0.19954260 -0.03008723
+v 0.21669777 0.28015638 0.03008724
+v 0.18640044 0.28015638 0.03008724
+v 0.18640044 0.28015638 -0.03008723
+v 0.20334861 0.19954260 0.03008724
+v 0.18474969 0.17538670 -0.03008723
+v 0.21669777 0.28015638 -0.03008723
+f 1 3 4
+f 5 1 4
+f 6 1 2
+f 6 2 3
+f 6 3 1
+f 7 5 2
+f 7 2 1
+f 7 1 5
+f 8 3 2
+f 8 2 5
+f 8 5 4
+f 8 4 3
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_19/visual/material.mtl b/objects/objaverse/knife/knife_19/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5cc3763ffa7f1f4eebf62253c116403781e7b58f
--- /dev/null
+++ b/objects/objaverse/knife/knife_19/visual/material.mtl
@@ -0,0 +1,7 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.26666667 0.26666667 0.26666667
+Ks 0.50196078 0.50196078 0.50196078
+Ns 291.35304400
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_19/visual/model_normalized_0.obj b/objects/objaverse/knife/knife_19/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36bdce772536a38f2f37ef358d9969f6b67ef680
--- /dev/null
+++ b/objects/objaverse/knife/knife_19/visual/model_normalized_0.obj
@@ -0,0 +1,603 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v 0.19144366 0.20921728 -0.03010923
+v 0.18728104 0.20578016 -0.03010923
+v 0.18203935 0.20448922 -0.03010923
+v 0.17675685 0.20560066 -0.03010923
+v 0.17247946 0.20889399 -0.03010923
+v 0.17005461 0.21371706 -0.03010923
+v 0.16996263 0.21911450 -0.03010923
+v 0.17222169 0.22401744 -0.03010923
+v 0.17638414 0.22745456 -0.03010923
+v 0.18690849 0.22763406 -0.03010923
+v 0.19118573 0.22434073 -0.03010923
+v 0.18162583 0.22874534 -0.03010923
+v 0.19361058 0.21951766 -0.03010923
+v 0.19370256 0.21412022 -0.03010923
+v 0.19144366 0.20921728 -0.03101120
+v 0.18728104 0.20578016 -0.03101120
+v 0.18203935 0.20448922 -0.03101120
+v 0.17675685 0.20560066 -0.03101120
+v 0.17247946 0.20889399 -0.03101120
+v 0.17005461 0.21371706 -0.03101120
+v 0.16996263 0.21911450 -0.03101120
+v 0.17222169 0.22401744 -0.03101120
+v 0.17638414 0.22745456 -0.03101120
+v 0.18162583 0.22874534 -0.03101120
+v 0.18690849 0.22763406 -0.03101120
+v 0.19118573 0.22434073 -0.03101120
+v 0.19361058 0.21951766 -0.03101120
+v 0.19370256 0.21412022 -0.03101120
+v 0.18183259 0.21661728 -0.03101120
+v 0.25204122 0.31209684 -0.03010923
+v 0.24524699 0.32561084 -0.03010923
+v 0.26647025 0.33083691 -0.03010923
+v 0.26889494 0.32601400 -0.03010923
+v 0.26898708 0.32061656 -0.03010923
+v 0.26256557 0.31227634 -0.03010923
+v 0.24750605 0.33051362 -0.03010923
+v 0.25691020 0.33524168 -0.03010923
+v 0.26672803 0.31571363 -0.03010923
+v 0.25732388 0.31098557 -0.03010923
+v 0.24776398 0.31539018 -0.03010923
+v 0.24533913 0.32021324 -0.03010923
+v 0.25166867 0.33395090 -0.03010923
+v 0.26219286 0.33413024 -0.03010923
+v 0.26672803 0.31571363 -0.03101120
+v 0.26256557 0.31227634 -0.03101120
+v 0.25732388 0.31098557 -0.03101120
+v 0.25204122 0.31209684 -0.03101120
+v 0.24776398 0.31539018 -0.03101120
+v 0.24533913 0.32021324 -0.03101120
+v 0.24524699 0.32561084 -0.03101120
+v 0.24750605 0.33051362 -0.03101120
+v 0.25166867 0.33395090 -0.03101120
+v 0.25691020 0.33524168 -0.03101120
+v 0.26219286 0.33413024 -0.03101120
+v 0.26647025 0.33083691 -0.03101120
+v 0.26889494 0.32601400 -0.03101120
+v 0.26898708 0.32061656 -0.03101120
+v 0.25711712 0.32311362 -0.03101120
+v 0.34464654 0.42018190 -0.03010923
+v 0.32568234 0.41985845 -0.03010923
+v 0.32325749 0.42468152 -0.03010923
+v 0.32316551 0.43007896 -0.03010923
+v 0.34011122 0.43859852 -0.03010923
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diff --git a/objects/objaverse/knife/knife_19/visual/model_normalized_1.obj b/objects/objaverse/knife/knife_19/visual/model_normalized_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a969212dda27f64ea44def1a562d7cb35cd4e31
--- /dev/null
+++ b/objects/objaverse/knife/knife_19/visual/model_normalized_1.obj
@@ -0,0 +1,1059 @@
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diff --git a/objects/objaverse/knife/knife_19/visual/model_normalized_2.obj b/objects/objaverse/knife/knife_19/visual/model_normalized_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1d416793d64acf33f4f1d78ccfa75f3576480d0
--- /dev/null
+++ b/objects/objaverse/knife/knife_19/visual/model_normalized_2.obj
@@ -0,0 +1,1256 @@
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+f 177//177 2//2 1//1
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+f 2//2 13//13 15//15
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\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_2/collision/model_normalized_collision_0.obj b/objects/objaverse/knife/knife_2/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..94b25bf2ce9c05c71e00a8acd119fa442088d749
--- /dev/null
+++ b/objects/objaverse/knife/knife_2/collision/model_normalized_collision_0.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.01888384 0.01816697 -0.12127338
+v 0.05394409 0.05553373 -0.18930854
+v 0.05432668 0.05540939 -0.12127338
+v 0.02191692 0.05149314 -0.11865882
+v 0.02206994 0.02097950 -0.18939239
+v 0.04987370 0.04170476 -0.12127338
+v 0.01881140 0.01839005 -0.15900884
+v 0.03447439 0.03420925 -0.19698133
+v 0.02501853 0.02262404 -0.12127338
+v 0.04949125 0.04182906 -0.18928086
+v 0.04190393 0.03538893 -0.18928711
+f 3 2 4
+f 6 3 4
+f 6 2 3
+f 7 1 4
+f 7 4 5
+f 8 5 4
+f 8 4 2
+f 9 6 4
+f 9 4 1
+f 9 7 5
+f 9 1 7
+f 10 8 2
+f 10 2 6
+f 11 5 8
+f 11 8 10
+f 11 9 5
+f 11 10 6
+f 11 6 9
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_2/collision/model_normalized_collision_1.obj b/objects/objaverse/knife/knife_2/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cde321e01203b0977147ef8558339b4db9357387
--- /dev/null
+++ b/objects/objaverse/knife/knife_2/collision/model_normalized_collision_1.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.00000000 -0.13440455 0.39669573
+v 0.00000000 -0.13440455 0.00757576
+v 0.00686660 0.10846469 0.50000000
+v -0.00686660 0.10846469 0.50000000
+v -0.00686660 -0.04984580 0.46174488
+v 0.00686660 0.10846469 0.00757576
+v 0.00686660 -0.04984580 0.46174488
+v -0.00567459 -0.07304222 0.44763125
+v -0.00686660 0.10846469 0.00757576
+v 0.00686660 0.04111983 0.49187720
+v 0.00566951 -0.07309711 0.44758569
+v -0.00686660 0.04111983 0.49187720
+f 6 4 3
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+f 8 5 2
+f 8 2 1
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+f 9 5 4
+f 9 2 5
+f 9 6 2
+f 9 4 6
+f 10 3 4
+f 10 7 3
+f 10 5 7
+f 11 1 2
+f 11 2 7
+f 11 8 1
+f 11 7 8
+f 12 10 4
+f 12 4 5
+f 12 5 10
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_2/collision/model_normalized_collision_10.obj b/objects/objaverse/knife/knife_2/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9eab92305a948a0c65434c683a9fe8dd72891ff
--- /dev/null
+++ b/objects/objaverse/knife/knife_2/collision/model_normalized_collision_10.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.01888384 0.01816697 -0.12127338
+v 0.03447439 0.03420925 -0.24279638
+v 0.02191692 0.05149314 -0.11865882
+v -0.05278199 0.05131559 -0.12125220
+v -0.01874531 0.01859354 -0.23484848
+v -0.05257022 0.05138440 -0.23484848
+v -0.01888384 0.01816697 -0.12127338
+v 0.01874531 0.01859354 -0.23484848
+v -0.04254902 0.03588790 -0.23484848
+v -0.04279984 0.03554278 -0.12127338
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 7 1 3
+f 7 5 1
+f 8 5 2
+f 8 2 1
+f 8 1 5
+f 9 6 2
+f 9 2 5
+f 10 7 3
+f 10 3 4
+f 10 4 6
+f 10 6 9
+f 10 9 5
+f 10 5 7
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_2/collision/model_normalized_collision_11.obj b/objects/objaverse/knife/knife_2/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53a43b882efced5ecab012602c50f7aac3f66331
--- /dev/null
+++ b/objects/objaverse/knife/knife_2/collision/model_normalized_collision_11.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00686660 -0.00953485 0.00757576
+v 0.00686660 -0.00953485 -0.11363636
+v 0.00686660 0.10846469 0.00757576
+v -0.00686660 0.10846469 0.00757576
+v -0.00686660 -0.00953485 0.00757576
+v 0.00686660 0.10846469 -0.11363636
+v -0.00686660 0.10846469 -0.11363636
+v -0.00686660 -0.00953485 -0.11363636
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 6 3 2
+f 6 4 3
+f 7 5 4
+f 7 4 6
+f 8 2 5
+f 8 5 7
+f 8 7 6
+f 8 6 2
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_2/collision/model_normalized_collision_12.obj b/objects/objaverse/knife/knife_2/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a18f3a7f3ff08c6536d41c329ffef8a580ee3a5e
--- /dev/null
+++ b/objects/objaverse/knife/knife_2/collision/model_normalized_collision_12.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.02294605 0.09613345 -0.11830623
+v -0.01875317 0.13400216 -0.18933817
+v -0.01888384 0.13440454 -0.12127338
+v -0.02780701 0.12742445 -0.18928758
+v -0.05550220 0.09224211 -0.18931194
+v -0.03749921 0.11616449 -0.19698133
+v -0.05588482 0.09236650 -0.12127338
+v -0.05143189 0.10607116 -0.12127338
+v -0.02804355 0.12774969 -0.12127338
+v -0.05104936 0.10594678 -0.18928425
+f 1 2 3
+f 6 2 1
+f 6 1 5
+f 6 4 2
+f 7 5 1
+f 8 7 1
+f 8 5 7
+f 9 8 1
+f 9 1 3
+f 9 3 2
+f 9 2 4
+f 10 4 6
+f 10 6 5
+f 10 5 8
+f 10 9 4
+f 10 8 9
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_2/collision/model_normalized_collision_13.obj b/objects/objaverse/knife/knife_2/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10c6da6c5e5337fca95cd91cc241aaa8dc46202d
--- /dev/null
+++ b/objects/objaverse/knife/knife_2/collision/model_normalized_collision_13.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.05184720 0.08115352 -0.12051483
+v 0.05838890 0.08327909 -0.23484848
+v 0.02692281 0.12384857 -0.24279638
+v 0.00686660 0.09652575 -0.11363636
+v 0.00686660 0.08137424 -0.11363636
+v 0.05179970 0.09628960 -0.12099583
+v 0.05082614 0.09559075 -0.24279638
+v 0.05393590 0.09698371 -0.23484848
+f 5 2 1
+f 5 1 4
+f 5 4 3
+f 6 3 4
+f 6 4 1
+f 6 1 2
+f 7 5 3
+f 7 2 5
+f 8 6 2
+f 8 2 7
+f 8 7 3
+f 8 3 6
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_2/collision/model_normalized_collision_14.obj b/objects/objaverse/knife/knife_2/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa807b955c1b09dfe77e682faa90a73b4c250084
--- /dev/null
+++ b/objects/objaverse/knife/knife_2/collision/model_normalized_collision_14.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.05392090 0.05554127 -0.23484848
+v 0.05397283 0.05552439 -0.35614582
+v 0.05837390 0.06924588 -0.23484848
+v 0.05692700 0.06479288 -0.23484848
+v 0.05247400 0.05108827 -0.23484848
+v 0.05697829 0.06477622 -0.35603292
+v 0.05842567 0.06922906 -0.35611813
+v 0.05252545 0.05107155 -0.35606061
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 6 4 3
+f 6 5 4
+f 7 6 3
+f 7 3 2
+f 7 2 6
+f 8 6 2
+f 8 2 5
+f 8 5 6
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_2/collision/model_normalized_collision_15.obj b/objects/objaverse/knife/knife_2/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..712a3b3bc3deb489daa5737bf1ec158af4474716
--- /dev/null
+++ b/objects/objaverse/knife/knife_2/collision/model_normalized_collision_15.obj
@@ -0,0 +1,12 @@
+# https://github.com/mikedh/trimesh
+v 0.06024154 0.07895797 -0.12127338
+v 0.05983580 0.07882609 -0.23484848
+v 0.04988881 0.11082023 -0.12127338
+v 0.05184720 0.08115352 -0.12051483
+v 0.04948290 0.11068832 -0.23484848
+f 1 2 3
+f 1 3 4
+f 2 1 4
+f 5 3 2
+f 5 2 4
+f 5 4 3
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_2/collision/model_normalized_collision_16.obj b/objects/objaverse/knife/knife_2/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8478b75478dc5adbb97d14e955183efbbfb0336
--- /dev/null
+++ b/objects/objaverse/knife/knife_2/collision/model_normalized_collision_16.obj
@@ -0,0 +1,15 @@
+# https://github.com/mikedh/trimesh
+v 0.01874531 0.01859354 -0.23484848
+v 0.02214033 0.02088261 -0.37121295
+v 0.02205590 0.02099882 -0.23484848
+v 0.00707195 0.01859354 -0.23484848
+v 0.01879212 0.01844940 -0.37129457
+v 0.00707195 0.01844944 -0.37128798
+f 1 3 4
+f 3 2 4
+f 5 1 4
+f 5 2 3
+f 5 3 1
+f 6 5 4
+f 6 4 2
+f 6 2 5
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_2/collision/model_normalized_collision_17.obj b/objects/objaverse/knife/knife_2/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3289cf5d62a350d5d943344164294d3a3e0fb1af
--- /dev/null
+++ b/objects/objaverse/knife/knife_2/collision/model_normalized_collision_17.obj
@@ -0,0 +1,12 @@
+# https://github.com/mikedh/trimesh
+v 0.05538280 0.09253071 -0.23484848
+v 0.05578861 0.09266263 -0.41907064
+v 0.04948290 0.11068832 -0.23484848
+v 0.05018782 0.09576587 -0.41997773
+v 0.04988881 0.11082023 -0.41907064
+f 1 3 4
+f 2 1 4
+f 5 2 4
+f 5 4 3
+f 5 1 2
+f 5 3 1
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_2/collision/model_normalized_collision_18.obj b/objects/objaverse/knife/knife_2/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7cf31b5f9c5725c054c85df4af6f6be9ac76ce68
--- /dev/null
+++ b/objects/objaverse/knife/knife_2/collision/model_normalized_collision_18.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.05995504 0.07853744 -0.18933964
+v -0.01874531 0.13397796 -0.23484848
+v -0.01875317 0.13400216 -0.18933817
+v -0.05104936 0.10594678 -0.18928425
+v -0.05236918 0.09084172 -0.24279638
+v -0.02780701 0.12742445 -0.18928758
+v -0.05993202 0.07852996 -0.23484848
+v -0.05102602 0.10593919 -0.23484848
+v -0.02779261 0.12740463 -0.23484848
+f 6 3 2
+f 6 1 3
+f 6 4 1
+f 7 5 2
+f 7 1 4
+f 7 2 3
+f 7 3 1
+f 8 4 6
+f 8 7 4
+f 8 5 7
+f 9 2 5
+f 9 5 8
+f 9 8 6
+f 9 6 2
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_2/collision/model_normalized_collision_19.obj b/objects/objaverse/knife/knife_2/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12f9104f163930c76511d18126fccbd5d0e92f13
--- /dev/null
+++ b/objects/objaverse/knife/knife_2/collision/model_normalized_collision_19.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.03724418 0.03178376 -0.15923187
+v -0.02292082 0.05149825 -0.11871966
+v -0.05588482 0.09236650 -0.12127338
+v -0.03960945 0.11906887 -0.15925577
+v -0.02294605 0.09613345 -0.11830623
+v -0.05567263 0.09229755 -0.15901001
+v -0.05442290 0.05570552 -0.12127338
+v -0.05421072 0.05577446 -0.15900090
+f 5 2 1
+f 5 1 4
+f 5 4 3
+f 6 3 4
+f 6 4 1
+f 7 1 2
+f 7 3 6
+f 7 5 3
+f 7 2 5
+f 8 7 6
+f 8 6 1
+f 8 1 7
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_2/collision/model_normalized_collision_2.obj b/objects/objaverse/knife/knife_2/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5942d21898c8d642a3d1e2c4b9d42c97337d23d
--- /dev/null
+++ b/objects/objaverse/knife/knife_2/collision/model_normalized_collision_2.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.00911296 0.06024373 -0.44891374
+v 0.00911296 0.06284043 -0.48808347
+v 0.00911296 0.10762664 -0.44632064
+v -0.00911296 0.10762664 -0.44632064
+v -0.00911296 0.06284043 -0.48808347
+v 0.00296227 0.10297774 -0.48484656
+v 0.00048372 0.06177377 -0.49079031
+v -0.00911296 0.06024373 -0.44891374
+v 0.00911296 0.10176481 -0.48290328
+v -0.00911296 0.10176481 -0.48290328
+v 0.00911296 0.08669346 -0.49324034
+v -0.00138848 0.06188561 -0.49050650
+v 0.00911296 0.07289591 -0.49254897
+v -0.00911296 0.08669346 -0.49324034
+v -0.00911296 0.07289591 -0.49254897
+f 1 2 3
+f 1 3 4
+f 6 4 3
+f 7 2 1
+f 8 1 4
+f 8 4 5
+f 8 7 1
+f 9 6 3
+f 9 3 2
+f 10 5 4
+f 10 4 6
+f 11 9 2
+f 11 6 9
+f 12 8 5
+f 12 7 8
+f 13 11 2
+f 13 2 7
+f 14 10 6
+f 14 6 11
+f 14 5 10
+f 14 11 13
+f 15 12 5
+f 15 5 14
+f 15 7 12
+f 15 14 13
+f 15 13 7
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_2/collision/model_normalized_collision_20.obj b/objects/objaverse/knife/knife_2/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e669bc630cee905cd16ef5218bbc796af172fed9
--- /dev/null
+++ b/objects/objaverse/knife/knife_2/collision/model_normalized_collision_20.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.02501061 0.02263494 -0.41679104
+v 0.03222348 0.02785869 -0.41907064
+v 0.03221531 0.02786994 -0.41671857
+v -0.02172835 0.02283652 -0.41950798
+v 0.02501853 0.02262404 -0.41907064
+v -0.02295777 0.02114436 -0.41666941
+v -0.01888384 0.01816697 -0.41907064
+v -0.01887938 0.01818069 -0.41674929
+f 3 2 4
+f 5 4 2
+f 5 2 3
+f 5 3 1
+f 6 1 3
+f 6 3 4
+f 7 5 1
+f 7 6 4
+f 7 4 5
+f 8 7 1
+f 8 1 6
+f 8 6 7
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_2/collision/model_normalized_collision_21.obj b/objects/objaverse/knife/knife_2/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09772577a129675fc38e6bd7957c9acc55cc7f1b
--- /dev/null
+++ b/objects/objaverse/knife/knife_2/collision/model_normalized_collision_21.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.05432668 0.05540939 -0.12127338
+v 0.05983580 0.07882609 -0.23484848
+v 0.06024154 0.07895797 -0.12127338
+v 0.00686660 0.08137424 -0.11363636
+v 0.00707195 0.02198148 -0.24279638
+v 0.05082614 0.09559075 -0.24279638
+v 0.00686660 0.05107121 -0.11363636
+v 0.05392090 0.05554127 -0.23484848
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 6 5 4
+f 7 1 3
+f 7 3 4
+f 7 5 1
+f 7 4 5
+f 8 2 1
+f 8 1 5
+f 8 6 2
+f 8 5 6
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_2/collision/model_normalized_collision_22.obj b/objects/objaverse/knife/knife_2/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0e9df225aca146bde9d296196da7b7185303116
--- /dev/null
+++ b/objects/objaverse/knife/knife_2/collision/model_normalized_collision_22.obj
@@ -0,0 +1,18 @@
+# https://github.com/mikedh/trimesh
+v 0.04912197 0.04059630 -0.35609482
+v 0.05877965 0.06911402 -0.41907064
+v 0.05842567 0.06922906 -0.35611813
+v 0.05031149 0.06694243 -0.42060387
+v 0.04934530 0.04029829 -0.41907064
+v 0.05697829 0.06477622 -0.35603292
+v 0.04987370 0.04170476 -0.41907064
+f 3 2 4
+f 5 1 4
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 1 5
+f 7 2 3
+f 7 3 1
+f 7 5 4
+f 7 4 2
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_2/collision/model_normalized_collision_23.obj b/objects/objaverse/knife/knife_2/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af284b85b29eb549b8f85ebc85a602c04c55987c
--- /dev/null
+++ b/objects/objaverse/knife/knife_2/collision/model_normalized_collision_23.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.06012541 0.07859284 -0.15903769
+v -0.03749921 0.11616449 -0.19698133
+v -0.03960945 0.11906887 -0.15925577
+v -0.03955701 0.11899619 -0.17440660
+v -0.05550220 0.09224211 -0.18931194
+v -0.05995504 0.07853744 -0.18933964
+v -0.05567263 0.09229755 -0.15901001
+v -0.05236918 0.09084172 -0.19698133
+f 1 2 3
+f 3 2 4
+f 5 4 2
+f 7 1 3
+f 7 3 4
+f 7 4 5
+f 7 6 1
+f 7 5 6
+f 8 6 5
+f 8 5 2
+f 8 2 1
+f 8 1 6
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_2/collision/model_normalized_collision_24.obj b/objects/objaverse/knife/knife_2/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20de44e4d82d1da87905761ffc4103d9e96de4b1
--- /dev/null
+++ b/objects/objaverse/knife/knife_2/collision/model_normalized_collision_24.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00686660 -0.00953485 -0.11363636
+v 0.00686660 -0.00953485 -0.11682054
+v 0.00686660 0.00561666 -0.11363636
+v -0.00686660 0.00561666 -0.11363636
+v -0.00686660 -0.00953485 -0.11682054
+v -0.00686660 -0.00953485 -0.11363636
+v -0.00686660 0.00561666 -0.11682054
+v 0.00686660 0.00561666 -0.11682054
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 5 1
+f 6 1 4
+f 6 4 5
+f 7 2 5
+f 7 5 4
+f 7 4 3
+f 8 7 3
+f 8 3 2
+f 8 2 7
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_2/collision/model_normalized_collision_25.obj b/objects/objaverse/knife/knife_2/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8c2c739ad6b216b463ebefd8e7290e4033d812c
--- /dev/null
+++ b/objects/objaverse/knife/knife_2/collision/model_normalized_collision_25.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00707195 0.01839167 -0.15928409
+v 0.00686660 0.05107121 -0.11363636
+v -0.03724418 0.03178376 -0.15923187
+v -0.05578341 0.09195119 -0.15929327
+v 0.00686660 0.08137424 -0.11682054
+v -0.02292082 0.05149825 -0.11871966
+v 0.00686660 0.08137424 -0.11363636
+v -0.02283445 0.08124537 -0.11765255
+f 1 3 4
+f 5 1 4
+f 6 4 3
+f 6 1 2
+f 6 3 1
+f 7 2 1
+f 7 1 5
+f 7 5 4
+f 8 6 2
+f 8 2 7
+f 8 7 4
+f 8 4 6
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_2/collision/model_normalized_collision_26.obj b/objects/objaverse/knife/knife_2/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb6eb0b2820ffb05e63f3fb233452c521d5b663a
--- /dev/null
+++ b/objects/objaverse/knife/knife_2/collision/model_normalized_collision_26.obj
@@ -0,0 +1,18 @@
+# https://github.com/mikedh/trimesh
+v 0.01879212 0.01844940 -0.37129457
+v 0.03221531 0.02786994 -0.41671857
+v 0.03210997 0.02801487 -0.38641658
+v 0.00707195 0.01818074 -0.41674094
+v 0.02501061 0.02263494 -0.41679104
+v 0.00707195 0.01844997 -0.37119841
+v 0.02214033 0.02088261 -0.37121295
+f 3 2 4
+f 5 2 1
+f 5 1 4
+f 5 4 2
+f 6 3 4
+f 6 4 1
+f 7 6 1
+f 7 3 6
+f 7 1 2
+f 7 2 3
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_2/collision/model_normalized_collision_27.obj b/objects/objaverse/knife/knife_2/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..abdfd951b0e5cd6fcde1179296908900eb5d8cb8
--- /dev/null
+++ b/objects/objaverse/knife/knife_2/collision/model_normalized_collision_27.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.05318042 0.06601025 -0.41997738
+v 0.05877965 0.06911402 -0.41907064
+v 0.05876644 0.06911831 -0.41672206
+v 0.05432816 0.09711115 -0.41665546
+v 0.05018782 0.09576587 -0.41997773
+v 0.05578861 0.09266263 -0.41907064
+v 0.05031149 0.06694243 -0.42060387
+v 0.05577550 0.09265837 -0.41674069
+f 1 2 3
+f 6 3 2
+f 6 5 4
+f 7 1 3
+f 7 3 4
+f 7 4 5
+f 7 2 1
+f 7 6 2
+f 7 5 6
+f 8 6 4
+f 8 4 3
+f 8 3 6
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_2/collision/model_normalized_collision_28.obj b/objects/objaverse/knife/knife_2/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89666de04ac1d8af7d6ee0b02ac2ff0d450e6d56
--- /dev/null
+++ b/objects/objaverse/knife/knife_2/collision/model_normalized_collision_28.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.00707195 0.01818127 -0.41665137
+v 0.00707195 0.02319859 -0.42011561
+v 0.00707206 0.06631252 -0.42012307
+v -0.02498063 0.06565425 -0.42552444
+v -0.02172835 0.02283652 -0.41950798
+v 0.00596640 0.05986516 -0.44883351
+v 0.00726654 0.06787349 -0.44739974
+v -0.02295777 0.02114436 -0.41666941
+v -0.00911296 0.06024373 -0.44891374
+v -0.00911296 0.06622272 -0.44696969
+f 6 2 1
+f 7 1 2
+f 7 3 1
+f 7 2 6
+f 7 4 3
+f 8 5 1
+f 8 1 3
+f 8 3 4
+f 8 4 5
+f 9 5 4
+f 9 7 6
+f 9 6 1
+f 9 1 5
+f 10 9 4
+f 10 4 7
+f 10 7 9
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_2/collision/model_normalized_collision_29.obj b/objects/objaverse/knife/knife_2/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af5538d57a2878aea930c812992d756d767890da
--- /dev/null
+++ b/objects/objaverse/knife/knife_2/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.02206994 0.02097950 -0.18939239
+v 0.05247400 0.05108827 -0.23484848
+v 0.04190393 0.03538893 -0.18928711
+v 0.05249671 0.05108089 -0.18939375
+v 0.02069092 0.02287755 -0.20703419
+v 0.04188953 0.03540875 -0.23484848
+v 0.03447439 0.03420925 -0.24279638
+v 0.02205590 0.02099882 -0.23484848
+f 1 3 4
+f 3 2 4
+f 5 1 4
+f 5 4 2
+f 6 2 3
+f 7 5 2
+f 7 2 6
+f 8 1 5
+f 8 7 6
+f 8 5 7
+f 8 6 3
+f 8 3 1
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_2/collision/model_normalized_collision_3.obj b/objects/objaverse/knife/knife_2/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff5f5f339dbefe4ca8ac2059098ffbb2ff34137a
--- /dev/null
+++ b/objects/objaverse/knife/knife_2/collision/model_normalized_collision_3.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00707195 0.01859354 -0.23484848
+v 0.00707195 0.01818074 -0.41674094
+v 0.00707195 0.13439060 -0.41671153
+v -0.01874531 0.13397796 -0.23484848
+v -0.01887938 0.01818069 -0.41674929
+v 0.00707195 0.13397796 -0.23484848
+v -0.01874531 0.01859354 -0.23484848
+v -0.01887933 0.13439065 -0.41671988
+f 5 2 1
+f 6 4 1
+f 6 1 2
+f 6 2 3
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 5 4
+f 8 3 2
+f 8 2 5
+f 8 6 3
+f 8 4 6
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_2/collision/model_normalized_collision_30.obj b/objects/objaverse/knife/knife_2/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed9bf0ae7a8381cc735748cc34cc8ae23de3948f
--- /dev/null
+++ b/objects/objaverse/knife/knife_2/collision/model_normalized_collision_30.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.00707195 0.01839167 -0.15928409
+v 0.05082614 0.09559075 -0.24279638
+v 0.00686660 0.08137424 -0.11682054
+v -0.06012541 0.07859284 -0.15903769
+v -0.05401712 0.05583740 -0.23484848
+v 0.05082614 0.09559075 -0.19698133
+v -0.05421072 0.05577446 -0.15900090
+v 0.00707195 0.02198148 -0.24279638
+v -0.05993202 0.07852996 -0.23484848
+f 6 2 4
+f 6 4 3
+f 6 1 2
+f 6 3 1
+f 7 1 3
+f 7 3 4
+f 7 5 1
+f 8 2 1
+f 8 1 5
+f 9 4 2
+f 9 8 5
+f 9 2 8
+f 9 7 4
+f 9 5 7
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_2/collision/model_normalized_collision_31.obj b/objects/objaverse/knife/knife_2/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f2b8f796339feee02fff31570b00f324440785cd
--- /dev/null
+++ b/objects/objaverse/knife/knife_2/collision/model_normalized_collision_31.obj
@@ -0,0 +1,15 @@
+# https://github.com/mikedh/trimesh
+v 0.00000000 -0.13440455 0.00757576
+v 0.00000000 -0.13440455 -0.11682054
+v 0.00686660 -0.00953485 0.00757576
+v -0.00686660 -0.00953485 0.00757576
+v -0.00686660 -0.00953485 -0.11682054
+v 0.00686660 -0.00953485 -0.11682054
+f 1 2 3
+f 1 3 4
+f 2 1 4
+f 5 2 4
+f 5 4 3
+f 6 5 3
+f 6 3 2
+f 6 2 5
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_2/collision/model_normalized_collision_4.obj b/objects/objaverse/knife/knife_2/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..619eabd3219b758084e07a0ae024dc84a80eaff6
--- /dev/null
+++ b/objects/objaverse/knife/knife_2/collision/model_normalized_collision_4.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.02271539 0.02147796 -0.23484848
+v -0.02172835 0.02283652 -0.41950798
+v -0.01874531 0.13397796 -0.23484848
+v -0.01888384 0.13440454 -0.41907064
+v -0.05442290 0.05570552 -0.41907064
+v -0.04279984 0.03554278 -0.41907064
+v -0.05143189 0.10607116 -0.41907064
+v -0.05401712 0.05583740 -0.23484848
+v -0.02804355 0.12774969 -0.41907064
+v -0.05102602 0.10593919 -0.23484848
+v -0.04254902 0.03588790 -0.23484848
+v -0.02779261 0.12740463 -0.23484848
+f 1 2 3
+f 3 2 4
+f 6 5 2
+f 6 2 1
+f 7 2 5
+f 8 1 3
+f 8 7 5
+f 9 3 4
+f 9 4 2
+f 9 2 7
+f 10 8 3
+f 10 7 8
+f 10 9 7
+f 11 6 1
+f 11 1 8
+f 11 8 5
+f 11 5 6
+f 12 10 3
+f 12 3 9
+f 12 9 10
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_2/collision/model_normalized_collision_5.obj b/objects/objaverse/knife/knife_2/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae72c13823115676684b8e9c29eb9a18779cab12
--- /dev/null
+++ b/objects/objaverse/knife/knife_2/collision/model_normalized_collision_5.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.05179970 0.09628960 -0.12099583
+v 0.05432816 0.09711115 -0.41665546
+v 0.04450587 0.11578923 -0.12127338
+v 0.00707195 0.13440454 -0.12127338
+v 0.00707198 0.09561220 -0.42145564
+v 0.02737605 0.12821782 -0.41676722
+v 0.00686660 0.09652575 -0.11363636
+v 0.04449780 0.11577812 -0.41674740
+v 0.02738406 0.12822883 -0.12127338
+v 0.00707195 0.13439060 -0.41671153
+f 1 2 3
+f 5 2 1
+f 7 1 3
+f 7 5 1
+f 8 6 3
+f 8 3 2
+f 8 2 5
+f 8 5 6
+f 9 6 4
+f 9 3 6
+f 9 7 3
+f 9 4 7
+f 10 6 5
+f 10 4 6
+f 10 7 4
+f 10 5 7
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_2/collision/model_normalized_collision_6.obj b/objects/objaverse/knife/knife_2/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f10b66ad41fbce4bf97e3b539f44ca44ba913a5
--- /dev/null
+++ b/objects/objaverse/knife/knife_2/collision/model_normalized_collision_6.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.03176257 0.03223900 -0.24279638
+v 0.05876644 0.06911831 -0.41672206
+v 0.05837390 0.06924588 -0.23484848
+v 0.02692281 0.12384857 -0.24279638
+v 0.00707206 0.06631252 -0.42012307
+v 0.05577550 0.09265837 -0.41674069
+v 0.05538280 0.09253071 -0.23484848
+v 0.00707198 0.09561220 -0.42145564
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 3 2
+f 7 1 3
+f 7 4 1
+f 7 6 4
+f 7 3 6
+f 8 5 4
+f 8 4 6
+f 8 6 2
+f 8 2 5
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_2/collision/model_normalized_collision_7.obj b/objects/objaverse/knife/knife_2/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6aac8ec66cf7a43a1fdc3d175e91c4994a9a822f
--- /dev/null
+++ b/objects/objaverse/knife/knife_2/collision/model_normalized_collision_7.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.00707195 0.01859354 -0.23484848
+v 0.05031149 0.06694243 -0.42060387
+v 0.04214035 0.03506364 -0.41907064
+v 0.05692700 0.06479288 -0.23484848
+v 0.00726654 0.06787349 -0.44739974
+v 0.04188953 0.03540875 -0.23484848
+v 0.00911296 0.06024373 -0.44891374
+v 0.00911296 0.06622272 -0.44696969
+v 0.00707195 0.02319859 -0.42011561
+v 0.00707195 0.01859354 -0.28030303
+v 0.00596640 0.05986516 -0.44883351
+f 3 2 4
+f 5 1 4
+f 5 4 2
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 2 3
+f 8 7 5
+f 8 5 2
+f 8 2 7
+f 9 7 3
+f 10 9 3
+f 10 3 1
+f 11 1 5
+f 11 5 7
+f 11 7 9
+f 11 10 1
+f 11 9 10
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_2/collision/model_normalized_collision_8.obj b/objects/objaverse/knife/knife_2/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1765f27f9e917b4c91fb2c30c06693b83978699
--- /dev/null
+++ b/objects/objaverse/knife/knife_2/collision/model_normalized_collision_8.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.05318042 0.06601025 -0.41997738
+v 0.00911296 0.10762664 -0.44632064
+v -0.01887933 0.13439065 -0.41671988
+v -0.02498063 0.06565425 -0.42552444
+v 0.04450587 0.11578923 -0.41907064
+v -0.00911296 0.10762664 -0.44632064
+v 0.00911296 0.06622272 -0.44696969
+v 0.02738406 0.12822883 -0.41907064
+v 0.04449780 0.11577812 -0.41674740
+v -0.01888384 0.13440454 -0.41907064
+v -0.00911296 0.06622272 -0.44696969
+v 0.02737605 0.12821782 -0.41676722
+f 4 1 3
+f 5 1 2
+f 7 2 1
+f 7 1 4
+f 8 5 2
+f 9 3 1
+f 9 1 5
+f 9 5 8
+f 10 6 4
+f 10 4 3
+f 10 2 6
+f 10 8 2
+f 11 7 4
+f 11 4 6
+f 11 6 2
+f 11 2 7
+f 12 9 8
+f 12 3 9
+f 12 10 3
+f 12 8 10
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_2/collision/model_normalized_collision_9.obj b/objects/objaverse/knife/knife_2/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b23172eb24724761933eed7974b12de7cc39191
--- /dev/null
+++ b/objects/objaverse/knife/knife_2/collision/model_normalized_collision_9.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.00686660 0.08137424 -0.11363636
+v 0.05082614 0.09559075 -0.24279638
+v 0.00707195 0.13440454 -0.12127338
+v -0.01888384 0.13440454 -0.12127338
+v -0.05236918 0.09084172 -0.24279638
+v -0.01874531 0.13397796 -0.23484848
+v -0.05578341 0.09195119 -0.15929327
+v 0.00707195 0.13397796 -0.23484848
+v -0.02283445 0.08124537 -0.11765255
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 4 3
+f 6 2 5
+f 7 6 5
+f 7 4 6
+f 8 6 3
+f 8 3 2
+f 8 2 6
+f 9 7 5
+f 9 5 1
+f 9 1 4
+f 9 4 7
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_2/model.xml b/objects/objaverse/knife/knife_2/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..ac5f2b70f25277a02e9bccce99671a89f92dfbe2
--- /dev/null
+++ b/objects/objaverse/knife/knife_2/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="kitchen_knife_5">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.5000000000000006 0.5000000000000007 0.5000000000000006 0.5000000000000007"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.5000000000000006 0.5000000000000007 0.5000000000000006 0.5000000000000007"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.5000000000000006 0.5000000000000007 0.5000000000000006 0.5000000000000007"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.5000000000000006 0.5000000000000007 0.5000000000000006 0.5000000000000007"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.5000000000000006 0.5000000000000007 0.5000000000000006 0.5000000000000007"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.5000000000000006 0.5000000000000007 0.5000000000000006 0.5000000000000007"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.5000000000000006 0.5000000000000007 0.5000000000000006 0.5000000000000007"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.5000000000000006 0.5000000000000007 0.5000000000000006 0.5000000000000007"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.5000000000000006 0.5000000000000007 0.5000000000000006 0.5000000000000007"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.5000000000000006 0.5000000000000007 0.5000000000000006 0.5000000000000007"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.5000000000000006 0.5000000000000007 0.5000000000000006 0.5000000000000007"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.5000000000000006 0.5000000000000007 0.5000000000000006 0.5000000000000007"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.5000000000000006 0.5000000000000007 0.5000000000000006 0.5000000000000007"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.5000000000000006 0.5000000000000007 0.5000000000000006 0.5000000000000007"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.5000000000000006 0.5000000000000007 0.5000000000000006 0.5000000000000007"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.5000000000000006 0.5000000000000007 0.5000000000000006 0.5000000000000007"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.5000000000000006 0.5000000000000007 0.5000000000000006 0.5000000000000007"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.5000000000000006 0.5000000000000007 0.5000000000000006 0.5000000000000007"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.5000000000000006 0.5000000000000007 0.5000000000000006 0.5000000000000007"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.5000000000000006 0.5000000000000007 0.5000000000000006 0.5000000000000007"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.5000000000000006 0.5000000000000007 0.5000000000000006 0.5000000000000007"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.5000000000000006 0.5000000000000007 0.5000000000000006 0.5000000000000007"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.5000000000000006 0.5000000000000007 0.5000000000000006 0.5000000000000007"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.5000000000000006 0.5000000000000007 0.5000000000000006 0.5000000000000007"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.5000000000000006 0.5000000000000007 0.5000000000000006 0.5000000000000007"/>
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diff --git a/objects/objaverse/knife/knife_2/visual/material.mtl b/objects/objaverse/knife/knife_2/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b1398dad74c409d37d976d6ac417437aedd2dee1
--- /dev/null
+++ b/objects/objaverse/knife/knife_2/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.50196078 0.50196078 0.50196078
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 250.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_2/visual/model_normalized_0.obj b/objects/objaverse/knife/knife_2/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ceaebfaf7389dbe11c2738a132f292da6a357540
--- /dev/null
+++ b/objects/objaverse/knife/knife_2/visual/model_normalized_0.obj
@@ -0,0 +1,1421 @@
+# 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/knife/knife_23/collision/model_normalized_collision_0.obj b/objects/objaverse/knife/knife_23/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a13b0b512d3450ecd269659390ca53fa7caf09f
--- /dev/null
+++ b/objects/objaverse/knife/knife_23/collision/model_normalized_collision_0.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.44439825 -0.02275501 0.00839023
+v 0.44382018 -0.02098808 -0.03540816
+v 0.44402238 -0.02101948 0.00841664
+v 0.34046904 -0.01644285 0.02924536
+v 0.34069917 -0.02112019 0.02912623
+v 0.41367288 -0.01975237 0.01671127
+v 0.41401883 -0.02239198 0.01659551
+v 0.34067296 -0.01720130 -0.05816915
+v 0.39935900 -0.02214606 0.01926830
+v 0.41280582 -0.01982686 -0.04388076
+f 1 2 3
+f 3 2 4
+f 6 1 3
+f 6 3 4
+f 7 2 1
+f 7 1 6
+f 8 5 4
+f 9 6 4
+f 9 4 5
+f 9 7 6
+f 9 5 2
+f 9 2 7
+f 10 8 4
+f 10 4 2
+f 10 2 5
+f 10 5 8
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_23/collision/model_normalized_collision_1.obj b/objects/objaverse/knife/knife_23/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2b4e73bdd4ec974f80526c6fd7d2182b8284000
--- /dev/null
+++ b/objects/objaverse/knife/knife_23/collision/model_normalized_collision_1.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.30890846 -0.02051998 0.03358426
+v 0.31090698 -0.01901673 0.00204478
+v 0.30806572 -0.01499990 0.03380474
+v 0.14364518 -0.00946067 0.04706382
+v 0.14452551 -0.01342551 0.00219592
+v 0.14448500 -0.01540059 0.04756535
+v 0.30995324 -0.01537208 0.01694794
+v 0.14361015 -0.00999486 0.00165662
+v 0.29484006 -0.01500788 0.00178744
+v 0.31056721 -0.01563652 0.00151826
+f 5 2 1
+f 6 1 3
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+f 6 5 1
+f 7 1 2
+f 7 3 1
+f 8 6 4
+f 8 5 6
+f 8 4 3
+f 8 2 5
+f 9 8 3
+f 10 9 3
+f 10 3 7
+f 10 7 2
+f 10 2 8
+f 10 8 9
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_23/collision/model_normalized_collision_10.obj b/objects/objaverse/knife/knife_23/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c588ad0009c231f1149f9c0cf6db4ad8baa518c
--- /dev/null
+++ b/objects/objaverse/knife/knife_23/collision/model_normalized_collision_10.obj
@@ -0,0 +1,15 @@
+# https://github.com/mikedh/trimesh
+v 0.34069917 -0.02112019 0.02912623
+v 0.33891787 -0.01713848 -0.05844039
+v 0.34046904 -0.01644285 0.02924536
+v 0.30872604 -0.01502930 0.03371183
+v 0.30890846 -0.02051998 0.03358426
+v 0.30898051 -0.01606921 -0.06289815
+f 1 2 3
+f 3 2 4
+f 5 2 1
+f 5 1 3
+f 5 3 4
+f 6 5 4
+f 6 4 2
+f 6 2 5
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_23/collision/model_normalized_collision_11.obj b/objects/objaverse/knife/knife_23/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f687b221dc394083dcc3638a943fcb6690ff8f94
--- /dev/null
+++ b/objects/objaverse/knife/knife_23/collision/model_normalized_collision_11.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.09815207 -0.00752628 0.05276684
+v -0.09565006 -0.00386660 -0.02686038
+v -0.09856492 -0.00035618 0.05378699
+v -0.11416728 -0.00000469 0.05410968
+v -0.11396635 -0.00674142 0.05303507
+v -0.09580799 -0.00196808 -0.02742243
+v -0.10122412 -0.00408362 -0.01846332
+v -0.10282933 -0.00160079 -0.01745612
+f 1 2 3
+f 1 3 4
+f 5 1 4
+f 6 3 2
+f 7 2 1
+f 7 1 5
+f 8 4 3
+f 8 3 6
+f 8 6 2
+f 8 2 7
+f 8 7 5
+f 8 5 4
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_23/collision/model_normalized_collision_12.obj b/objects/objaverse/knife/knife_23/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38079800c4c2bc2e147141d631cac14ad00d72af
--- /dev/null
+++ b/objects/objaverse/knife/knife_23/collision/model_normalized_collision_12.obj
@@ -0,0 +1,15 @@
+# https://github.com/mikedh/trimesh
+v 0.45814712 -0.02288216 0.00400102
+v 0.45792715 -0.02153845 -0.02995611
+v 0.45774469 -0.02193493 0.00415271
+v 0.44402238 -0.02101948 0.00841664
+v 0.44331036 -0.02096804 -0.03561658
+v 0.44439825 -0.02275501 0.00839023
+f 1 2 3
+f 3 2 4
+f 5 4 2
+f 6 1 3
+f 6 3 4
+f 6 4 5
+f 6 5 2
+f 6 2 1
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_23/collision/model_normalized_collision_13.obj b/objects/objaverse/knife/knife_23/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8436490710cbbd01709c17e2ee33325e7ce4046
--- /dev/null
+++ b/objects/objaverse/knife/knife_23/collision/model_normalized_collision_13.obj
@@ -0,0 +1,15 @@
+# https://github.com/mikedh/trimesh
+v 0.17465166 -0.01647705 0.04616804
+v 0.12850746 -0.00900792 0.04705879
+v 0.12761912 -0.00895335 0.04958143
+v 0.12841468 -0.01487505 0.04942961
+v 0.17386743 -0.01037292 0.04632203
+v 0.12935517 -0.01483176 0.04758968
+f 4 3 2
+f 5 1 2
+f 5 2 3
+f 5 4 1
+f 5 3 4
+f 6 2 1
+f 6 4 2
+f 6 1 4
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_23/collision/model_normalized_collision_14.obj b/objects/objaverse/knife/knife_23/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b49900edeff977065b86b67d2fe3d268cebbdbd
--- /dev/null
+++ b/objects/objaverse/knife/knife_23/collision/model_normalized_collision_14.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.46181662 -0.00603233 0.06221207
+v -0.46181043 -0.00583930 0.04706338
+v -0.46238529 0.02225648 0.04682841
+v -0.49173023 0.02005690 0.05458634
+v -0.49648156 -0.00320739 0.04224084
+v -0.46239287 0.02202545 0.06196756
+v -0.49151816 -0.00262475 0.05515233
+v -0.49682072 0.02130179 0.04178623
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 7 5 1
+f 7 6 4
+f 7 1 6
+f 8 3 2
+f 8 2 5
+f 8 6 3
+f 8 4 6
+f 8 7 4
+f 8 5 7
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_23/collision/model_normalized_collision_15.obj b/objects/objaverse/knife/knife_23/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a59b15df2ed877f97ae17e39a628b0770766f118
--- /dev/null
+++ b/objects/objaverse/knife/knife_23/collision/model_normalized_collision_15.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.46181043 -0.00583930 0.04706338
+v -0.45567893 -0.00337991 0.01335571
+v -0.46238529 0.02225648 0.04682841
+v -0.49682072 0.02130179 0.04178623
+v -0.49648156 -0.00320739 0.04224084
+v -0.45562084 0.02002063 0.01387448
+v -0.49642752 0.00309633 0.03336168
+v -0.49598448 -0.00147140 0.03470878
+v -0.46780848 0.01874754 0.01934284
+v -0.46733953 -0.00221789 0.01904566
+v -0.49550131 0.01945588 0.03448670
+f 5 2 1
+f 5 1 3
+f 5 3 4
+f 6 4 3
+f 6 1 2
+f 6 3 1
+f 7 5 4
+f 8 2 5
+f 8 5 7
+f 9 6 2
+f 10 8 7
+f 10 2 8
+f 10 9 2
+f 10 7 9
+f 11 9 7
+f 11 7 4
+f 11 4 6
+f 11 6 9
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_23/collision/model_normalized_collision_16.obj b/objects/objaverse/knife/knife_23/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..038679b25a0a1363395382ba4de0144aa591911d
--- /dev/null
+++ b/objects/objaverse/knife/knife_23/collision/model_normalized_collision_16.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.18992191 -0.01503809 0.00212695
+v 0.18943640 -0.01322922 -0.02868908
+v 0.18901685 -0.01143962 0.00163196
+v 0.14361015 -0.00999486 0.00165662
+v 0.14398814 -0.01337842 0.00155491
+v 0.14358711 -0.01022418 -0.02877607
+v 0.17478978 -0.01450056 0.00214994
+v 0.18993546 -0.01434687 -0.01299479
+v 0.18899085 -0.01172860 -0.02872956
+v 0.14406168 -0.01166417 -0.02858160
+v 0.17480256 -0.01382017 -0.01297226
+v 0.17429663 -0.01281364 -0.02865367
+f 6 4 3
+f 6 5 4
+f 7 1 3
+f 7 3 4
+f 7 5 1
+f 7 4 5
+f 8 3 1
+f 9 6 3
+f 9 2 6
+f 9 8 2
+f 9 3 8
+f 10 5 6
+f 11 8 1
+f 11 1 5
+f 11 5 10
+f 12 10 6
+f 12 6 2
+f 12 2 8
+f 12 11 10
+f 12 8 11
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_23/collision/model_normalized_collision_17.obj b/objects/objaverse/knife/knife_23/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69d2b9ff3c12645fb6ff1b7355f0ff6b263b06b3
--- /dev/null
+++ b/objects/objaverse/knife/knife_23/collision/model_normalized_collision_17.obj
@@ -0,0 +1,15 @@
+# https://github.com/mikedh/trimesh
+v 0.21971840 -0.01416535 -0.02876911
+v 0.21959576 -0.01293377 -0.07209709
+v 0.21924734 -0.01273977 -0.02872280
+v 0.18899085 -0.01172860 -0.02872956
+v 0.18943640 -0.01322922 -0.02868908
+v 0.18894580 -0.01188323 -0.07347913
+f 1 2 3
+f 5 2 1
+f 5 1 3
+f 5 3 4
+f 6 3 2
+f 6 4 3
+f 6 5 4
+f 6 2 5
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_23/collision/model_normalized_collision_18.obj b/objects/objaverse/knife/knife_23/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36cef7749e62cf152ae656c950ba19eb36423b91
--- /dev/null
+++ b/objects/objaverse/knife/knife_23/collision/model_normalized_collision_18.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.14448500 -0.01540059 0.04756535
+v 0.14398814 -0.01337842 0.00155491
+v 0.14364518 -0.00946067 0.04706382
+v 0.12850746 -0.00900792 0.04705879
+v 0.12885465 -0.01284012 0.00157290
+v 0.12935517 -0.01483176 0.04758968
+v 0.14451311 -0.01408406 0.01731907
+v 0.14361015 -0.00999486 0.00165662
+v 0.12846643 -0.00951380 0.00161057
+f 6 1 3
+f 6 3 4
+f 6 5 1
+f 6 4 5
+f 7 3 1
+f 7 5 2
+f 7 1 5
+f 8 7 2
+f 8 3 7
+f 9 8 2
+f 9 2 5
+f 9 5 4
+f 9 4 3
+f 9 3 8
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_23/collision/model_normalized_collision_19.obj b/objects/objaverse/knife/knife_23/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a3487259efff66b5ce20fa594794dea763c4ad0
--- /dev/null
+++ b/objects/objaverse/knife/knife_23/collision/model_normalized_collision_19.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.14687028 -0.01660657 0.05656459
+v -0.11324216 -0.00586564 0.03223146
+v -0.11416728 -0.00000469 0.05410968
+v -0.16047192 0.00766747 0.06401756
+v -0.15833355 -0.01459717 0.03145874
+v -0.15918087 0.01261839 0.03175645
+v -0.14393428 -0.01164202 0.06266884
+v -0.11396635 -0.00674142 0.05303507
+v -0.15861188 -0.01587041 0.03199268
+v -0.11366120 -0.00055491 0.03183738
+v -0.14332362 0.00650682 0.06292078
+v -0.15994162 -0.01168896 0.06367461
+v -0.15558344 -0.01604935 0.03753947
+v -0.15903900 -0.01621011 0.05765830
+f 8 1 2
+f 8 2 3
+f 8 7 1
+f 8 3 7
+f 9 5 2
+f 9 6 5
+f 9 4 6
+f 10 6 3
+f 10 3 2
+f 10 2 5
+f 10 5 6
+f 11 6 4
+f 11 3 6
+f 11 7 3
+f 12 1 7
+f 12 4 9
+f 12 11 4
+f 12 7 11
+f 13 9 2
+f 13 2 1
+f 13 1 9
+f 14 12 9
+f 14 9 1
+f 14 1 12
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_23/collision/model_normalized_collision_2.obj b/objects/objaverse/knife/knife_23/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb91ea1f85a4ff35ee02dd8cd6ddfeaf863aea77
--- /dev/null
+++ b/objects/objaverse/knife/knife_23/collision/model_normalized_collision_2.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.31090698 -0.01901673 0.00204478
+v 0.31103640 -0.01720634 -0.02765138
+v 0.31056721 -0.01563652 0.00151826
+v 0.18901685 -0.01143962 0.00163196
+v 0.18985198 -0.01334983 -0.02740841
+v 0.26464771 -0.01428973 -0.02868544
+v 0.29484006 -0.01500788 0.00178744
+v 0.18992191 -0.01503809 0.00212695
+v 0.31055892 -0.01597963 -0.02879917
+v 0.18899085 -0.01172860 -0.02872956
+v 0.27972856 -0.01482357 -0.02867569
+f 1 2 3
+f 5 2 1
+f 7 1 3
+f 8 5 1
+f 8 7 4
+f 8 1 7
+f 9 3 2
+f 9 2 5
+f 9 7 3
+f 10 7 6
+f 10 4 7
+f 10 8 4
+f 10 5 8
+f 10 9 5
+f 10 6 9
+f 11 9 6
+f 11 6 7
+f 11 7 9
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_23/collision/model_normalized_collision_20.obj b/objects/objaverse/knife/knife_23/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e30e80b1e48496ad274e097e94e3e57a81a858f5
--- /dev/null
+++ b/objects/objaverse/knife/knife_23/collision/model_normalized_collision_20.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.15558344 -0.01604935 0.03753947
+v -0.11025260 -0.00420993 -0.00877221
+v -0.11366120 -0.00055491 0.03183738
+v -0.15918087 0.01261839 0.03175645
+v -0.16450812 -0.00946009 0.00986203
+v -0.11039120 -0.00127374 -0.01019874
+v -0.15432595 0.01098645 0.03654656
+v -0.11324216 -0.00586564 0.03223146
+v -0.16394039 -0.01551491 0.01929218
+v -0.16446719 0.00937504 0.01109704
+v -0.15861188 -0.01587041 0.03199268
+f 6 4 3
+f 6 2 5
+f 7 3 4
+f 7 4 1
+f 8 1 2
+f 8 7 1
+f 8 3 7
+f 8 6 3
+f 8 2 6
+f 9 5 2
+f 9 2 1
+f 10 6 5
+f 10 4 6
+f 10 9 4
+f 10 5 9
+f 11 9 1
+f 11 1 4
+f 11 4 9
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_23/collision/model_normalized_collision_21.obj b/objects/objaverse/knife/knife_23/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c779c6d1da56c88b52d5bd9dbba6ea30439618c
--- /dev/null
+++ b/objects/objaverse/knife/knife_23/collision/model_normalized_collision_21.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.19002695 -0.01313068 0.06406520
+v -0.18888703 -0.01505577 0.04713855
+v -0.18945847 0.01338336 0.04691868
+v -0.23570886 0.01086558 0.07043737
+v -0.23479985 -0.01350190 0.04696725
+v -0.19055421 0.00868226 0.06666889
+v -0.22015050 -0.01247068 0.06646807
+v -0.23486437 0.01485766 0.04693991
+v -0.23538166 -0.00945140 0.07053502
+v -0.21915442 -0.01403352 0.04716912
+f 5 3 2
+f 6 3 4
+f 6 1 2
+f 6 2 3
+f 7 2 1
+f 8 5 4
+f 8 4 3
+f 8 3 5
+f 9 6 4
+f 9 1 6
+f 9 7 1
+f 9 4 5
+f 9 5 7
+f 10 7 5
+f 10 5 2
+f 10 2 7
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_23/collision/model_normalized_collision_22.obj b/objects/objaverse/knife/knife_23/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22e9b164417252c0a6b83fde3c05bbe0dff5b074
--- /dev/null
+++ b/objects/objaverse/knife/knife_23/collision/model_normalized_collision_22.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.18888703 -0.01505577 0.04713855
+v -0.18841731 -0.01460737 0.01348722
+v -0.18945847 0.01338336 0.04691868
+v -0.23486437 0.01485766 0.04693991
+v -0.23479290 -0.01329528 0.03181886
+v -0.23556514 0.00925080 0.00735641
+v -0.20402045 -0.01454498 0.04716205
+v -0.18898764 0.00894977 0.01042083
+v -0.23479985 -0.01350190 0.04696725
+v -0.23502216 -0.00711635 0.00766145
+v -0.20352938 -0.01410504 0.01407017
+f 1 2 3
+f 5 2 1
+f 7 1 3
+f 7 3 4
+f 7 5 1
+f 8 3 2
+f 8 6 4
+f 8 4 3
+f 9 4 6
+f 9 7 4
+f 9 5 7
+f 10 9 6
+f 10 5 9
+f 10 8 2
+f 10 6 8
+f 11 10 2
+f 11 2 5
+f 11 5 10
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_23/collision/model_normalized_collision_23.obj b/objects/objaverse/knife/knife_23/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9f317e9616aac9677edfdfc1a709dc402ef283b
--- /dev/null
+++ b/objects/objaverse/knife/knife_23/collision/model_normalized_collision_23.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.28020863 -0.01217038 0.06213415
+v -0.28172696 -0.00784570 0.07557373
+v -0.31064613 -0.01000564 0.07476757
+v -0.31128289 0.01698832 0.07273779
+v -0.28076895 0.01612878 0.06187668
+v -0.31172494 0.01246087 0.07867091
+v -0.31047658 -0.01114751 0.06214711
+v -0.28146592 0.01605452 0.07008433
+v -0.31149019 -0.00687648 0.07833066
+v -0.31103955 0.01711167 0.06189181
+v -0.28204037 0.01153160 0.07593713
+v -0.31168156 0.00079743 0.07898102
+f 1 2 3
+f 7 1 3
+f 7 5 1
+f 8 2 1
+f 8 1 5
+f 8 4 6
+f 9 3 2
+f 9 7 3
+f 10 5 7
+f 10 8 5
+f 10 4 8
+f 10 6 4
+f 10 7 9
+f 11 8 6
+f 11 2 8
+f 12 10 9
+f 12 6 10
+f 12 11 6
+f 12 9 2
+f 12 2 11
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_23/collision/model_normalized_collision_24.obj b/objects/objaverse/knife/knife_23/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3392c41908d0c0e89fa1a0b66bfe64cf49b7dcc1
--- /dev/null
+++ b/objects/objaverse/knife/knife_23/collision/model_normalized_collision_24.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.31047658 -0.01114751 0.06214711
+v -0.31149019 -0.00687648 0.07833066
+v -0.35589656 -0.00928165 0.07504484
+v -0.35671412 0.01533610 0.07924659
+v -0.31103955 0.01711167 0.06189181
+v -0.35589055 -0.00527755 0.08009599
+v -0.31128289 0.01698832 0.07273779
+v -0.35587833 -0.00961282 0.06217214
+v -0.31172494 0.01246087 0.07867091
+v -0.35644515 0.01858473 0.06192656
+v -0.32673973 0.01435548 0.07841556
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 7 2 1
+f 7 1 5
+f 8 5 1
+f 8 1 3
+f 8 3 4
+f 9 6 2
+f 9 4 6
+f 9 2 7
+f 10 7 5
+f 10 4 7
+f 10 8 4
+f 10 5 8
+f 11 9 7
+f 11 7 4
+f 11 4 9
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_23/collision/model_normalized_collision_25.obj b/objects/objaverse/knife/knife_23/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..303979b388521ca290c06b9372ad0653d1b159b7
--- /dev/null
+++ b/objects/objaverse/knife/knife_23/collision/model_normalized_collision_25.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.08315197 -0.01349866 0.05034399
+v 0.08344143 -0.01139492 0.00163467
+v 0.08283199 -0.00732059 0.05043945
+v 0.00708812 -0.00429726 0.05226120
+v 0.00740770 -0.01140445 0.05201803
+v 0.08303935 -0.00790455 0.00159265
+v 0.08305224 -0.00736627 0.04704046
+v 0.00736417 -0.00510400 0.00156993
+v 0.00774629 -0.00907446 0.00174079
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 7 1 2
+f 7 3 1
+f 7 2 6
+f 7 6 4
+f 7 4 3
+f 8 5 4
+f 8 4 6
+f 8 6 2
+f 9 8 2
+f 9 2 5
+f 9 5 8
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_23/collision/model_normalized_collision_26.obj b/objects/objaverse/knife/knife_23/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e471a81ba966f896a2c9d35f1beb08974e6c7a27
--- /dev/null
+++ b/objects/objaverse/knife/knife_23/collision/model_normalized_collision_26.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.23538166 -0.00945140 0.07053502
+v -0.23479985 -0.01350190 0.04696725
+v -0.23486437 0.01485766 0.04693991
+v -0.28146592 0.01605452 0.07008433
+v -0.28050211 -0.00992622 0.07356205
+v -0.28076171 0.01635105 0.04674329
+v -0.23570886 0.01086558 0.07043737
+v -0.25049110 0.01536818 0.04672914
+v -0.28071322 -0.01194737 0.04677950
+v -0.25049835 0.01514589 0.06186156
+v -0.28020177 -0.01196754 0.04698843
+v -0.26644707 0.01537321 0.06899011
+f 1 2 3
+f 5 2 1
+f 7 1 3
+f 7 5 1
+f 7 4 5
+f 8 3 2
+f 8 6 4
+f 8 4 3
+f 9 5 4
+f 9 4 6
+f 9 8 2
+f 9 6 8
+f 10 7 3
+f 10 3 4
+f 11 9 2
+f 11 2 5
+f 11 5 9
+f 12 10 4
+f 12 4 7
+f 12 7 10
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_23/collision/model_normalized_collision_27.obj b/objects/objaverse/knife/knife_23/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec2b23308a484281e6063d87521fd766342a9341
--- /dev/null
+++ b/objects/objaverse/knife/knife_23/collision/model_normalized_collision_27.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.23479985 -0.01350190 0.04696725
+v -0.23502216 -0.00711635 0.00766145
+v -0.23486437 0.01485766 0.04693991
+v -0.28076171 0.01635105 0.04674329
+v -0.28020177 -0.01196754 0.04698843
+v -0.25095361 0.01341187 0.01155570
+v -0.23532935 0.01532471 0.01673446
+v -0.27890693 -0.00579440 0.00938513
+v -0.23556514 0.00925080 0.00735641
+v -0.27971310 0.01397808 0.01322405
+f 1 2 3
+f 5 2 1
+f 5 1 3
+f 5 3 4
+f 7 3 2
+f 7 4 3
+f 8 2 5
+f 9 7 2
+f 9 6 7
+f 9 2 8
+f 10 7 6
+f 10 4 7
+f 10 9 8
+f 10 6 9
+f 10 8 5
+f 10 5 4
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_23/collision/model_normalized_collision_28.obj b/objects/objaverse/knife/knife_23/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ec027f0d1a78a396fd8670e2826cf63f227c116
--- /dev/null
+++ b/objects/objaverse/knife/knife_23/collision/model_normalized_collision_28.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.28020863 -0.01217038 0.06213415
+v -0.27890693 -0.00579440 0.00938513
+v -0.28076895 0.01612878 0.06187668
+v -0.35644515 0.01858473 0.06192656
+v -0.35587207 -0.00941146 0.04701801
+v -0.27971310 0.01397808 0.01322405
+v -0.35587833 -0.00961282 0.06217214
+v -0.28074556 0.01656078 0.03172314
+v -0.35503677 0.01540464 0.01133960
+v -0.35521850 -0.00403885 0.00968621
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 3 2
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 4 3
+f 8 3 6
+f 9 8 6
+f 9 4 8
+f 9 6 2
+f 10 5 4
+f 10 4 9
+f 10 9 2
+f 10 2 5
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_23/collision/model_normalized_collision_29.obj b/objects/objaverse/knife/knife_23/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f2758f565348ac00c14824876af590b790bcd82
--- /dev/null
+++ b/objects/objaverse/knife/knife_23/collision/model_normalized_collision_29.obj
@@ -0,0 +1,18 @@
+# https://github.com/mikedh/trimesh
+v 0.50000000 -0.02323263 -0.00989633
+v 0.49584881 -0.02304891 -0.01306787
+v 0.45774469 -0.02193493 0.00415271
+v 0.45814712 -0.02288216 0.00400102
+v 0.47189598 -0.02300931 -0.00038819
+v 0.46181842 -0.02168679 -0.02870329
+v 0.47145420 -0.02263310 -0.00023799
+f 1 2 3
+f 5 2 1
+f 5 4 2
+f 5 3 4
+f 6 3 2
+f 6 2 4
+f 6 4 3
+f 7 5 1
+f 7 1 3
+f 7 3 5
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_23/collision/model_normalized_collision_3.obj b/objects/objaverse/knife/knife_23/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f430e049c0bc628456988a4b825338e0988c6798
--- /dev/null
+++ b/objects/objaverse/knife/knife_23/collision/model_normalized_collision_3.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.35587833 -0.00961282 0.06217214
+v -0.35521850 -0.00403885 0.00968621
+v -0.35644515 0.01858473 0.06192656
+v -0.41698706 0.02054964 0.06194487
+v -0.41796988 -0.00449672 0.01904585
+v -0.35503677 0.01540464 0.01133960
+v -0.41641410 -0.00756518 0.06220039
+v -0.40153793 0.02059700 0.02075925
+v -0.41538961 0.01277385 0.01779861
+v -0.41737625 0.02110175 0.02081274
+f 5 2 1
+f 6 1 2
+f 6 3 1
+f 7 1 3
+f 7 3 4
+f 7 5 1
+f 7 4 5
+f 8 4 3
+f 8 3 6
+f 9 6 2
+f 9 2 5
+f 10 8 6
+f 10 6 9
+f 10 4 8
+f 10 9 5
+f 10 5 4
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_23/collision/model_normalized_collision_30.obj b/objects/objaverse/knife/knife_23/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eec421d00a8d155a9c1bc0ec69fbb1d8a1ceb8e3
--- /dev/null
+++ b/objects/objaverse/knife/knife_23/collision/model_normalized_collision_30.obj
@@ -0,0 +1,18 @@
+# https://github.com/mikedh/trimesh
+v 0.14398814 -0.01337842 0.00155491
+v 0.14331117 -0.01031462 -0.07585758
+v 0.14361015 -0.00999486 0.00165662
+v 0.00736417 -0.00510400 0.00156993
+v 0.00774629 -0.00907446 0.00174079
+v 0.14359628 -0.01017326 -0.01353338
+v 0.00730818 -0.00566120 -0.08140240
+f 3 2 4
+f 5 2 1
+f 5 1 3
+f 5 3 4
+f 6 1 2
+f 6 2 3
+f 6 3 1
+f 7 5 4
+f 7 4 2
+f 7 2 5
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_23/collision/model_normalized_collision_31.obj b/objects/objaverse/knife/knife_23/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e65e9685d461a1601cc4ed39fde3c2f8d2e993fb
--- /dev/null
+++ b/objects/objaverse/knife/knife_23/collision/model_normalized_collision_31.obj
@@ -0,0 +1,18 @@
+# https://github.com/mikedh/trimesh
+v 0.00740770 -0.01140445 0.05201803
+v 0.00781912 -0.00567845 -0.08139823
+v 0.00708812 -0.00429726 0.05226120
+v -0.09856492 -0.00035618 0.05378699
+v -0.09815207 -0.00752628 0.05276684
+v -0.08034119 -0.00270669 -0.08177238
+v -0.08225701 -0.00281541 -0.07229471
+f 1 2 3
+f 1 3 4
+f 3 2 4
+f 5 1 4
+f 6 2 1
+f 6 1 5
+f 6 4 2
+f 7 6 5
+f 7 5 4
+f 7 4 6
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_23/collision/model_normalized_collision_4.obj b/objects/objaverse/knife/knife_23/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80f3c891e7a4a02a8d8fd20e2a0decac343bd57b
--- /dev/null
+++ b/objects/objaverse/knife/knife_23/collision/model_normalized_collision_4.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.35587833 -0.00961282 0.06217214
+v -0.35589055 -0.00527755 0.08009599
+v -0.47895688 -0.00429788 0.08081076
+v -0.47911626 0.02015139 0.08071805
+v -0.35644515 0.01858473 0.06192656
+v -0.35671412 0.01533610 0.07924659
+v -0.48708534 0.02207968 0.05942241
+v -0.48671296 -0.00480994 0.05979237
+f 1 2 3
+f 3 2 4
+f 5 2 1
+f 6 5 4
+f 6 4 2
+f 6 2 5
+f 7 5 1
+f 7 3 4
+f 7 4 5
+f 8 7 1
+f 8 1 3
+f 8 3 7
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_23/collision/model_normalized_collision_5.obj b/objects/objaverse/knife/knife_23/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..821000909ada6c38ed14ed01c5c824559dee0b62
--- /dev/null
+++ b/objects/objaverse/knife/knife_23/collision/model_normalized_collision_5.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.41641410 -0.00756518 0.06220039
+v -0.41633848 -0.00700964 0.02057694
+v -0.41698706 0.02054964 0.06194487
+v -0.46239287 0.02202545 0.06196756
+v -0.46181662 -0.00603233 0.06221207
+v -0.45562084 0.02002063 0.01387448
+v -0.41737625 0.02110175 0.02081274
+v -0.45567893 -0.00337991 0.01335571
+v -0.43514157 0.02114138 0.01889935
+v -0.43270499 -0.00612809 0.01887574
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 7 3 2
+f 7 4 3
+f 8 5 4
+f 8 4 6
+f 8 7 2
+f 8 6 7
+f 9 7 6
+f 9 6 4
+f 9 4 7
+f 10 8 2
+f 10 2 5
+f 10 5 8
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_23/collision/model_normalized_collision_6.obj b/objects/objaverse/knife/knife_23/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d402c5f53180cf11f3667212483923149acc1da
--- /dev/null
+++ b/objects/objaverse/knife/knife_23/collision/model_normalized_collision_6.obj
@@ -0,0 +1,15 @@
+# https://github.com/mikedh/trimesh
+v 0.18943640 -0.01322922 -0.02868908
+v 0.18946191 -0.01190085 -0.07346061
+v 0.18899085 -0.01172860 -0.02872956
+v 0.14358711 -0.01022418 -0.02877607
+v 0.14279156 -0.01029672 -0.07588752
+v 0.14406168 -0.01166417 -0.02858160
+f 1 2 3
+f 5 2 1
+f 5 3 2
+f 5 4 3
+f 6 1 3
+f 6 3 4
+f 6 5 1
+f 6 4 5
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_23/collision/model_normalized_collision_7.obj b/objects/objaverse/knife/knife_23/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ebba70e55bab16ffdaa2f8dadd6b768468ba793
--- /dev/null
+++ b/objects/objaverse/knife/knife_23/collision/model_normalized_collision_7.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.31103640 -0.01720634 -0.02765138
+v 0.30950869 -0.01608800 -0.06282489
+v 0.31055892 -0.01597963 -0.02879917
+v 0.21924734 -0.01273977 -0.02872280
+v 0.21907366 -0.01291565 -0.07213646
+v 0.27972856 -0.01482357 -0.02867569
+v 0.22032922 -0.01429760 -0.02749900
+v 0.27916289 -0.01501480 -0.06657674
+f 1 2 3
+f 6 1 3
+f 6 5 4
+f 6 3 2
+f 7 4 5
+f 7 6 4
+f 7 1 6
+f 8 6 2
+f 8 5 6
+f 8 2 1
+f 8 7 5
+f 8 1 7
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_23/collision/model_normalized_collision_8.obj b/objects/objaverse/knife/knife_23/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9646b169155bf1d42a7d6b15c60238941c32ee5
--- /dev/null
+++ b/objects/objaverse/knife/knife_23/collision/model_normalized_collision_8.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.12841468 -0.01487505 0.04942961
+v 0.12885465 -0.01284012 0.00157290
+v 0.12761912 -0.00895335 0.04958143
+v 0.08283199 -0.00732059 0.05043945
+v 0.08315197 -0.01349866 0.05034399
+v 0.08303935 -0.00790455 0.00159265
+v 0.12935830 -0.01418199 0.03246614
+v 0.11387440 -0.01442925 0.04976664
+v 0.12846643 -0.00951380 0.00161057
+v 0.08344143 -0.01139492 0.00163467
+f 6 5 4
+f 7 3 1
+f 7 5 2
+f 7 1 5
+f 8 5 1
+f 8 1 3
+f 8 3 4
+f 8 4 5
+f 9 2 6
+f 9 7 2
+f 9 3 7
+f 9 6 4
+f 9 4 3
+f 10 6 2
+f 10 2 5
+f 10 5 6
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_23/collision/model_normalized_collision_9.obj b/objects/objaverse/knife/knife_23/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2163860eff34725a0d5ca7a832662aec708bde96
--- /dev/null
+++ b/objects/objaverse/knife/knife_23/collision/model_normalized_collision_9.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.15903900 -0.01621011 0.05765830
+v -0.16719336 -0.01530689 0.01218936
+v -0.16446719 0.00937504 0.01109704
+v -0.19055421 0.00868226 0.06666889
+v -0.18908030 -0.01523199 0.06040912
+v -0.18898764 0.00894977 0.01042083
+v -0.16047192 0.00766747 0.06401756
+v -0.19024329 -0.01081430 0.06631192
+v -0.18841731 -0.01460737 0.01348722
+v -0.15994162 -0.01168896 0.06367461
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 8 4 6
+f 8 5 1
+f 9 6 2
+f 9 8 6
+f 9 5 8
+f 9 2 1
+f 9 1 5
+f 10 7 4
+f 10 4 8
+f 10 8 1
+f 10 1 7
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_23/model.xml b/objects/objaverse/knife/knife_23/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..f968d6aee973ba75eebc1cb4185c9a67cfc5dfb6
--- /dev/null
+++ b/objects/objaverse/knife/knife_23/model.xml
@@ -0,0 +1,85 @@
+<mujoco model="kitchen_knife_27">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.21500000000000002 0.21500000000000002 0.21500000000000002" refquat="0.44858379317131813 -0.5466009335008788 -0.5466009335008789 -0.44858379317131825"/>
+    <mesh file="visual/model_normalized_1.obj" name="model_normalized_1_vis" scale="0.21500000000000002 0.21500000000000002 0.21500000000000002" refquat="0.44858379317131813 -0.5466009335008788 -0.5466009335008789 -0.44858379317131825"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.21500000000000002 0.21500000000000002 0.21500000000000002" refquat="0.44858379317131813 -0.5466009335008788 -0.5466009335008789 -0.44858379317131825"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.21500000000000002 0.21500000000000002 0.21500000000000002" refquat="0.44858379317131813 -0.5466009335008788 -0.5466009335008789 -0.44858379317131825"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.21500000000000002 0.21500000000000002 0.21500000000000002" refquat="0.44858379317131813 -0.5466009335008788 -0.5466009335008789 -0.44858379317131825"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.21500000000000002 0.21500000000000002 0.21500000000000002" refquat="0.44858379317131813 -0.5466009335008788 -0.5466009335008789 -0.44858379317131825"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.21500000000000002 0.21500000000000002 0.21500000000000002" refquat="0.44858379317131813 -0.5466009335008788 -0.5466009335008789 -0.44858379317131825"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.21500000000000002 0.21500000000000002 0.21500000000000002" refquat="0.44858379317131813 -0.5466009335008788 -0.5466009335008789 -0.44858379317131825"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.21500000000000002 0.21500000000000002 0.21500000000000002" refquat="0.44858379317131813 -0.5466009335008788 -0.5466009335008789 -0.44858379317131825"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.21500000000000002 0.21500000000000002 0.21500000000000002" refquat="0.44858379317131813 -0.5466009335008788 -0.5466009335008789 -0.44858379317131825"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.21500000000000002 0.21500000000000002 0.21500000000000002" refquat="0.44858379317131813 -0.5466009335008788 -0.5466009335008789 -0.44858379317131825"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.21500000000000002 0.21500000000000002 0.21500000000000002" refquat="0.44858379317131813 -0.5466009335008788 -0.5466009335008789 -0.44858379317131825"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.21500000000000002 0.21500000000000002 0.21500000000000002" refquat="0.44858379317131813 -0.5466009335008788 -0.5466009335008789 -0.44858379317131825"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.21500000000000002 0.21500000000000002 0.21500000000000002" refquat="0.44858379317131813 -0.5466009335008788 -0.5466009335008789 -0.44858379317131825"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.21500000000000002 0.21500000000000002 0.21500000000000002" refquat="0.44858379317131813 -0.5466009335008788 -0.5466009335008789 -0.44858379317131825"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.21500000000000002 0.21500000000000002 0.21500000000000002" refquat="0.44858379317131813 -0.5466009335008788 -0.5466009335008789 -0.44858379317131825"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.21500000000000002 0.21500000000000002 0.21500000000000002" refquat="0.44858379317131813 -0.5466009335008788 -0.5466009335008789 -0.44858379317131825"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.21500000000000002 0.21500000000000002 0.21500000000000002" refquat="0.44858379317131813 -0.5466009335008788 -0.5466009335008789 -0.44858379317131825"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.21500000000000002 0.21500000000000002 0.21500000000000002" refquat="0.44858379317131813 -0.5466009335008788 -0.5466009335008789 -0.44858379317131825"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.21500000000000002 0.21500000000000002 0.21500000000000002" refquat="0.44858379317131813 -0.5466009335008788 -0.5466009335008789 -0.44858379317131825"/>
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diff --git a/objects/objaverse/knife/knife_23/visual/material.mtl b/objects/objaverse/knife/knife_23/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..53df4e38098d397f83e90c27f9cfe5acb0540f34
--- /dev/null
+++ b/objects/objaverse/knife/knife_23/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 90.00000700
+map_Kd material_0.png
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_23/visual/model_normalized_0.obj b/objects/objaverse/knife/knife_23/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8727cf7b44f8cab71f7edd50b58a01a56a5043c
--- /dev/null
+++ b/objects/objaverse/knife/knife_23/visual/model_normalized_0.obj
@@ -0,0 +1,6054 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/objects/objaverse/knife/knife_23/visual/model_normalized_1.obj b/objects/objaverse/knife/knife_23/visual/model_normalized_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..881d99c2d904a17f59c4ecbdb49fabc5a74563cd
--- /dev/null
+++ b/objects/objaverse/knife/knife_23/visual/model_normalized_1.obj
@@ -0,0 +1,16396 @@
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\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_7/collision/model_normalized_collision_11.obj b/objects/objaverse/knife/knife_7/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3d613db48ab56753f8be9846b1924ba5790e42c
--- /dev/null
+++ b/objects/objaverse/knife/knife_7/collision/model_normalized_collision_11.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.03937881 0.37121213 0.01038617
+v 0.03937881 0.36960371 -0.00519752
+v 0.03937881 0.42223193 -0.03054285
+v -0.03937881 0.41666668 0.01038617
+v -0.03937881 0.36960371 -0.00519752
+v 0.03937881 0.41666668 0.01038617
+v -0.03937881 0.37121213 0.01038617
+v -0.03937881 0.42223193 -0.03054285
+f 1 2 3
+f 5 3 2
+f 6 1 3
+f 6 4 1
+f 7 1 4
+f 7 4 5
+f 7 5 2
+f 7 2 1
+f 8 5 4
+f 8 3 5
+f 8 6 3
+f 8 4 6
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_7/collision/model_normalized_collision_23.obj b/objects/objaverse/knife/knife_7/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35f9265c1043ba3323c03ecd365245091453e301
--- /dev/null
+++ b/objects/objaverse/knife/knife_7/collision/model_normalized_collision_23.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.01107057 0.03787880 0.01038617
+v -0.00128528 0.05702601 -0.02850001
+v -0.00150003 0.05103123 0.01023853
+v -0.03937881 0.05303031 0.01038617
+v -0.00972322 0.03788174 -0.03662149
+v -0.00150003 0.05385348 -0.00456587
+v -0.03937881 0.05041506 0.01147980
+v -0.03937881 0.05546866 -0.01901181
+v -0.01024509 0.03787650 -0.03385838
+v -0.01023985 0.05302802 -0.03385739
+v -0.03937881 0.05363400 -0.01406893
+f 5 2 3
+f 5 3 1
+f 6 3 2
+f 6 2 4
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 8 4 2
+f 8 7 4
+f 9 7 5
+f 9 5 1
+f 9 1 7
+f 10 8 2
+f 10 2 5
+f 10 5 8
+f 11 8 5
+f 11 5 7
+f 11 7 8
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_7/collision/model_normalized_collision_29.obj b/objects/objaverse/knife/knife_7/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9f134a829d6829d59ac6f078748f0a113b4c440
--- /dev/null
+++ b/objects/objaverse/knife/knife_7/collision/model_normalized_collision_29.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.01107057 -0.44278684 0.05356821
+v 0.01107057 -0.44696969 0.02553769
+v 0.01107057 -0.40151515 0.02553769
+v -0.01107057 -0.40014133 0.06127877
+v -0.01107057 -0.44622595 0.05274261
+v 0.01107057 -0.40014133 0.06127877
+v -0.01107057 -0.44278684 0.05356821
+v -0.01107057 -0.40151515 0.02553769
+v -0.01107057 -0.44696969 0.02553769
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 5 4
+f 8 4 3
+f 9 2 5
+f 9 5 8
+f 9 8 3
+f 9 3 2
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_7/collision/model_normalized_collision_4.obj b/objects/objaverse/knife/knife_7/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68b6760e54a88e0b1c9ef58492965fde7c59bfc6
--- /dev/null
+++ b/objects/objaverse/knife/knife_7/collision/model_normalized_collision_4.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.03937881 0.05303031 0.01038617
+v 0.03937881 0.06316319 -0.03356287
+v 0.03937881 0.11363637 0.01038617
+v 0.01365149 0.12192680 -0.00802039
+v 0.00737336 0.05302806 -0.04903412
+v 0.03937881 0.08967213 -0.03888272
+v 0.01365149 0.05052950 0.01016801
+v 0.03937881 0.11363637 -0.00476534
+v 0.01365149 0.08967213 -0.03888272
+v 0.03937881 0.10014387 -0.02631841
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 6 2 5
+f 7 1 3
+f 7 3 4
+f 7 5 1
+f 7 4 5
+f 8 4 3
+f 8 3 6
+f 9 6 5
+f 9 5 4
+f 9 4 6
+f 10 8 6
+f 10 6 4
+f 10 4 8
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_7/collision/model_normalized_collision_5.obj b/objects/objaverse/knife/knife_7/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e68551017efd5244418808c00c32e859163fc5c
--- /dev/null
+++ b/objects/objaverse/knife/knife_7/collision/model_normalized_collision_5.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.01107057 -0.21969696 0.01038617
+v -0.00000011 -0.21802299 -0.06431381
+v 0.01107057 -0.08333332 -0.00476534
+v -0.01107057 -0.08333332 0.01038617
+v -0.01107057 -0.21969696 0.01038617
+v 0.00012673 -0.08306314 -0.07729577
+v 0.01107057 -0.08333332 0.01038617
+v -0.00062741 -0.21930236 -0.06155072
+v -0.00028976 -0.08300651 -0.07661899
+v -0.00000018 -0.15805647 -0.07050683
+f 1 2 3
+f 7 1 3
+f 7 5 1
+f 7 4 5
+f 8 2 1
+f 8 1 5
+f 9 5 4
+f 9 4 7
+f 9 7 3
+f 9 3 6
+f 9 8 5
+f 10 9 6
+f 10 2 8
+f 10 8 9
+f 10 6 3
+f 10 3 2
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_7/collision/model_normalized_collision_7.obj b/objects/objaverse/knife/knife_7/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96d8285b860eed65d5704131a68701a2611a3ba7
--- /dev/null
+++ b/objects/objaverse/knife/knife_7/collision/model_normalized_collision_7.obj
@@ -0,0 +1,18 @@
+# https://github.com/mikedh/trimesh
+v 0.01107057 -0.34083484 0.06913681
+v -0.00000010 -0.33984026 -0.04499925
+v -0.00000014 -0.26416053 -0.05868318
+v -0.01107057 -0.26515151 0.07099223
+v -0.01107057 -0.34083484 0.06913681
+v 0.01107057 -0.26515151 0.07099223
+v -0.00000023 -0.29381274 -0.05428988
+f 5 2 1
+f 5 1 4
+f 5 4 3
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 1 2
+f 7 3 1
+f 7 5 3
+f 7 2 5
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_7/model.xml b/objects/objaverse/knife/knife_7/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..bf40db836596b72d17ef094e699727cbd003f544
--- /dev/null
+++ b/objects/objaverse/knife/knife_7/model.xml
@@ -0,0 +1,85 @@
+<mujoco model="knife_5">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.19 0.19 0.19" refquat="-2.2993471702930904e-17 -0.7071067811865472 7.850462293418873e-17 -0.7071067811865475"/>
+    <mesh file="visual/model_normalized_1.obj" name="model_normalized_1_vis" scale="0.19 0.19 0.19" refquat="-2.2993471702930904e-17 -0.7071067811865472 7.850462293418873e-17 -0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.19 0.19 0.19" refquat="-2.2993471702930904e-17 -0.7071067811865472 7.850462293418873e-17 -0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.19 0.19 0.19" refquat="-2.2993471702930904e-17 -0.7071067811865472 7.850462293418873e-17 -0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.19 0.19 0.19" refquat="-2.2993471702930904e-17 -0.7071067811865472 7.850462293418873e-17 -0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.19 0.19 0.19" refquat="-2.2993471702930904e-17 -0.7071067811865472 7.850462293418873e-17 -0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.19 0.19 0.19" refquat="-2.2993471702930904e-17 -0.7071067811865472 7.850462293418873e-17 -0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.19 0.19 0.19" refquat="-2.2993471702930904e-17 -0.7071067811865472 7.850462293418873e-17 -0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.19 0.19 0.19" refquat="-2.2993471702930904e-17 -0.7071067811865472 7.850462293418873e-17 -0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.19 0.19 0.19" refquat="-2.2993471702930904e-17 -0.7071067811865472 7.850462293418873e-17 -0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.19 0.19 0.19" refquat="-2.2993471702930904e-17 -0.7071067811865472 7.850462293418873e-17 -0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.19 0.19 0.19" refquat="-2.2993471702930904e-17 -0.7071067811865472 7.850462293418873e-17 -0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.19 0.19 0.19" refquat="-2.2993471702930904e-17 -0.7071067811865472 7.850462293418873e-17 -0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.19 0.19 0.19" refquat="-2.2993471702930904e-17 -0.7071067811865472 7.850462293418873e-17 -0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.19 0.19 0.19" refquat="-2.2993471702930904e-17 -0.7071067811865472 7.850462293418873e-17 -0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.19 0.19 0.19" refquat="-2.2993471702930904e-17 -0.7071067811865472 7.850462293418873e-17 -0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.19 0.19 0.19" refquat="-2.2993471702930904e-17 -0.7071067811865472 7.850462293418873e-17 -0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.19 0.19 0.19" refquat="-2.2993471702930904e-17 -0.7071067811865472 7.850462293418873e-17 -0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.19 0.19 0.19" refquat="-2.2993471702930904e-17 -0.7071067811865472 7.850462293418873e-17 -0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.19 0.19 0.19" refquat="-2.2993471702930904e-17 -0.7071067811865472 7.850462293418873e-17 -0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.19 0.19 0.19" refquat="-2.2993471702930904e-17 -0.7071067811865472 7.850462293418873e-17 -0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.19 0.19 0.19" refquat="-2.2993471702930904e-17 -0.7071067811865472 7.850462293418873e-17 -0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.19 0.19 0.19" refquat="-2.2993471702930904e-17 -0.7071067811865472 7.850462293418873e-17 -0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.19 0.19 0.19" refquat="-2.2993471702930904e-17 -0.7071067811865472 7.850462293418873e-17 -0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.19 0.19 0.19" refquat="-2.2993471702930904e-17 -0.7071067811865472 7.850462293418873e-17 -0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.19 0.19 0.19" refquat="-2.2993471702930904e-17 -0.7071067811865472 7.850462293418873e-17 -0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.19 0.19 0.19" refquat="-2.2993471702930904e-17 -0.7071067811865472 7.850462293418873e-17 -0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.19 0.19 0.19" refquat="-2.2993471702930904e-17 -0.7071067811865472 7.850462293418873e-17 -0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.19 0.19 0.19" refquat="-2.2993471702930904e-17 -0.7071067811865472 7.850462293418873e-17 -0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.19 0.19 0.19" refquat="-2.2993471702930904e-17 -0.7071067811865472 7.850462293418873e-17 -0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.19 0.19 0.19" refquat="-2.2993471702930904e-17 -0.7071067811865472 7.850462293418873e-17 -0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.19 0.19 0.19" refquat="-2.2993471702930904e-17 -0.7071067811865472 7.850462293418873e-17 -0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.19 0.19 0.19" refquat="-2.2993471702930904e-17 -0.7071067811865472 7.850462293418873e-17 -0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.19 0.19 0.19" refquat="-2.2993471702930904e-17 -0.7071067811865472 7.850462293418873e-17 -0.7071067811865475"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <texture type="2d" name="image1" file="visual/image1.png"/>
+    <material name="phong4" texture="image0" specular="0.5" shininess="0.011180345000000001"/>
+    <material name="phong5" texture="image1" specular="0.5" shininess="0.011180345000000001"/>
+  </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="phong5"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_1_vis" conaffinity="0" contype="0" group="1" material="phong4"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_22._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_23._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_21._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_20._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_24._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_30._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_18._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_19._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_31._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_25._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_27._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_26._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_9._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_8._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_6._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_7._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_5._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_4._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_0._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_1._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_3._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_2._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_17._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_16._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_28._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_14._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_15._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_29._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_11._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_10._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_12._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_13._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+      </body>
+      <site rgba="0 0 0 0" size="0.005" pos="-1.0198250000000574e-05 -1.899999998999924e-09 -0.007481973900000013" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="-1.0198250000000574e-05 -1.899999998999924e-09 0.0074819738999999975" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.016718352699999998 0.09499999999999999 -7.251144129583053e-18" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/pear/pear_12/collision/model_normalized_collision_0.obj b/objects/objaverse/pear/pear_12/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7fae01cb7f2c5f9933bd227e4f69c04169ff6dbd
--- /dev/null
+++ b/objects/objaverse/pear/pear_12/collision/model_normalized_collision_0.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.06165948 -0.25038041 -0.00169041
+v 0.19150998 -0.14271020 0.01501383
+v 0.04765193 -0.13011941 0.20175477
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+v -0.11371874 -0.22447112 0.00376235
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+v -0.06842705 -0.13221940 0.18670307
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+f 17 16 8
+f 17 8 9
+f 18 11 5
+f 18 5 15
+f 19 18 15
+f 19 15 4
+f 19 4 11
+f 19 11 18
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_12/collision/model_normalized_collision_1.obj b/objects/objaverse/pear/pear_12/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0a050ef65ea193d07bbc32fcf0b5b151e60d618
--- /dev/null
+++ b/objects/objaverse/pear/pear_12/collision/model_normalized_collision_1.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
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+v -0.16223515 0.15030269 -0.23484850
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+v -0.22220474 -0.16794855 -0.03489557
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+v -0.26396286 0.14033216 -0.06522928
+v -0.22182992 0.14202823 -0.00497320
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+f 45 4 19
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+f 46 45 19
+f 46 32 45
+f 47 33 8
+f 47 8 23
+f 47 23 33
+f 48 26 12
+f 48 12 34
+f 48 34 22
+f 48 22 26
+f 49 14 9
+f 49 9 38
+f 51 27 10
+f 51 39 25
+f 51 25 40
+f 51 40 16
+f 51 16 27
+f 52 40 38
+f 52 38 9
+f 52 15 40
+f 53 31 20
+f 53 44 42
+f 53 20 44
+f 54 42 12
+f 54 12 31
+f 54 53 42
+f 54 31 53
+f 55 34 12
+f 55 12 42
+f 55 46 34
+f 55 42 32
+f 55 32 46
+f 56 44 20
+f 56 20 4
+f 58 6 14
+f 58 14 49
+f 58 49 38
+f 59 10 6
+f 59 6 50
+f 59 51 10
+f 59 39 51
+f 60 50 6
+f 60 59 50
+f 60 39 59
+f 60 6 58
+f 60 58 38
+f 60 38 39
+f 61 43 15
+f 61 15 52
+f 62 52 9
+f 62 9 31
+f 62 31 43
+f 62 61 52
+f 62 43 61
+f 63 57 4
+f 63 4 45
+f 63 45 32
+f 63 32 44
+f 63 44 57
+f 64 56 4
+f 64 4 57
+f 64 57 44
+f 64 44 56
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_12/collision/model_normalized_collision_10.obj b/objects/objaverse/pear/pear_12/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b010d18f72f5ae648a9480f6f7e1ab68848eec0
--- /dev/null
+++ b/objects/objaverse/pear/pear_12/collision/model_normalized_collision_10.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v -0.11371874 -0.22447112 0.00376235
+v -0.10929927 -0.21867723 0.01340964
+v -0.25688634 -0.07423099 -0.00076740
+v -0.11633564 0.24049752 0.00689942
+v -0.10927269 0.08381952 0.23066016
+v -0.14159805 0.23217354 -0.00084267
+v -0.10892158 -0.07249065 0.23162539
+v -0.10911767 0.21346676 0.04451398
+v -0.12532176 -0.21981907 -0.00065712
+v -0.10748640 0.09764380 0.21450897
+v -0.22598926 0.12900607 -0.00174385
+v -0.10748073 -0.08464442 0.21435120
+v -0.12933181 0.05264165 0.22634512
+v -0.11242366 0.23421799 0.01610495
+v -0.22854425 -0.12855228 -0.00171139
+v -0.10737908 0.15420960 0.13483154
+v -0.19783664 0.17373499 -0.00110030
+v -0.19857265 -0.15873416 -0.00210437
+v -0.12647718 -0.03983225 0.22705613
+v -0.25658243 0.04238893 -0.00041613
+v -0.11654902 0.07765492 0.22626697
+v -0.23570650 -0.08663133 0.02502022
+v -0.10722921 -0.12599078 0.15035334
+v -0.23480032 -0.01582024 0.04360302
+v -0.17451882 -0.02850665 0.14640858
+v -0.23402352 0.01104950 0.04379972
+f 2 1 4
+f 9 1 7
+f 9 6 4
+f 9 4 1
+f 10 6 5
+f 10 4 6
+f 10 5 7
+f 12 7 1
+f 12 1 2
+f 12 10 7
+f 13 7 5
+f 14 8 2
+f 14 2 4
+f 15 3 11
+f 16 2 8
+f 16 8 14
+f 16 14 4
+f 16 4 10
+f 17 5 6
+f 17 6 11
+f 18 11 6
+f 18 6 9
+f 18 15 11
+f 18 9 7
+f 18 7 15
+f 19 7 13
+f 20 13 11
+f 20 11 3
+f 21 13 5
+f 21 11 13
+f 21 17 11
+f 21 5 17
+f 22 15 7
+f 22 3 15
+f 22 19 3
+f 22 7 19
+f 23 12 2
+f 23 2 16
+f 23 16 10
+f 23 10 12
+f 24 20 3
+f 25 19 13
+f 25 13 24
+f 25 24 3
+f 25 3 19
+f 26 24 13
+f 26 13 20
+f 26 20 24
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_12/collision/model_normalized_collision_11.obj b/objects/objaverse/pear/pear_12/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b107a6fd02fbc18c30896f03ff09bd34d560b4d
--- /dev/null
+++ b/objects/objaverse/pear/pear_12/collision/model_normalized_collision_11.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.12754260 -0.21492989 -0.38314232
+v 0.19084159 -0.18679911 -0.36050828
+v 0.11049213 -0.01636398 -0.35606062
+v 0.17036170 0.06376636 -0.44471310
+v 0.16331548 -0.08796161 -0.44262241
+v 0.18624970 -0.01636398 -0.35606062
+v 0.16214320 -0.17211899 -0.40016583
+v 0.19453779 0.06190777 -0.42679109
+v 0.11044365 -0.01626586 -0.47685842
+v 0.17510280 -0.15873112 -0.39981012
+v 0.17398393 -0.17296439 -0.38963465
+v 0.10592063 -0.16146558 -0.43772257
+v 0.17727811 -0.04394549 -0.44420760
+v 0.15222995 0.05826614 -0.45488983
+v 0.10764924 -0.17771198 -0.42476844
+v 0.13324035 -0.13137604 -0.44233844
+v 0.10499748 -0.08885890 -0.46352411
+v 0.17632019 0.05638151 -0.44280200
+v 0.14698491 -0.04394848 -0.45937874
+v 0.17353562 -0.10047726 -0.43011756
+v 0.13224564 -0.17261305 -0.41606449
+v 0.13063741 -0.15550186 -0.42825253
+v 0.10687479 -0.13316836 -0.44952217
+v 0.13339978 -0.07258467 -0.45784345
+v 0.14815987 -0.01511809 -0.46214290
+v 0.15848568 -0.12722529 -0.42789683
+f 1 2 3
+f 6 3 2
+f 8 6 2
+f 8 4 3
+f 8 3 6
+f 11 2 1
+f 11 1 7
+f 11 10 2
+f 11 7 10
+f 13 8 2
+f 14 9 3
+f 14 3 4
+f 15 1 3
+f 15 3 12
+f 16 10 7
+f 17 12 3
+f 17 3 9
+f 18 4 8
+f 18 8 13
+f 18 14 4
+f 19 13 5
+f 20 5 13
+f 20 13 2
+f 20 2 10
+f 21 15 12
+f 21 7 1
+f 21 1 15
+f 22 16 7
+f 22 12 16
+f 22 21 12
+f 22 7 21
+f 23 17 16
+f 23 16 12
+f 23 12 17
+f 24 5 16
+f 24 16 17
+f 24 19 5
+f 24 17 9
+f 24 9 19
+f 25 18 13
+f 25 14 18
+f 25 13 19
+f 25 19 9
+f 25 9 14
+f 26 16 5
+f 26 5 20
+f 26 20 10
+f 26 10 16
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_12/collision/model_normalized_collision_12.obj b/objects/objaverse/pear/pear_12/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef111308bcdd9397f28eaa4e0ba1ab4fe9223569
--- /dev/null
+++ b/objects/objaverse/pear/pear_12/collision/model_normalized_collision_12.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.00348438 -0.12878596 0.23206956
+v 0.00443152 -0.13757610 0.00757575
+v 0.00385149 0.19020343 0.12572045
+v -0.13374586 0.20851913 0.02966999
+v -0.14850512 -0.17177147 0.03070402
+v 0.00443152 0.18060572 0.00757575
+v -0.10310809 0.09414546 0.22722122
+v 0.00327655 0.13848820 0.22944026
+v -0.10318061 -0.08119655 0.22883233
+v -0.06752801 0.18303439 0.12109536
+v -0.05133430 -0.12113152 0.22929891
+v -0.00895172 0.14674992 0.21112365
+v -0.07687589 0.11783097 0.22588319
+v -0.07496334 -0.10851412 0.22873665
+v -0.00904641 0.17769017 0.14884700
+v -0.05019581 0.13147041 0.22574321
+f 5 2 1
+f 6 4 3
+f 6 5 4
+f 6 2 5
+f 6 1 2
+f 6 3 1
+f 7 4 5
+f 8 7 1
+f 8 1 3
+f 9 7 5
+f 9 1 7
+f 10 3 4
+f 11 5 1
+f 12 8 3
+f 13 4 7
+f 13 7 8
+f 14 9 5
+f 14 5 11
+f 14 11 1
+f 14 1 9
+f 15 12 3
+f 15 3 10
+f 15 10 12
+f 16 10 4
+f 16 4 13
+f 16 12 10
+f 16 13 8
+f 16 8 12
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_12/collision/model_normalized_collision_13.obj b/objects/objaverse/pear/pear_12/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac697291a82be9264d541542e5b53a7ba260fd27
--- /dev/null
+++ b/objects/objaverse/pear/pear_12/collision/model_normalized_collision_13.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v -0.27916068 0.14790669 -0.10019269
+v -0.24613806 0.16170932 -0.32172014
+v -0.25607609 0.16887549 -0.07860976
+v -0.21458220 0.24825627 -0.11705439
+v -0.26614161 0.19673713 -0.22781728
+v -0.21861169 0.23706009 -0.10023526
+v -0.25693001 0.14422757 -0.31920786
+v -0.29516702 0.15458491 -0.15096266
+v -0.21623426 0.24831272 -0.23156320
+v -0.25114407 0.14923358 -0.32460495
+v -0.25050425 0.19791045 -0.10547522
+v -0.28067069 0.15587142 -0.25876528
+v -0.23656503 0.24008918 -0.15080076
+v -0.30236218 0.14364182 -0.18865321
+v -0.25284736 0.18307904 -0.28529783
+v -0.26764735 0.17177431 -0.10477976
+v -0.22502783 0.23153779 -0.10344759
+v -0.23866291 0.23950305 -0.17250723
+v -0.28811644 0.14444355 -0.11781268
+v -0.28640389 0.14378437 -0.26080753
+v -0.27875826 0.17000072 -0.24293253
+v -0.22583984 0.24155498 -0.22880550
+v -0.25192401 0.15670332 -0.31632305
+v -0.23468892 0.22744101 -0.12070074
+v -0.29577982 0.15494333 -0.18822505
+v -0.30113500 0.14292404 -0.14870716
+v -0.26619369 0.18162826 -0.25814147
+v -0.28235977 0.15637736 -0.12010621
+v -0.26558781 0.18530792 -0.25221625
+f 6 2 4
+f 7 3 1
+f 9 4 2
+f 10 6 3
+f 10 2 6
+f 10 3 7
+f 13 8 11
+f 13 6 4
+f 15 9 2
+f 16 1 3
+f 16 3 11
+f 16 11 8
+f 17 11 3
+f 17 3 6
+f 17 6 13
+f 18 8 13
+f 18 13 4
+f 18 4 9
+f 19 7 1
+f 20 12 15
+f 21 14 5
+f 21 20 14
+f 21 12 20
+f 22 9 15
+f 22 18 9
+f 22 5 18
+f 23 15 2
+f 23 20 15
+f 23 7 20
+f 23 10 7
+f 23 2 10
+f 24 17 13
+f 24 13 11
+f 24 11 17
+f 25 14 8
+f 25 8 18
+f 25 18 5
+f 25 5 14
+f 26 7 19
+f 26 20 7
+f 26 14 20
+f 26 8 14
+f 26 16 8
+f 27 15 12
+f 27 12 21
+f 27 21 5
+f 28 26 19
+f 28 16 26
+f 28 19 1
+f 28 1 16
+f 29 22 15
+f 29 15 27
+f 29 27 5
+f 29 5 22
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_12/collision/model_normalized_collision_14.obj b/objects/objaverse/pear/pear_12/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e48665d9faa4ed6773d8688077dfc646b7aad981
--- /dev/null
+++ b/objects/objaverse/pear/pear_12/collision/model_normalized_collision_14.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.00443152 -0.18303065 -0.23484850
+v 0.00435382 -0.18224173 -0.44549376
+v 0.00443152 -0.01636398 -0.23484850
+v -0.14708364 -0.01636398 -0.23484850
+v -0.16225085 -0.20151193 -0.37396140
+v -0.11402387 -0.01707479 -0.47515834
+v 0.00464691 -0.10412331 -0.48099972
+v -0.14708364 -0.18303065 -0.23484850
+v -0.14186136 -0.01644613 -0.46678825
+v 0.00457850 -0.02655089 -0.47943579
+v -0.09691553 -0.08825326 -0.47373222
+v -0.11004610 -0.07225353 -0.47373222
+v -0.05285070 -0.14481477 -0.46015270
+v -0.13810134 -0.13020453 -0.44233844
+v -0.06849151 -0.17368640 -0.44356580
+v -0.13748315 -0.08698999 -0.45700481
+v -0.05361689 -0.17459920 -0.44537839
+v -0.13812784 -0.17211803 -0.41531587
+v -0.09719618 -0.15958573 -0.44345323
+v -0.11018530 -0.17069169 -0.43061475
+v -0.09500902 -0.12950956 -0.45744312
+v -0.06666122 -0.14400030 -0.45762803
+f 1 3 4
+f 5 2 1
+f 7 1 2
+f 7 3 1
+f 8 5 1
+f 8 1 4
+f 8 4 5
+f 9 4 3
+f 9 3 6
+f 9 5 4
+f 10 7 6
+f 10 6 3
+f 10 3 7
+f 12 9 6
+f 12 6 7
+f 12 7 11
+f 13 11 7
+f 13 7 2
+f 14 12 11
+f 15 2 5
+f 16 14 5
+f 16 5 9
+f 16 9 12
+f 16 12 14
+f 17 15 13
+f 17 13 2
+f 17 2 15
+f 18 5 14
+f 20 15 5
+f 20 5 18
+f 20 19 15
+f 20 18 14
+f 20 14 19
+f 21 19 14
+f 21 14 11
+f 22 13 15
+f 22 15 19
+f 22 19 21
+f 22 21 11
+f 22 11 13
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_12/collision/model_normalized_collision_15.obj b/objects/objaverse/pear/pear_12/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..577e9dc16e300314cb1fcfafbf7b8221adc3887e
--- /dev/null
+++ b/objects/objaverse/pear/pear_12/collision/model_normalized_collision_15.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.05212794 -0.01022231 0.49363739
+v 0.05240779 0.00087900 0.46845448
+v 0.05003706 0.01426822 0.49456593
+v -0.01024776 0.05460377 0.35017028
+v 0.00644274 0.00055915 0.35021187
+v 0.00397102 0.05471736 0.35029531
+v 0.00667794 0.00087900 0.43850351
+v 0.03745360 0.00087900 0.49925560
+v -0.00162945 -0.00724347 0.38553665
+v 0.04299432 -0.00480428 0.49769341
+v 0.04800663 0.01204659 0.49546758
+v 0.00992671 -0.00657073 0.38804370
+v -0.00961937 -0.00011165 0.35608615
+v 0.00316236 -0.00125961 0.42584611
+v -0.00951937 0.04721578 0.35623635
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 6 4 3
+f 6 5 4
+f 6 2 5
+f 8 4 7
+f 10 8 7
+f 10 1 3
+f 11 3 4
+f 11 4 8
+f 11 10 3
+f 11 8 10
+f 12 9 5
+f 12 5 1
+f 12 1 9
+f 13 4 5
+f 13 5 9
+f 14 9 1
+f 14 1 10
+f 14 10 7
+f 14 13 9
+f 15 14 7
+f 15 7 4
+f 15 4 13
+f 15 13 14
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_12/collision/model_normalized_collision_16.obj b/objects/objaverse/pear/pear_12/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c8569fbc23ee65b2340d757351e2604202292b3
--- /dev/null
+++ b/objects/objaverse/pear/pear_12/collision/model_normalized_collision_16.obj
@@ -0,0 +1,162 @@
+# https://github.com/mikedh/trimesh
+v 0.00348438 -0.12878596 0.23206956
+v 0.00264241 -0.12016346 0.25970349
+v -0.11939866 -0.05492500 0.22986133
+v -0.02455805 0.13710082 0.22876610
+v 0.00327655 0.13848820 0.22944026
+v -0.00964171 -0.00013416 0.37118587
+v -0.07496334 -0.10851412 0.22873665
+v 0.00644274 0.00055915 0.35021187
+v -0.08405415 0.04818940 0.31398205
+v 0.00337133 0.06387861 0.34291244
+v -0.10310809 0.09414546 0.22722122
+v -0.09019054 0.10656941 0.22702255
+v -0.03727617 -0.12484628 0.23055253
+v -0.08625183 -0.03952934 0.30932667
+v 0.00292173 -0.09179436 0.31157091
+v 0.00271079 0.10265559 0.30016012
+v -0.02153649 0.04629868 0.35441703
+v -0.10318061 -0.08119655 0.22883233
+v -0.11251351 0.03992409 0.27205360
+v -0.08444124 0.07669119 0.28335954
+v -0.02428692 -0.11889169 0.25924123
+v -0.05102263 0.00058702 0.35474095
+v 0.00298843 -0.07732665 0.32734915
+v 0.00272920 0.13288337 0.24169806
+v -0.00951937 0.04721578 0.35623635
+v -0.04816975 0.07636374 0.32213645
+v -0.08506576 -0.07863920 0.27038231
+v -0.12006492 0.06861533 0.22891598
+v -0.09855553 -0.02585908 0.30157346
+v -0.09872560 0.09072015 0.23984953
+v -0.03599286 -0.12059634 0.24428527
+v -0.04496325 0.02226259 0.35569493
+v -0.04569206 -0.06419602 0.32577207
+v -0.02314729 0.10147053 0.29934416
+v -0.07204125 0.08827826 0.28283660
+v -0.09953991 -0.07827195 0.24237334
+v -0.04758687 -0.09104711 0.29988339
+v -0.11350854 -0.02621952 0.27117705
+v -0.11500915 0.06607866 0.24183101
+v -0.09824671 0.03633542 0.29923496
+v -0.07206743 -0.03611401 0.32410526
+v -0.11527166 -0.05265511 0.24337068
+v -0.08657908 0.10234914 0.23947548
+v -0.07328241 0.05096787 0.32246802
+v -0.02111751 -0.07629363 0.32581395
+v -0.02399840 0.13147746 0.24102871
+v -0.06073527 0.08612049 0.29798154
+v -0.07202949 -0.10496971 0.24233087
+v -0.02101215 -0.09109436 0.31032790
+v -0.03529991 -0.10310290 0.28637445
+v -0.06468031 0.12316311 0.22864322
+v -0.04675220 0.10327939 0.28420575
+v -0.07258435 -0.09053751 0.27029555
+v -0.06193629 0.11823303 0.24103527
+v -0.05029699 0.11662711 0.25600681
+f 7 5 1
+f 8 1 5
+f 10 8 5
+f 10 6 8
+f 12 4 5
+f 12 5 7
+f 12 7 11
+f 13 7 1
+f 15 2 1
+f 15 1 8
+f 16 10 5
+f 18 11 7
+f 18 3 11
+f 21 13 1
+f 21 1 2
+f 21 2 15
+f 23 15 8
+f 23 8 6
+f 24 16 5
+f 24 5 4
+f 25 17 6
+f 25 6 10
+f 26 25 10
+f 26 17 25
+f 28 11 3
+f 29 27 14
+f 30 12 11
+f 31 7 13
+f 31 13 21
+f 32 9 22
+f 32 17 26
+f 32 22 6
+f 32 6 17
+f 33 6 22
+f 34 16 24
+f 34 26 10
+f 34 10 16
+f 36 3 18
+f 37 33 14
+f 37 14 27
+f 38 28 3
+f 38 19 28
+f 38 29 19
+f 39 28 19
+f 39 19 9
+f 39 9 20
+f 39 20 30
+f 39 30 11
+f 39 11 28
+f 40 9 19
+f 40 19 29
+f 40 29 22
+f 40 22 9
+f 41 29 14
+f 41 22 29
+f 41 33 22
+f 41 14 33
+f 42 27 29
+f 42 36 27
+f 42 3 36
+f 42 38 3
+f 42 29 38
+f 43 30 20
+f 43 12 30
+f 43 20 35
+f 44 32 26
+f 44 9 32
+f 44 26 20
+f 44 20 9
+f 45 23 6
+f 45 6 33
+f 45 33 37
+f 46 34 24
+f 46 24 4
+f 47 35 20
+f 47 20 26
+f 48 36 18
+f 48 18 7
+f 48 27 36
+f 48 7 31
+f 49 21 15
+f 49 45 37
+f 49 15 23
+f 49 23 45
+f 50 31 21
+f 50 49 37
+f 50 21 49
+f 50 48 31
+f 50 37 48
+f 51 4 12
+f 51 12 43
+f 52 47 26
+f 52 26 34
+f 52 34 46
+f 52 35 47
+f 53 48 37
+f 53 37 27
+f 53 27 48
+f 54 51 43
+f 54 43 35
+f 54 35 52
+f 55 52 46
+f 55 46 4
+f 55 4 51
+f 55 54 52
+f 55 51 54
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_12/collision/model_normalized_collision_17.obj b/objects/objaverse/pear/pear_12/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0afda2ab358a0681a3d30623f8e2f2a070f13d12
--- /dev/null
+++ b/objects/objaverse/pear/pear_12/collision/model_normalized_collision_17.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.07589890 0.17268404 0.12410390
+v 0.13713003 0.19461878 0.02515839
+v 0.04739519 0.26327560 -0.00036891
+v -0.06862294 0.26276973 -0.00016008
+v -0.11138740 0.17089032 0.10745855
+v 0.12179791 0.23396837 -0.00021074
+v 0.00438922 0.18019272 0.14371077
+v 0.11922952 0.17286759 0.07849091
+v -0.13374586 0.20851913 0.02966999
+v 0.09239331 0.24914593 0.00024350
+v 0.04788863 0.17415618 0.14033229
+v -0.03929533 0.19225754 0.11821277
+v -0.09578363 0.17008333 0.12156767
+v 0.10656148 0.17325576 0.09432972
+v -0.11323950 0.24853817 0.00044474
+v -0.09105347 0.17672011 0.11572507
+f 6 4 3
+f 7 3 4
+f 8 5 2
+f 8 2 6
+f 9 2 5
+f 10 6 3
+f 10 1 6
+f 11 3 7
+f 11 10 3
+f 11 1 10
+f 12 7 4
+f 13 8 1
+f 13 5 8
+f 13 1 11
+f 13 11 7
+f 13 7 12
+f 14 8 6
+f 14 6 1
+f 14 1 8
+f 15 9 5
+f 15 4 6
+f 15 6 2
+f 15 2 9
+f 15 5 13
+f 15 12 4
+f 16 15 13
+f 16 13 12
+f 16 12 15
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_12/collision/model_normalized_collision_18.obj b/objects/objaverse/pear/pear_12/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0ad512a25fc98f4a89e16ec0043f1ef8d84e0ca
--- /dev/null
+++ b/objects/objaverse/pear/pear_12/collision/model_normalized_collision_18.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.20264141 -0.13814035 0.00899491
+v 0.00443152 0.11999966 0.00757575
+v 0.00455395 0.12124727 0.26574583
+v 0.12298879 -0.02634012 0.25774729
+v 0.00443152 -0.13757610 0.00757575
+v 0.00264241 -0.12016346 0.25970349
+v 0.20905729 0.12409136 0.01630028
+v 0.08149572 -0.08872754 0.25787841
+v 0.18252259 -0.02907504 0.12027789
+v 0.10747086 0.06472032 0.25608725
+v 0.05642658 -0.10511766 0.25919640
+v 0.09407284 -0.07638095 0.25750406
+v 0.18315726 0.03883458 0.11969007
+v 0.06907544 0.10488700 0.25647514
+v 0.12362159 0.02369722 0.25739516
+v 0.01764962 -0.11875900 0.25926406
+v 0.09558458 0.10194541 0.22450601
+v 0.13770032 0.01200949 0.22705374
+v 0.12227484 0.05132640 0.24116772
+v 0.05452377 -0.11723524 0.22753883
+v 0.10899852 0.07584055 0.24029798
+v 0.13728775 -0.01419194 0.22698659
+f 5 2 1
+f 6 5 1
+f 6 3 2
+f 6 2 5
+f 7 1 2
+f 7 2 3
+f 9 4 1
+f 9 1 7
+f 11 1 8
+f 11 3 6
+f 11 4 3
+f 12 8 1
+f 12 1 4
+f 12 11 8
+f 12 4 11
+f 13 9 7
+f 14 7 3
+f 14 3 10
+f 15 10 3
+f 15 3 4
+f 15 13 7
+f 16 11 6
+f 16 6 1
+f 17 7 14
+f 18 15 4
+f 18 9 13
+f 18 13 15
+f 19 15 7
+f 19 7 10
+f 19 10 15
+f 20 16 1
+f 20 1 11
+f 20 11 16
+f 21 17 14
+f 21 14 10
+f 21 10 7
+f 21 7 17
+f 22 18 4
+f 22 4 9
+f 22 9 18
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_12/collision/model_normalized_collision_19.obj b/objects/objaverse/pear/pear_12/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c387837b2ec3fc7193f5216fe11c61bdb4e9bdb8
--- /dev/null
+++ b/objects/objaverse/pear/pear_12/collision/model_normalized_collision_19.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.04889500 -0.32448342 -0.23165897
+v 0.17960315 -0.17757596 -0.37992586
+v 0.18624970 -0.18303065 -0.23484850
+v -0.14708364 -0.18303065 -0.23484850
+v -0.12555309 -0.17525781 -0.42006392
+v 0.17905691 -0.27563449 -0.23003521
+v 0.04630319 -0.24261052 -0.38905181
+v -0.16068393 -0.28618912 -0.23381045
+v 0.09039236 -0.17377312 -0.43469911
+v 0.10437573 -0.28407965 -0.29989759
+v -0.14287589 -0.17790351 -0.40891330
+v -0.15495499 -0.29062256 -0.22997675
+v 0.14956844 -0.17525876 -0.40491387
+v -0.03962750 -0.19916452 -0.43032634
+v 0.10748662 -0.30948645 -0.23158243
+v 0.01778998 -0.28603744 -0.33161195
+v 0.15861955 -0.24033509 -0.32953316
+v -0.08178343 -0.31907125 -0.22974742
+v 0.10319204 -0.21482768 -0.39856401
+v 0.03334871 -0.19926300 -0.43044200
+v -0.08272776 -0.17601523 -0.43767096
+v -0.09634703 -0.24137569 -0.37273971
+v 0.13091250 -0.28575364 -0.27368975
+v 0.14914931 -0.29152581 -0.23029982
+v 0.07453357 -0.30075047 -0.28555296
+v 0.17304768 -0.25785304 -0.28487821
+v -0.05431047 -0.31561940 -0.25915233
+v 0.13150938 -0.19976183 -0.39851114
+v 0.11592886 -0.25576464 -0.34235544
+v 0.06077789 -0.22959444 -0.39951316
+v -0.10897881 -0.21388904 -0.39851114
+v -0.05123670 -0.24251031 -0.38877900
+v -0.12270741 -0.28698460 -0.28550919
+v 0.10496291 -0.30116684 -0.25914295
+v 0.03285090 -0.30026919 -0.30083922
+v 0.17321079 -0.22774876 -0.33046342
+v 0.17617708 -0.20106016 -0.35932411
+v 0.16082010 -0.26986233 -0.27342513
+v 0.14642866 -0.18658446 -0.39912838
+v 0.07457124 -0.27057169 -0.34235544
+v 0.14695302 -0.22681075 -0.35692729
+v 0.10111736 -0.22609774 -0.38662500
+v 0.08773059 -0.18394482 -0.42809849
+v -0.13973611 -0.18922922 -0.40312782
+v -0.12478040 -0.18480223 -0.41408346
+v -0.06698130 -0.22931402 -0.39917060
+v 0.01791571 -0.25701107 -0.37362733
+v -0.06650665 -0.27320376 -0.34362993
+v -0.13671817 -0.28485043 -0.27336667
+v -0.13654074 -0.25421539 -0.32954258
+v -0.08066206 -0.30022315 -0.28527288
+v -0.12758233 -0.30505498 -0.23012162
+v 0.04804284 -0.31583134 -0.25921949
+v -0.02408531 -0.30125858 -0.30134448
+v 0.17700775 -0.27180079 -0.24381546
+v 0.17632662 -0.18609086 -0.37465212
+v -0.15863477 -0.28235543 -0.24759070
+v -0.08006599 -0.18618692 -0.43107033
+v -0.02418946 -0.25686174 -0.37351498
+v -0.12287689 -0.24184708 -0.35682950
+v -0.12194378 -0.27040446 -0.31498894
+v -0.08052158 -0.31491146 -0.24352769
+v -0.08045405 -0.28438591 -0.31521172
+v -0.12632046 -0.30089518 -0.24390188
+f 6 3 4
+f 6 2 3
+f 9 5 4
+f 9 4 3
+f 11 8 4
+f 11 4 5
+f 12 6 4
+f 12 4 8
+f 13 9 3
+f 13 3 2
+f 18 6 12
+f 20 7 14
+f 21 5 9
+f 21 20 14
+f 21 9 20
+f 24 1 15
+f 24 18 1
+f 24 6 18
+f 24 23 6
+f 24 15 23
+f 25 15 1
+f 27 1 18
+f 28 9 13
+f 29 23 10
+f 29 26 23
+f 29 17 26
+f 30 7 20
+f 32 14 7
+f 34 23 15
+f 34 15 25
+f 34 25 10
+f 34 10 23
+f 36 26 17
+f 37 2 6
+f 37 6 26
+f 37 26 36
+f 38 23 26
+f 39 28 13
+f 39 13 2
+f 40 29 10
+f 40 10 25
+f 40 16 7
+f 40 7 30
+f 40 35 16
+f 40 25 35
+f 41 17 29
+f 41 28 37
+f 41 37 36
+f 41 36 17
+f 42 30 19
+f 42 40 30
+f 42 29 40
+f 42 19 28
+f 42 41 29
+f 42 28 41
+f 43 30 20
+f 43 20 9
+f 43 19 30
+f 43 28 19
+f 43 9 28
+f 44 11 5
+f 45 5 21
+f 45 21 31
+f 45 44 5
+f 45 31 44
+f 46 14 32
+f 46 32 22
+f 46 22 31
+f 47 32 7
+f 47 7 16
+f 48 22 32
+f 50 33 49
+f 52 18 12
+f 53 35 25
+f 53 25 1
+f 53 1 27
+f 54 16 35
+f 54 48 16
+f 54 51 48
+f 54 27 51
+f 54 53 27
+f 54 35 53
+f 55 38 26
+f 55 26 6
+f 55 6 23
+f 55 23 38
+f 56 37 28
+f 56 28 39
+f 56 39 2
+f 56 2 37
+f 57 8 11
+f 57 11 44
+f 57 44 50
+f 57 50 49
+f 57 49 12
+f 57 12 8
+f 58 46 31
+f 58 31 21
+f 58 21 14
+f 58 14 46
+f 59 47 16
+f 59 16 48
+f 59 48 32
+f 59 32 47
+f 60 31 22
+f 60 22 48
+f 60 50 44
+f 60 44 31
+f 61 48 33
+f 61 33 50
+f 61 60 48
+f 61 50 60
+f 62 51 27
+f 62 27 18
+f 62 18 52
+f 63 51 33
+f 63 33 48
+f 63 48 51
+f 64 49 33
+f 64 33 51
+f 64 62 52
+f 64 51 62
+f 64 52 12
+f 64 12 49
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_12/collision/model_normalized_collision_2.obj b/objects/objaverse/pear/pear_12/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d3d207fe6d8d21a0f77614a695e33945b703767
--- /dev/null
+++ b/objects/objaverse/pear/pear_12/collision/model_normalized_collision_2.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.14859459 -0.29191806 -0.23585960
+v -0.13889387 -0.20335443 -0.39184937
+v -0.14708364 -0.01636398 -0.23484850
+v -0.16158119 0.28544285 -0.23441087
+v -0.33025409 -0.01502142 -0.23047547
+v -0.14186136 -0.01644613 -0.46678825
+v -0.14018915 -0.27619263 -0.28802146
+v -0.18486257 -0.27473125 -0.22971212
+v -0.14075906 -0.04510377 -0.46482110
+v -0.15543369 0.27394170 -0.27575161
+v -0.13942555 -0.25961247 -0.31750124
+v -0.18523100 0.27427377 -0.23029552
+v -0.16662576 -0.26895908 -0.27310204
+v -0.26488310 -0.10164168 -0.34235544
+v -0.26554229 0.09941670 -0.34235544
+v -0.22583984 0.24155498 -0.22880550
+v -0.17857212 -0.25692205 -0.28426610
+v -0.19466566 -0.14203907 -0.39851108
+v -0.23895285 -0.01496626 -0.39999722
+v -0.29763290 -0.14411270 -0.22908350
+v -0.15594242 0.17293798 -0.40507137
+v -0.29852241 0.14213949 -0.22939883
+v -0.17949693 0.25562398 -0.28500698
+v -0.15190130 -0.25460647 -0.31461643
+v -0.15266489 -0.27118662 -0.28513665
+v -0.18281341 -0.27089755 -0.24349237
+v -0.13965935 -0.14368114 -0.43328940
+v -0.23681434 -0.15695737 -0.34235537
+v -0.18291360 -0.04374743 -0.44339531
+v -0.22393158 -0.08785617 -0.39949011
+v -0.28108798 -0.02979084 -0.34288628
+v -0.30916674 -0.07098348 -0.27379745
+v -0.15480652 0.24246531 -0.33290012
+v -0.22421013 0.08551573 -0.39983039
+v -0.23542990 0.18121942 -0.31411109
+v -0.30976627 0.06874042 -0.27399511
+v -0.32913995 0.02763962 -0.23014036
+v -0.20796116 0.23823188 -0.27290393
+v -0.16752303 0.26821277 -0.27370244
+v -0.17873521 -0.22681775 -0.32985130
+v -0.15290133 -0.22617435 -0.35638701
+v -0.22324967 -0.22567224 -0.27301561
+v -0.15221347 -0.18597077 -0.39851111
+v -0.29507104 -0.10160678 -0.28553414
+v -0.15277945 -0.04379866 -0.45887541
+v -0.16807941 -0.08714672 -0.44247234
+v -0.23558413 -0.11303852 -0.37145554
+v -0.28123631 0.02738053 -0.34299788
+v -0.26639411 -0.05664553 -0.35786936
+v -0.31399029 -0.10274970 -0.22993298
+v -0.28006747 -0.07134862 -0.33106727
+v -0.31030055 -0.02968343 -0.28595522
+v -0.15333703 0.12784867 -0.43351377
+v -0.18321411 0.04141365 -0.44356875
+v -0.23551910 0.21159566 -0.27311053
+v -0.27929611 0.13998517 -0.28433100
+v -0.16851720 0.16979821 -0.40032335
+v -0.31458983 0.10050663 -0.23013060
+v -0.18280636 0.27064507 -0.24406367
+v -0.22039421 0.21161755 -0.29903577
+v -0.13990725 -0.23021063 -0.35981372
+v -0.19324944 -0.25640675 -0.25798762
+v -0.25192248 -0.18474499 -0.28468978
+v -0.20913332 -0.21178209 -0.31477595
+f 7 3 1
+f 8 1 3
+f 9 3 2
+f 10 4 3
+f 10 9 6
+f 10 3 9
+f 11 2 3
+f 11 3 7
+f 12 8 3
+f 12 3 4
+f 12 4 10
+f 13 7 1
+f 13 1 8
+f 16 8 12
+f 20 8 16
+f 22 20 16
+f 24 11 7
+f 25 7 13
+f 25 13 17
+f 25 24 7
+f 25 17 24
+f 26 17 13
+f 26 13 8
+f 27 9 2
+f 30 19 29
+f 33 10 6
+f 33 23 10
+f 37 5 20
+f 37 20 22
+f 38 16 12
+f 39 10 23
+f 40 24 17
+f 41 11 24
+f 41 24 40
+f 42 26 8
+f 42 8 20
+f 43 27 2
+f 43 18 27
+f 43 2 41
+f 43 28 18
+f 43 41 40
+f 44 14 28
+f 45 29 6
+f 45 6 9
+f 45 9 29
+f 46 27 18
+f 46 30 29
+f 46 18 30
+f 46 29 9
+f 46 9 27
+f 47 28 14
+f 47 14 30
+f 47 30 18
+f 47 18 28
+f 48 19 31
+f 48 34 19
+f 48 15 34
+f 48 36 15
+f 49 30 14
+f 49 31 19
+f 49 19 30
+f 50 20 5
+f 50 5 32
+f 50 44 20
+f 50 32 44
+f 51 44 32
+f 51 14 44
+f 51 49 14
+f 51 31 49
+f 52 32 5
+f 52 51 32
+f 52 31 51
+f 52 48 31
+f 52 36 48
+f 52 37 36
+f 52 5 37
+f 53 33 6
+f 53 21 33
+f 54 29 19
+f 54 19 34
+f 54 6 29
+f 54 53 6
+f 54 34 53
+f 55 22 16
+f 55 16 38
+f 56 35 15
+f 56 55 35
+f 56 22 55
+f 56 15 36
+f 57 33 21
+f 57 34 15
+f 57 15 35
+f 57 53 34
+f 57 21 53
+f 58 37 22
+f 58 36 37
+f 58 56 36
+f 58 22 56
+f 59 38 12
+f 59 23 38
+f 59 39 23
+f 59 12 10
+f 59 10 39
+f 60 38 23
+f 60 23 33
+f 60 55 38
+f 60 35 55
+f 60 57 35
+f 60 33 57
+f 61 41 2
+f 61 2 11
+f 61 11 41
+f 62 42 17
+f 62 17 26
+f 62 26 42
+f 63 42 20
+f 63 44 28
+f 63 20 44
+f 64 40 17
+f 64 17 42
+f 64 43 40
+f 64 28 43
+f 64 63 28
+f 64 42 63
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_12/collision/model_normalized_collision_20.obj b/objects/objaverse/pear/pear_12/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..417829c1404c82e562dd62a0f15b6a054fd8c788
--- /dev/null
+++ b/objects/objaverse/pear/pear_12/collision/model_normalized_collision_20.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.01743156 -0.06918325 0.33348033
+v 0.07328940 -0.02790565 0.33205438
+v 0.00992671 -0.00657073 0.38804370
+v 0.00410526 0.07126265 0.33686292
+v -0.04925503 -0.05440663 0.33157487
+v 0.05894340 0.05385795 0.33083927
+v 0.04646500 -0.05600590 0.33416711
+v -0.02122287 -0.06149289 0.34130001
+v -0.06848380 -0.00108137 0.33794180
+v 0.07438356 0.02603145 0.33280326
+v 0.00424717 0.01375410 0.38638040
+v 0.03177057 0.06899986 0.33320877
+v 0.04404679 -0.02622334 0.35552641
+v 0.01542106 -0.06190669 0.34168984
+v -0.02339320 -0.06871877 0.33303983
+v -0.00917474 0.00033834 0.38622257
+v 0.05124418 -0.01289581 0.35414171
+v 0.01198693 0.00623545 0.38768390
+v -0.06092275 -0.00073262 0.34519967
+v -0.06490767 -0.02857265 0.33407083
+v 0.04137622 -0.05044871 0.34154045
+v -0.00162945 -0.00724347 0.38553665
+v 0.06653140 -0.02487282 0.33852538
+v 0.05126777 0.01120615 0.35415124
+v 0.00337133 0.06387861 0.34291244
+v -0.05802479 -0.02541683 0.34188920
+v -0.04390071 -0.04908325 0.33977112
+v 0.06782817 0.02257720 0.33880198
+f 5 2 1
+f 6 2 5
+f 7 1 2
+f 10 2 6
+f 12 6 5
+f 12 11 6
+f 12 4 11
+f 13 7 2
+f 14 1 7
+f 14 8 1
+f 14 3 8
+f 15 8 5
+f 15 5 1
+f 15 1 8
+f 17 2 10
+f 17 3 13
+f 18 10 6
+f 18 6 11
+f 18 3 17
+f 18 16 3
+f 18 11 16
+f 19 4 9
+f 19 16 11
+f 20 9 4
+f 20 4 12
+f 20 12 5
+f 21 13 3
+f 21 7 13
+f 21 14 7
+f 21 3 14
+f 22 8 3
+f 22 3 16
+f 23 17 13
+f 23 13 2
+f 23 2 17
+f 24 18 17
+f 24 17 10
+f 25 19 11
+f 25 11 4
+f 25 4 19
+f 26 19 9
+f 26 9 20
+f 26 16 19
+f 27 22 16
+f 27 5 8
+f 27 8 22
+f 27 16 26
+f 27 26 20
+f 27 20 5
+f 28 24 10
+f 28 10 18
+f 28 18 24
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_12/collision/model_normalized_collision_21.obj b/objects/objaverse/pear/pear_12/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74ad98fdd2362022fa22acbc9f44d63659df665f
--- /dev/null
+++ b/objects/objaverse/pear/pear_12/collision/model_normalized_collision_21.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.20538389 -0.12464193 0.01201087
+v 0.23874719 -0.07489215 -0.00058917
+v 0.19556656 -0.04440022 0.08089483
+v 0.20905729 0.12409136 0.01630028
+v 0.22380377 -0.11802600 -0.00122226
+v 0.23918047 0.10284044 -0.00043764
+v 0.19496848 0.11656699 0.03450462
+v 0.19925340 0.05488168 0.07554029
+v 0.22762127 0.11782595 0.00293309
+v 0.19215076 -0.11727440 0.02757743
+v 0.19866079 -0.04163028 0.07606608
+v 0.19602322 0.05799094 0.08091064
+v 0.19514516 0.08635824 0.06490032
+f 5 1 4
+f 5 2 3
+f 5 3 1
+f 6 2 5
+f 8 2 6
+f 9 6 5
+f 9 5 4
+f 10 1 3
+f 10 7 4
+f 10 4 1
+f 11 3 2
+f 11 2 8
+f 12 11 8
+f 12 3 11
+f 12 8 6
+f 13 10 3
+f 13 3 12
+f 13 7 10
+f 13 4 7
+f 13 9 4
+f 13 12 6
+f 13 6 9
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_12/collision/model_normalized_collision_22.obj b/objects/objaverse/pear/pear_12/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69f347fe3846cd6f76d078311471e93b8e47a83b
--- /dev/null
+++ b/objects/objaverse/pear/pear_12/collision/model_normalized_collision_22.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.28949815 0.14879956 -0.23384263
+v 0.27799705 0.14265211 -0.27518340
+v 0.13222840 0.30094208 -0.22911577
+v -0.08238296 0.31862277 -0.23039890
+v -0.16223515 0.15030269 -0.23484850
+v 0.01944965 0.14380742 -0.46571481
+v 0.22042585 0.24262056 -0.22924033
+v 0.00277135 0.26980939 -0.35852977
+v -0.15598275 0.14517147 -0.42236317
+v 0.24420390 0.19629791 -0.27303784
+v 0.27804029 0.17297824 -0.22974432
+v -0.15585226 0.28987629 -0.23057716
+v 0.01778914 0.31390629 -0.27452944
+v -0.05185974 0.19668478 -0.42959422
+v -0.14015113 0.14185539 -0.43419552
+v 0.16162320 0.14252676 -0.41748991
+v 0.14678372 0.23922064 -0.34235537
+v 0.24752696 0.21417660 -0.22893937
+v 0.25868635 0.17073201 -0.28480947
+v -0.11082008 0.26701706 -0.33047352
+v 0.07627762 0.31922648 -0.23059792
+v 0.04565632 0.19696529 -0.42993685
+v -0.09861400 0.14466184 -0.45021263
+v 0.17585593 0.26722100 -0.25819619
+v 0.07510297 0.26989969 -0.34294205
+v 0.21766816 0.23926028 -0.24302060
+v 0.27226813 0.15474145 -0.27313425
+v 0.23586774 0.14442948 -0.34673205
+v -0.12646820 0.30058808 -0.24453998
+v -0.06599247 0.23878086 -0.38775830
+v -0.15254128 0.23822733 -0.34235537
+v -0.05434090 0.29835221 -0.30109863
+v -0.02490069 0.15559713 -0.45883150
+v 0.13120067 0.19921785 -0.39900464
+v 0.10267595 0.15596505 -0.44294122
+v -0.13689325 0.19849169 -0.39851114
+v -0.02523158 0.14380528 -0.46511697
+v 0.10430063 0.29655869 -0.27357477
+v 0.20251114 0.22410202 -0.29935709
+v 0.04804570 0.28313130 -0.33136621
+v 0.05983300 0.23920624 -0.38809111
+v 0.24416669 0.21141890 -0.24271962
+v 0.27420659 0.17092909 -0.24352458
+v 0.26330126 0.14289569 -0.30262041
+v -0.12813832 0.30462007 -0.23077182
+v -0.05253957 0.25430590 -0.37313173
+v -0.15175393 0.28220886 -0.25813765
+v -0.02405664 0.31369428 -0.27446221
+v -0.08118593 0.29952509 -0.28619003
+v 0.01937498 0.15532270 -0.45924437
+v -0.08114230 0.17062409 -0.44233844
+v 0.18816698 0.19478281 -0.35559267
+v 0.10113997 0.23886666 -0.37150941
+v 0.10484118 0.14344221 -0.44825443
+v 0.15848342 0.15510153 -0.41274188
+v 0.10360895 0.21318272 -0.39959785
+v -0.15280265 0.18426367 -0.39928587
+v -0.10769780 0.22421908 -0.38708877
+v 0.10469161 0.26754465 -0.33075369
+v 0.13017924 0.29710838 -0.24289603
+v 0.06061046 0.31448612 -0.25939535
+v 0.17211300 0.23913768 -0.31443241
+v 0.19984706 0.19719877 -0.34235544
+v 0.20254717 0.23929748 -0.27333881
+f 5 2 1
+f 11 5 1
+f 12 3 4
+f 12 5 11
+f 12 9 5
+f 15 2 5
+f 15 5 9
+f 16 2 15
+f 18 11 10
+f 18 12 11
+f 18 7 3
+f 18 3 12
+f 19 10 11
+f 21 13 4
+f 21 4 3
+f 22 14 8
+f 24 3 7
+f 26 7 18
+f 27 2 19
+f 27 1 2
+f 31 9 12
+f 33 14 22
+f 37 6 15
+f 37 15 23
+f 37 33 6
+f 38 21 3
+f 40 8 13
+f 40 38 25
+f 41 22 8
+f 41 40 25
+f 41 8 40
+f 42 26 18
+f 42 18 10
+f 42 10 26
+f 43 27 19
+f 43 19 11
+f 43 11 1
+f 43 1 27
+f 44 28 19
+f 44 19 2
+f 44 2 16
+f 44 16 28
+f 45 29 12
+f 45 12 4
+f 45 4 29
+f 46 8 14
+f 46 14 30
+f 46 32 8
+f 46 30 20
+f 46 20 32
+f 47 29 20
+f 47 20 31
+f 47 31 12
+f 47 12 29
+f 48 13 8
+f 48 8 32
+f 48 4 13
+f 49 29 4
+f 49 48 32
+f 49 4 48
+f 49 32 20
+f 49 20 29
+f 50 33 22
+f 50 6 33
+f 50 35 6
+f 50 22 35
+f 51 14 33
+f 51 23 15
+f 51 15 36
+f 51 37 23
+f 51 33 37
+f 52 34 17
+f 53 17 34
+f 53 41 25
+f 54 6 35
+f 54 16 15
+f 54 15 6
+f 55 35 34
+f 55 54 35
+f 55 16 54
+f 55 34 52
+f 55 52 28
+f 55 28 16
+f 56 35 22
+f 56 34 35
+f 56 22 41
+f 56 53 34
+f 56 41 53
+f 57 36 15
+f 57 15 9
+f 57 9 31
+f 57 31 36
+f 58 36 31
+f 58 31 20
+f 58 20 30
+f 58 51 36
+f 58 30 14
+f 58 14 51
+f 59 38 24
+f 59 24 17
+f 59 25 38
+f 59 53 25
+f 59 17 53
+f 60 38 3
+f 60 3 24
+f 60 24 38
+f 61 13 21
+f 61 21 38
+f 61 40 13
+f 61 38 40
+f 62 17 24
+f 63 39 10
+f 63 10 19
+f 63 19 28
+f 63 28 52
+f 63 62 39
+f 63 52 17
+f 63 17 62
+f 64 26 10
+f 64 10 39
+f 64 24 7
+f 64 7 26
+f 64 62 24
+f 64 39 62
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_12/collision/model_normalized_collision_23.obj b/objects/objaverse/pear/pear_12/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49567afd40e6061f91128c7e2979101da96a9d95
--- /dev/null
+++ b/objects/objaverse/pear/pear_12/collision/model_normalized_collision_23.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.13061807 0.11169032 0.15256343
+v 0.22762127 0.11782595 0.00293309
+v 0.20899196 0.15922414 -0.00213242
+v 0.12509822 0.22503297 0.00647143
+v 0.12564364 0.11999966 0.00757575
+v 0.14968360 0.21841951 -0.00201137
+v 0.22450065 0.13130129 -0.00063316
+v 0.22093419 0.11426585 0.01048087
+v 0.11596267 0.13862344 0.13624900
+v 0.11798533 0.12591209 0.15300728
+v 0.12155047 0.21835080 0.01443978
+v 0.12275790 0.11764353 0.15724002
+f 6 5 4
+f 6 3 5
+f 7 1 2
+f 7 3 1
+f 7 5 3
+f 7 2 5
+f 8 5 2
+f 8 2 1
+f 8 1 5
+f 10 3 6
+f 10 6 4
+f 10 4 9
+f 10 9 5
+f 11 9 4
+f 11 4 5
+f 11 5 9
+f 12 1 3
+f 12 3 10
+f 12 10 5
+f 12 5 1
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_12/collision/model_normalized_collision_24.obj b/objects/objaverse/pear/pear_12/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0c803f58e77165ccf552e517e0dffecd03824ed
--- /dev/null
+++ b/objects/objaverse/pear/pear_12/collision/model_normalized_collision_24.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.10271591 0.11058204 0.19915051
+v 0.12564364 0.11999966 0.00757575
+v 0.13713003 0.19461878 0.02515839
+v 0.00308472 0.16745507 0.16696283
+v 0.00443152 0.11999966 0.00757575
+v 0.04664357 0.11390782 0.26193604
+v 0.11808131 0.11382520 0.16939202
+v 0.00443152 0.18060572 0.00757575
+v 0.09649153 0.11819533 0.19483220
+v 0.04419716 0.16210271 0.16387398
+v 0.00455395 0.12124727 0.26574583
+v 0.07002557 0.16174932 0.14792492
+v 0.00272920 0.13288337 0.24169806
+v 0.01776370 0.13168607 0.24112743
+v 0.04454319 0.11739210 0.25639917
+v 0.00335153 0.12414582 0.25990888
+f 5 2 1
+f 6 5 1
+f 7 1 2
+f 7 2 3
+f 7 3 1
+f 8 3 2
+f 8 2 5
+f 8 5 4
+f 8 4 3
+f 9 6 1
+f 9 1 3
+f 9 3 6
+f 10 3 4
+f 11 5 6
+f 12 6 3
+f 12 3 10
+f 13 4 5
+f 14 13 11
+f 14 10 4
+f 14 4 13
+f 15 12 10
+f 15 6 12
+f 15 10 14
+f 15 14 11
+f 15 11 6
+f 16 13 5
+f 16 5 11
+f 16 11 13
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_12/collision/model_normalized_collision_25.obj b/objects/objaverse/pear/pear_12/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..157724e6436de069a4f43f47a2563ca68baa4f26
--- /dev/null
+++ b/objects/objaverse/pear/pear_12/collision/model_normalized_collision_25.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.22797911 -0.15831324 -0.03044508
+v -0.23799273 -0.10727307 -0.23484850
+v -0.23743607 -0.10686355 0.00707259
+v -0.27193841 -0.10032987 -0.03035421
+v -0.28303711 -0.16765989 -0.23470178
+v -0.24527540 -0.10234829 0.00117263
+v -0.25172278 -0.13719871 -0.03517684
+v -0.22854425 -0.12855228 -0.00171139
+v -0.26465530 -0.18976050 -0.24572904
+v -0.30639291 -0.11423356 -0.24241242
+v -0.27565584 -0.16250820 -0.10167709
+v -0.23670950 -0.12548528 -0.00727974
+v -0.26659142 -0.12703305 -0.04849501
+v -0.25523039 -0.15563686 -0.06284497
+v -0.23708599 -0.15253886 -0.03510387
+f 6 3 2
+f 6 2 4
+f 7 6 4
+f 7 3 6
+f 8 1 2
+f 8 2 3
+f 9 2 1
+f 10 4 2
+f 10 9 5
+f 10 2 9
+f 11 5 9
+f 11 9 1
+f 11 10 5
+f 11 4 10
+f 12 7 1
+f 12 1 8
+f 12 8 3
+f 12 3 7
+f 13 11 7
+f 13 7 4
+f 13 4 11
+f 14 11 1
+f 14 7 11
+f 15 14 1
+f 15 1 7
+f 15 7 14
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_12/collision/model_normalized_collision_26.obj b/objects/objaverse/pear/pear_12/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64d0909d6d9e56c5c767488ca3b4d1e806b361e0
--- /dev/null
+++ b/objects/objaverse/pear/pear_12/collision/model_normalized_collision_26.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.11117734 -0.18431260 -0.41836587
+v 0.13670167 -0.02055751 -0.46759212
+v 0.06503758 -0.01636398 -0.41666668
+v 0.10412114 -0.17111135 -0.43117100
+v 0.10561163 -0.14678071 -0.44512261
+v 0.06789206 -0.19244058 -0.42816152
+v 0.06354687 -0.17811640 -0.44096664
+v 0.09089469 -0.15956140 -0.44410046
+v 0.06153601 -0.01770777 -0.48725718
+v 0.05788108 -0.07314772 -0.47768105
+v 0.10878639 -0.01291173 -0.47784666
+v 0.06144203 -0.13170012 -0.46454213
+v 0.06314812 -0.16165039 -0.45000237
+v 0.08635477 -0.13154392 -0.45805797
+v 0.10381580 -0.10330874 -0.46056731
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 1 3
+f 7 4 1
+f 7 1 6
+f 7 6 3
+f 8 5 4
+f 8 4 7
+f 10 7 3
+f 10 3 9
+f 11 9 3
+f 11 3 2
+f 11 10 9
+f 12 7 10
+f 13 12 8
+f 13 8 7
+f 13 7 12
+f 14 5 8
+f 14 8 12
+f 15 12 10
+f 15 10 11
+f 15 14 12
+f 15 11 2
+f 15 2 5
+f 15 5 14
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_12/collision/model_normalized_collision_27.obj b/objects/objaverse/pear/pear_12/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3471f2d90a971eaf7a8a62c41554f26f29def42e
--- /dev/null
+++ b/objects/objaverse/pear/pear_12/collision/model_normalized_collision_27.obj
@@ -0,0 +1,117 @@
+# https://github.com/mikedh/trimesh
+v 0.00401681 -0.11840587 0.26338661
+v 0.11150968 -0.05229852 0.25901410
+v 0.00350986 0.08042383 0.32947888
+v 0.00335153 0.12414582 0.25990888
+v 0.04408611 -0.11068349 0.26086492
+v 0.11285448 0.05241105 0.25871845
+v 0.00287573 -0.10734814 0.28883341
+v 0.03040192 0.12081422 0.25809438
+v 0.08317397 -0.02559802 0.32528824
+v 0.00271079 0.10265559 0.30016012
+v 0.00277873 0.11830887 0.27227984
+v 0.02932163 -0.10343079 0.28690660
+v 0.09693520 0.07840995 0.25718378
+v 0.09340464 -0.02570779 0.31592614
+v 0.00298843 -0.07732665 0.32734915
+v 0.03973979 0.08602340 0.31310821
+v 0.01777674 0.10157308 0.29949809
+v 0.02871190 0.11522185 0.27049314
+v 0.10626152 -0.03862234 0.28438261
+v 0.05726242 -0.07768681 0.30968854
+v 0.01540054 -0.09131837 0.31066014
+v 0.08465539 0.09168705 0.25734699
+v 0.08236599 0.03740534 0.32279362
+v 0.10671670 0.03839323 0.28421544
+v 0.06797363 -0.05174089 0.32379081
+v 0.04212755 -0.10603049 0.27231099
+v 0.07127909 -0.09533792 0.26047084
+v 0.09202600 -0.04969267 0.29950864
+v 0.00292173 -0.09179436 0.31157091
+v 0.01550920 -0.07658134 0.32620387
+v 0.08102767 0.08721875 0.26984880
+v 0.04298635 0.07692269 0.32315318
+v 0.09275641 0.02394127 0.31547333
+v 0.09186093 0.04956950 0.29865391
+v 0.06903481 -0.09161050 0.27190935
+v 0.10750338 -0.04960007 0.27242595
+v 0.05459408 -0.06358767 0.32350555
+v 0.09250863 0.07483163 0.26981805
+v 0.10794099 0.04972840 0.27139844
+v 0.07918876 -0.07592211 0.28524789
+f 8 5 1
+f 8 1 4
+f 11 4 1
+f 11 1 7
+f 11 7 10
+f 12 7 1
+f 12 1 5
+f 13 2 5
+f 13 5 8
+f 13 6 2
+f 15 9 3
+f 15 3 10
+f 17 11 10
+f 17 10 3
+f 17 3 16
+f 18 8 4
+f 18 4 11
+f 18 11 17
+f 18 17 16
+f 19 2 6
+f 21 7 12
+f 21 12 20
+f 22 13 8
+f 23 3 9
+f 24 19 6
+f 24 14 19
+f 25 14 9
+f 26 20 12
+f 26 12 5
+f 27 5 2
+f 28 25 20
+f 28 19 14
+f 28 14 25
+f 29 21 15
+f 29 7 21
+f 29 15 10
+f 29 10 7
+f 30 21 20
+f 30 15 21
+f 30 25 9
+f 30 9 15
+f 31 18 16
+f 31 22 8
+f 31 8 18
+f 32 16 3
+f 32 3 23
+f 32 31 16
+f 32 23 31
+f 33 23 9
+f 33 9 14
+f 33 24 23
+f 33 14 24
+f 34 23 24
+f 34 31 23
+f 35 26 5
+f 35 5 27
+f 35 20 26
+f 36 2 19
+f 36 19 28
+f 37 30 20
+f 37 20 25
+f 37 25 30
+f 38 13 22
+f 38 22 31
+f 38 31 34
+f 39 34 24
+f 39 24 6
+f 39 38 34
+f 39 6 13
+f 39 13 38
+f 40 28 20
+f 40 20 35
+f 40 36 28
+f 40 35 27
+f 40 27 2
+f 40 2 36
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_12/collision/model_normalized_collision_28.obj b/objects/objaverse/pear/pear_12/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dedc3d4e3a2e7855fed7a2a2c0d12e9c1af6d77a
--- /dev/null
+++ b/objects/objaverse/pear/pear_12/collision/model_normalized_collision_28.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.23132104 0.07306584 -0.39132539
+v 0.18021360 0.05756256 -0.43959624
+v 0.11820921 0.14127698 -0.44387796
+v 0.11049213 0.15030269 -0.35606062
+v 0.11049213 0.05939360 -0.35606062
+v 0.20110956 0.16249787 -0.37045374
+v 0.10983222 0.05913835 -0.47530072
+v 0.10484118 0.14344221 -0.44825443
+v 0.17608866 0.12681223 -0.41645244
+v 0.14697317 0.11263531 -0.44309535
+v 0.13442589 0.05663111 -0.46428595
+v 0.10406429 0.11383422 -0.46260753
+v 0.17873438 0.14413502 -0.40530185
+v 0.17395254 0.09827518 -0.43067016
+v 0.16221306 0.08494743 -0.44400463
+v 0.11637484 0.11239297 -0.45762077
+v 0.14451201 0.14091850 -0.42967797
+v 0.16427507 0.05732383 -0.44884592
+v 0.13180152 0.08488944 -0.45893491
+v 0.15897747 0.12520398 -0.42864050
+f 5 2 1
+f 6 5 1
+f 6 4 5
+f 8 6 3
+f 8 4 6
+f 8 5 4
+f 11 2 5
+f 11 5 7
+f 12 7 5
+f 12 5 8
+f 12 8 3
+f 13 6 1
+f 13 1 9
+f 14 9 1
+f 14 1 2
+f 14 10 9
+f 15 14 2
+f 15 10 14
+f 16 12 3
+f 16 3 10
+f 17 3 6
+f 17 6 13
+f 17 10 3
+f 17 13 9
+f 18 15 2
+f 18 2 11
+f 18 11 15
+f 19 15 11
+f 19 11 7
+f 19 7 12
+f 19 12 16
+f 19 16 10
+f 19 10 15
+f 20 17 9
+f 20 9 10
+f 20 10 17
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_12/collision/model_normalized_collision_29.obj b/objects/objaverse/pear/pear_12/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40225680bc11619bc28a90914b904312e497dd9f
--- /dev/null
+++ b/objects/objaverse/pear/pear_12/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.12754260 -0.21492989 -0.38314232
+v 0.13670167 -0.02055751 -0.46759212
+v 0.11049213 -0.01636398 -0.35606062
+v 0.00443152 -0.01636398 -0.35606062
+v 0.00588495 -0.19778777 -0.43400072
+v -0.00194984 -0.00002589 -0.45855823
+v 0.00443152 -0.18303065 -0.35606062
+v 0.11117734 -0.18431260 -0.41836587
+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_12/collision/model_normalized_collision_3.obj b/objects/objaverse/pear/pear_12/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e135ff6601606283c66b8ed7093b1c578a9a4eec
--- /dev/null
+++ b/objects/objaverse/pear/pear_12/collision/model_normalized_collision_3.obj
@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
+v 0.18624970 -0.01636398 -0.35606062
+v 0.23132104 0.07306584 -0.39132539
+v 0.11049213 0.15030269 -0.35606062
+v -0.18778315 0.17126941 -0.38080618
+v -0.09992821 -0.01819506 -0.47745503
+v 0.06033426 0.12337717 -0.47297711
+v -0.16223515 -0.01636398 -0.35606062
+v 0.12086217 -0.01533479 -0.47478942
+v 0.11863015 0.16021888 -0.43164758
+v -0.08288382 0.10046915 -0.47383969
+v 0.19842236 -0.01756286 -0.43096490
+v -0.15367180 -0.01552056 -0.46088869
+v 0.07445943 0.02181780 -0.49214451
+v -0.06684131 0.14191227 -0.45955944
+v 0.14618603 0.05643274 -0.45828208
+v -0.11056837 0.07122460 -0.47373222
+v -0.02166188 0.08328102 -0.48925149
+v 0.07500470 0.14055910 -0.45918020
+v -0.12505876 0.14192749 -0.44233844
+v 0.14815987 -0.01511809 -0.46214290
+v 0.19453779 0.06190777 -0.42679109
+v 0.11994696 0.04251402 -0.47385521
+v 0.10131530 0.08511350 -0.47403612
+v -0.11358253 0.01646605 -0.47462975
+v 0.04784473 0.07363875 -0.49049188
+v 0.00464870 0.12919078 -0.47406666
+v -0.05363553 0.11524947 -0.47475396
+v -0.03350512 0.07130963 -0.49104901
+v -0.09524598 0.12737335 -0.45853925
+v -0.15279306 0.11225073 -0.44233844
+v 0.10262993 0.12560615 -0.45797980
+v 0.07330381 0.04282661 -0.48929534
+v 0.00523923 0.08398914 -0.48864361
+v -0.02541617 0.01637133 -0.49017785
+v -0.15294186 0.04142298 -0.45878150
+v -0.15019726 0.14042344 -0.42876573
+v 0.10484118 0.14344221 -0.44825443
+v -0.03838256 0.03072048 -0.48959751
+v -0.13770404 0.08468312 -0.45747112
+f 1 2 3
+f 7 1 3
+f 7 3 4
+f 9 3 2
+f 9 4 3
+f 11 7 5
+f 11 1 7
+f 11 5 8
+f 11 2 1
+f 12 7 4
+f 12 5 7
+f 13 8 5
+f 14 4 9
+f 18 14 9
+f 19 4 14
+f 19 10 16
+f 20 15 11
+f 20 11 8
+f 21 2 11
+f 21 11 15
+f 21 9 2
+f 22 8 13
+f 22 20 8
+f 22 15 20
+f 23 15 22
+f 23 22 13
+f 24 5 12
+f 24 12 16
+f 25 6 23
+f 26 6 25
+f 26 18 6
+f 26 14 18
+f 27 10 14
+f 27 26 17
+f 27 14 26
+f 28 16 10
+f 28 27 17
+f 28 10 27
+f 28 24 16
+f 28 5 24
+f 28 25 13
+f 28 17 25
+f 29 19 14
+f 29 14 10
+f 29 10 19
+f 30 19 16
+f 31 21 15
+f 31 15 23
+f 31 9 21
+f 31 23 6
+f 32 25 23
+f 32 23 13
+f 32 13 25
+f 33 26 25
+f 33 25 17
+f 33 17 26
+f 34 28 13
+f 34 13 5
+f 35 16 12
+f 35 12 4
+f 35 4 30
+f 36 30 4
+f 36 4 19
+f 36 19 30
+f 37 18 9
+f 37 9 31
+f 37 31 6
+f 37 6 18
+f 38 34 5
+f 38 5 28
+f 38 28 34
+f 39 35 30
+f 39 30 16
+f 39 16 35
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_12/collision/model_normalized_collision_30.obj b/objects/objaverse/pear/pear_12/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5397d314ab941fb9dee1d427958943f75f1af88
--- /dev/null
+++ b/objects/objaverse/pear/pear_12/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00443152 -0.01636398 0.00757575
+v 0.00443152 -0.01636398 -0.35606062
+v 0.00443152 0.15030269 0.00757575
+v -0.18178625 0.16424376 0.02475212
+v -0.16223515 -0.01636398 -0.35606062
+v -0.18778315 0.17126941 -0.38080618
+v -0.16223515 -0.01636398 0.00757575
+v 0.00443152 0.15030269 -0.35606062
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 4 3
+f 6 2 5
+f 7 5 1
+f 7 1 4
+f 7 6 5
+f 7 4 6
+f 8 6 3
+f 8 3 2
+f 8 2 6
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_12/collision/model_normalized_collision_31.obj b/objects/objaverse/pear/pear_12/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2424ce3cdf5355bbc6a31da078b5a372cb035da
--- /dev/null
+++ b/objects/objaverse/pear/pear_12/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00506873 -0.22701356 0.03077842
+v 0.00443152 -0.19818216 -0.23484850
+v 0.00443152 -0.01636398 0.00757575
+v -0.16223515 -0.01636398 0.00757575
+v -0.16223515 -0.19818216 -0.23484850
+v -0.16223515 -0.01636398 -0.23484850
+v 0.00443152 -0.01636398 -0.23484850
+v -0.15776912 -0.19338585 0.00244343
+f 1 3 4
+f 5 2 1
+f 6 4 3
+f 6 5 4
+f 6 2 5
+f 7 1 2
+f 7 3 1
+f 7 6 3
+f 7 2 6
+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_12/collision/model_normalized_collision_4.obj b/objects/objaverse/pear/pear_12/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21deb3de2114361d3d81f4819afc564224fb722f
--- /dev/null
+++ b/objects/objaverse/pear/pear_12/collision/model_normalized_collision_4.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.17891261 -0.27663858 -0.13314221
+v 0.31986558 -0.07154561 -0.22895380
+v 0.26013795 -0.11469719 -0.03406662
+v 0.19154710 0.15466774 0.01437771
+v 0.17789140 0.11553207 -0.42073949
+v 0.32135351 0.06960741 -0.11711337
+v 0.17860506 -0.16041786 0.01191767
+v 0.27589158 -0.18606915 -0.13295189
+v 0.17824258 -0.14615635 -0.40455815
+v 0.26249822 0.10134956 -0.02250843
+v 0.29009789 0.14102148 -0.24378919
+v 0.17873438 0.14413502 -0.40530185
+v 0.23069784 -0.21389640 -0.08127523
+v 0.31854504 -0.05942083 -0.11875154
+v 0.24448777 -0.01463847 -0.38833431
+v 0.17709308 -0.23247934 -0.31842207
+v 0.19876732 -0.12095817 0.01979415
+v 0.29171049 0.14187406 -0.09247026
+v 0.32047933 0.06930161 -0.22915040
+v 0.17812441 -0.21704271 -0.03104732
+v 0.23362107 -0.24086215 -0.14977912
+v 0.26439259 -0.18665537 -0.09250406
+v 0.28862401 -0.02879814 -0.04951959
+v 0.31986791 -0.08715818 -0.14872447
+v 0.17815649 -0.07451498 -0.43708335
+v 0.24449735 -0.11306532 -0.35634659
+v 0.27269652 0.08374686 -0.33049236
+v 0.23218936 -0.15941536 -0.02528567
+v 0.24731240 0.10100425 -0.00776643
+v 0.18608886 -0.13741912 0.02249984
+v 0.30408969 0.08448496 -0.07986986
+v 0.30455934 0.14065263 -0.17208364
+v 0.24658769 0.14209354 -0.02510905
+v 0.17898348 -0.26178374 -0.09160411
+v 0.17905691 -0.27563449 -0.23003521
+v 0.27529589 -0.18528063 -0.21749111
+v 0.30464007 -0.08722400 -0.09251782
+v 0.24442803 -0.22926273 -0.14953684
+v 0.23116287 -0.22781755 -0.10416527
+v 0.24661298 -0.07302512 -0.00792553
+v 0.32023850 0.04382287 -0.10203176
+v 0.17843506 0.07217457 -0.43742364
+v 0.17747448 -0.11773413 -0.42018688
+v 0.27536850 -0.04499837 -0.34331437
+v 0.22967929 -0.08691111 -0.38807590
+v 0.23274728 -0.15684555 -0.34262306
+v 0.22945681 0.14100278 -0.35644084
+v 0.28770012 0.11400502 -0.28495926
+v 0.23301371 -0.11471804 -0.00783882
+v 0.24631317 -0.16894521 -0.05061849
+v 0.19178689 -0.19980155 -0.02408359
+v 0.20367976 -0.14317731 0.00608482
+v 0.27346533 0.12506725 -0.04995123
+v 0.30356187 0.11463780 -0.09247845
+v 0.28913709 0.06938941 -0.04944132
+v 0.30345364 0.12647642 -0.22818535
+v 0.31958447 0.09937819 -0.17224077
+v 0.22136718 0.14477816 -0.00420393
+v 0.18951782 -0.21175034 -0.03489550
+v 0.23363935 -0.24202520 -0.17200806
+v 0.30543889 -0.12874319 -0.21804152
+v 0.21785204 -0.22675771 -0.27341503
+v 0.28860260 -0.11728621 -0.08007307
+v 0.27485644 -0.05781857 -0.03390416
+f 12 7 4
+f 12 5 7
+f 12 4 11
+f 19 6 2
+f 20 16 1
+f 20 7 5
+f 20 5 16
+f 24 2 6
+f 29 4 17
+f 30 17 4
+f 30 4 7
+f 32 11 4
+f 32 4 18
+f 33 18 4
+f 33 29 10
+f 34 20 1
+f 35 1 16
+f 37 24 14
+f 37 22 8
+f 37 8 24
+f 38 8 22
+f 38 36 8
+f 39 22 13
+f 39 38 22
+f 39 21 38
+f 39 13 34
+f 39 34 1
+f 39 1 21
+f 40 29 17
+f 41 24 6
+f 41 14 24
+f 41 37 14
+f 41 23 37
+f 42 25 5
+f 42 15 25
+f 42 27 15
+f 43 16 5
+f 43 5 25
+f 43 9 16
+f 44 15 27
+f 44 27 19
+f 44 19 2
+f 45 25 15
+f 45 44 26
+f 45 15 44
+f 45 43 25
+f 45 9 43
+f 46 16 9
+f 46 45 26
+f 46 9 45
+f 47 12 11
+f 47 5 12
+f 47 42 5
+f 47 27 42
+f 48 19 27
+f 48 47 11
+f 48 27 47
+f 49 28 3
+f 49 17 28
+f 49 40 17
+f 49 3 40
+f 50 3 28
+f 50 13 22
+f 51 7 20
+f 51 50 28
+f 51 13 50
+f 51 30 7
+f 52 28 17
+f 52 17 30
+f 52 51 28
+f 52 30 51
+f 53 33 10
+f 53 18 33
+f 54 18 53
+f 54 32 18
+f 54 41 6
+f 54 31 41
+f 55 41 31
+f 55 23 41
+f 55 53 10
+f 55 54 53
+f 55 31 54
+f 56 11 32
+f 56 48 11
+f 56 19 48
+f 57 6 19
+f 57 56 32
+f 57 19 56
+f 57 54 6
+f 57 32 54
+f 58 33 4
+f 58 4 29
+f 58 29 33
+f 59 34 13
+f 59 20 34
+f 59 51 20
+f 59 13 51
+f 60 21 1
+f 60 1 35
+f 60 38 21
+f 60 36 38
+f 61 24 8
+f 61 8 36
+f 61 2 24
+f 61 36 46
+f 61 46 26
+f 61 44 2
+f 61 26 44
+f 62 35 16
+f 62 46 36
+f 62 16 46
+f 62 60 35
+f 62 36 60
+f 63 37 3
+f 63 22 37
+f 63 50 22
+f 63 3 50
+f 64 37 23
+f 64 3 37
+f 64 40 3
+f 64 10 29
+f 64 29 40
+f 64 55 10
+f 64 23 55
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_12/collision/model_normalized_collision_5.obj b/objects/objaverse/pear/pear_12/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28f7bcd33c8a9af3706efb79aa2ef024bcff0230
--- /dev/null
+++ b/objects/objaverse/pear/pear_12/collision/model_normalized_collision_5.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.25054636 0.14419932 -0.03003772
+v 0.29393159 0.14307063 -0.23000893
+v 0.12018193 0.31411610 -0.14744021
+v -0.08045254 0.32741045 -0.14783215
+v -0.27916068 0.14790669 -0.10019269
+v 0.01772317 0.32838816 -0.22886261
+v 0.04512889 0.27093072 -0.00759730
+v 0.23249257 0.23886171 -0.13298986
+v -0.26953756 0.14252946 -0.07650011
+v 0.18769923 0.26997044 -0.22803521
+v 0.01788962 0.32997289 -0.11688783
+v -0.26558781 0.18530792 -0.25221625
+v 0.29558323 0.14395346 -0.11613313
+v 0.14674976 0.25418077 -0.03321947
+v 0.28012825 0.14378409 -0.07598588
+v -0.21480299 0.14618757 0.00133480
+v 0.10425826 0.31157058 -0.22807419
+v 0.23253626 0.23891496 -0.20216515
+v 0.17608238 0.28279614 -0.13279468
+v -0.08059897 0.32789327 -0.17210690
+v 0.07450967 0.32854991 -0.17217919
+v -0.06565547 0.29830818 -0.04727392
+v -0.18271820 0.28432434 -0.14807612
+v 0.22136718 0.14477816 -0.00420393
+v 0.21866960 0.24046706 -0.09245973
+v 0.05958769 0.31393551 -0.07810124
+v 0.14625527 0.29883802 -0.20237744
+v 0.27304666 0.18372093 -0.22765182
+v 0.21807199 0.25490387 -0.17197636
+v -0.02399071 0.32817618 -0.22879539
+v -0.02414474 0.32974012 -0.11693020
+v -0.11182913 0.25527747 -0.00672092
+v -0.20761544 0.25656923 -0.11993761
+v -0.13803399 0.30003866 -0.22879260
+v -0.12642802 0.31397623 -0.17224291
+v -0.13710631 0.29919556 -0.10268786
+v 0.14585778 0.22890363 -0.00786769
+v 0.09084005 0.25651348 -0.00690578
+v -0.24051093 0.14383799 -0.03063686
+v 0.21793303 0.18440977 -0.02525826
+v 0.13089203 0.29842047 -0.09244934
+v 0.18690408 0.26898570 -0.10273825
+v 0.27573046 0.17173370 -0.09246685
+v 0.03318210 0.28551673 -0.02228634
+v 0.07436144 0.32806126 -0.14767477
+v 0.17612831 0.28288205 -0.20228125
+v 0.11987997 0.31312060 -0.18730012
+v 0.28860338 0.17052569 -0.17198744
+v 0.21777755 0.25454510 -0.14801367
+v 0.25974583 0.21176982 -0.17186694
+v -0.06567913 0.31353756 -0.07753775
+v -0.06612920 0.26985355 -0.00729670
+v -0.20947653 0.25522992 -0.22820293
+v -0.26764735 0.17177431 -0.10477976
+v -0.17684880 0.25611468 -0.06395415
+v -0.09637327 0.31479482 -0.22913703
+v -0.18256269 0.28325580 -0.18722263
+v -0.12626306 0.31346685 -0.14760589
+v -0.11147723 0.26950894 -0.02275304
+v -0.18090617 0.27218420 -0.09243592
+v 0.11674498 0.26989442 -0.03287921
+v 0.20240352 0.22395661 -0.05001253
+v 0.21959030 0.15547232 -0.00797879
+v 0.14620922 0.29872963 -0.13263933
+f 9 5 2
+f 12 2 5
+f 12 10 2
+f 15 9 2
+f 15 1 9
+f 15 2 13
+f 17 12 6
+f 17 10 12
+f 21 6 11
+f 21 17 6
+f 24 9 1
+f 27 10 17
+f 28 2 10
+f 28 10 18
+f 29 18 10
+f 30 11 6
+f 30 6 12
+f 31 20 4
+f 31 30 20
+f 31 11 30
+f 35 4 20
+f 38 7 16
+f 38 16 24
+f 38 24 37
+f 39 24 16
+f 39 9 24
+f 42 19 41
+f 42 41 14
+f 42 14 25
+f 43 15 13
+f 43 8 25
+f 43 25 40
+f 43 40 1
+f 43 1 15
+f 44 26 22
+f 45 21 11
+f 45 11 26
+f 45 3 21
+f 45 41 3
+f 45 26 41
+f 46 27 3
+f 46 3 19
+f 46 19 29
+f 46 29 10
+f 46 10 27
+f 47 21 3
+f 47 3 27
+f 47 27 17
+f 47 17 21
+f 48 13 2
+f 48 2 28
+f 48 43 13
+f 49 29 19
+f 49 19 42
+f 49 42 25
+f 49 25 8
+f 50 18 29
+f 50 8 43
+f 50 43 48
+f 50 48 28
+f 50 28 18
+f 50 49 8
+f 50 29 49
+f 51 31 4
+f 51 22 26
+f 51 26 11
+f 51 11 31
+f 51 4 36
+f 52 32 16
+f 52 16 7
+f 52 7 44
+f 52 44 22
+f 53 33 23
+f 53 12 33
+f 53 34 12
+f 54 33 12
+f 54 12 5
+f 54 5 9
+f 54 9 39
+f 55 16 32
+f 55 39 16
+f 55 54 39
+f 56 30 12
+f 56 12 34
+f 56 20 30
+f 56 35 20
+f 56 34 35
+f 57 35 34
+f 57 23 35
+f 57 53 23
+f 57 34 53
+f 58 35 23
+f 58 23 36
+f 58 36 4
+f 58 4 35
+f 59 51 36
+f 59 22 51
+f 59 52 22
+f 59 32 52
+f 59 55 32
+f 60 36 23
+f 60 23 33
+f 60 33 54
+f 60 54 55
+f 60 59 36
+f 60 55 59
+f 61 38 37
+f 61 37 14
+f 61 14 41
+f 61 41 26
+f 61 26 44
+f 61 44 7
+f 61 7 38
+f 62 40 25
+f 62 25 14
+f 62 14 37
+f 62 37 40
+f 63 40 37
+f 63 37 24
+f 63 24 1
+f 63 1 40
+f 64 41 19
+f 64 19 3
+f 64 3 41
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_12/collision/model_normalized_collision_6.obj b/objects/objaverse/pear/pear_12/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2743f2a1457334f869dc8e3ad80bc8c7a6a2b1da
--- /dev/null
+++ b/objects/objaverse/pear/pear_12/collision/model_normalized_collision_6.obj
@@ -0,0 +1,186 @@
+# https://github.com/mikedh/trimesh
+v 0.06393205 -0.33116455 -0.14751769
+v 0.21758153 -0.23636019 -0.25042824
+v 0.16573259 -0.19082886 -0.00159703
+v -0.15776912 -0.19338585 0.00244343
+v -0.16223515 -0.19818216 -0.23484850
+v 0.05751827 -0.28549627 -0.03436298
+v 0.17466389 -0.26942755 -0.10536065
+v 0.04981313 -0.31865374 -0.24976527
+v -0.13488708 -0.30243405 -0.13514446
+v 0.18273746 -0.19336880 -0.01358012
+v 0.05909740 -0.25915510 -0.00871824
+v 0.17581415 -0.28561079 -0.17250191
+v 0.07258785 -0.31622930 -0.09248224
+v -0.15495499 -0.29062256 -0.22997675
+v -0.05276923 -0.27180468 -0.02271880
+v 0.17515158 -0.25642969 -0.08082792
+v -0.05297414 -0.25769337 -0.00665607
+v 0.10416378 -0.25839247 -0.02434178
+v 0.17527632 -0.28465055 -0.15024031
+v 0.12292148 -0.29914998 -0.24817839
+v -0.03822583 -0.31639270 -0.09248397
+v -0.14942124 -0.28642406 -0.12031470
+v -0.05441984 -0.33188162 -0.17279425
+v -0.12043714 -0.24371842 -0.02189218
+v -0.02215427 -0.28548640 -0.03296748
+v 0.14601420 -0.21450527 -0.00947833
+v 0.14535271 -0.24207360 -0.03479889
+v 0.11518134 -0.27133956 -0.04978428
+v 0.13004371 -0.30019830 -0.11980985
+v 0.14569295 -0.30108696 -0.14982709
+v 0.11005271 -0.30279420 -0.24952250
+v 0.17905691 -0.27563449 -0.23003521
+v -0.00800951 -0.33209611 -0.13352679
+v -0.13450495 -0.28674855 -0.09256015
+v -0.09577376 -0.31524330 -0.22848557
+v 0.00278306 -0.33296036 -0.21793758
+v -0.05389690 -0.33081832 -0.14963406
+v -0.09452082 -0.24249726 -0.00651902
+v -0.08003981 -0.29992996 -0.08149997
+v 0.10096175 -0.24374290 -0.01032164
+v 0.17919081 -0.20339831 -0.01969590
+v 0.15955866 -0.25573325 -0.06617938
+v 0.14597735 -0.30074302 -0.18722488
+v 0.10351070 -0.31627437 -0.13386890
+v 0.10488046 -0.31604655 -0.20250682
+v 0.01777259 -0.33116767 -0.13377856
+v -0.09406116 -0.25659532 -0.02258198
+v -0.14965767 -0.25644389 -0.06565175
+v -0.11132587 -0.31656390 -0.18760850
+v 0.06329210 -0.33183258 -0.17234965
+v -0.00904108 -0.33265111 -0.21831134
+v -0.06629782 -0.31564307 -0.10428481
+v -0.12066971 -0.22887180 -0.00645101
+v 0.13133104 -0.30168819 -0.22851528
+v 0.08966836 -0.31584684 -0.22868449
+v -0.13459288 -0.25628312 -0.05075332
+v -0.13713672 -0.30078493 -0.22819221
+v -0.11150622 -0.31636055 -0.15022119
+v 0.04846892 -0.32015738 -0.24543923
+v -0.15414406 -0.20189685 -0.00355821
+v 0.16123864 -0.28579687 -0.22825066
+v 0.07441617 -0.31551497 -0.24372661
+v 0.12021509 -0.30149870 -0.24410083
+f 5 4 3
+f 8 5 2
+f 10 5 3
+f 10 2 5
+f 14 4 5
+f 14 5 8
+f 16 7 2
+f 16 2 10
+f 16 13 7
+f 17 11 3
+f 17 3 4
+f 18 11 6
+f 19 12 2
+f 19 2 7
+f 22 14 9
+f 22 4 14
+f 25 17 15
+f 25 6 11
+f 25 11 17
+f 25 21 13
+f 25 13 6
+f 28 18 6
+f 28 6 13
+f 28 13 16
+f 28 27 18
+f 29 19 7
+f 29 7 13
+f 30 12 19
+f 30 19 29
+f 31 8 2
+f 31 2 20
+f 32 20 2
+f 32 2 12
+f 33 13 21
+f 34 22 9
+f 35 14 8
+f 36 33 23
+f 37 33 21
+f 37 23 33
+f 38 17 4
+f 38 15 17
+f 39 25 15
+f 39 21 25
+f 40 26 3
+f 40 3 11
+f 40 11 18
+f 40 18 26
+f 41 27 16
+f 41 16 10
+f 41 26 18
+f 41 18 27
+f 41 10 3
+f 41 3 26
+f 42 28 16
+f 42 16 27
+f 42 27 28
+f 43 12 30
+f 43 32 12
+f 44 30 29
+f 44 29 13
+f 44 13 1
+f 44 1 30
+f 46 33 1
+f 46 1 13
+f 46 13 33
+f 47 24 34
+f 47 38 24
+f 47 15 38
+f 47 39 15
+f 47 34 39
+f 48 4 22
+f 48 22 34
+f 49 35 23
+f 49 9 14
+f 50 1 33
+f 50 33 36
+f 50 30 1
+f 50 45 43
+f 50 43 30
+f 51 35 8
+f 51 8 36
+f 51 36 23
+f 51 23 35
+f 52 37 21
+f 52 21 39
+f 52 39 34
+f 52 34 9
+f 53 38 4
+f 53 24 38
+f 54 43 45
+f 55 54 45
+f 55 45 50
+f 56 48 34
+f 56 34 24
+f 57 49 14
+f 57 14 35
+f 57 35 49
+f 58 9 49
+f 58 52 9
+f 58 37 52
+f 58 49 23
+f 58 23 37
+f 59 50 36
+f 59 36 8
+f 59 55 50
+f 60 53 4
+f 60 24 53
+f 60 56 24
+f 60 4 48
+f 60 48 56
+f 61 32 43
+f 61 43 54
+f 61 54 20
+f 61 20 32
+f 62 8 31
+f 62 59 8
+f 62 55 59
+f 63 31 20
+f 63 20 54
+f 63 54 55
+f 63 62 31
+f 63 55 62
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_12/collision/model_normalized_collision_7.obj b/objects/objaverse/pear/pear_12/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ba94a0118a45328a2b64488f976d60c1287d2b5
--- /dev/null
+++ b/objects/objaverse/pear/pear_12/collision/model_normalized_collision_7.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.06789206 -0.19244058 -0.42816152
+v 0.06354687 -0.17811640 -0.44096664
+v 0.07341647 0.16605003 -0.44590738
+v -0.07875042 0.16419274 -0.44599043
+v -0.07939648 -0.01169410 -0.48118606
+v -0.07132606 -0.01636398 -0.41666668
+v 0.00588495 -0.19778777 -0.43400072
+v 0.06708817 0.15415658 -0.45412587
+v 0.00435382 -0.18224173 -0.44549376
+v -0.07279586 0.15305251 -0.45277494
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 6 4 5
+f 7 2 1
+f 7 6 5
+f 7 1 6
+f 8 3 2
+f 8 2 5
+f 8 4 3
+f 9 7 5
+f 9 5 2
+f 9 2 7
+f 10 8 5
+f 10 5 4
+f 10 4 8
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_12/collision/model_normalized_collision_8.obj b/objects/objaverse/pear/pear_12/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..439306e06706d6e245818a8caccc73d57dfb5f2b
--- /dev/null
+++ b/objects/objaverse/pear/pear_12/collision/model_normalized_collision_8.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.00506873 -0.22701356 0.03077842
+v 0.21758153 -0.23636019 -0.25042824
+v 0.19154710 0.15466774 0.01437771
+v 0.00443152 0.15030269 0.00757575
+v 0.00443152 -0.18303065 -0.35606062
+v 0.17827210 -0.18724923 -0.00606239
+v 0.00443152 -0.19818216 -0.23484850
+v 0.20110956 0.16249787 -0.37045374
+v 0.19084159 -0.18679911 -0.36050828
+v 0.00443152 0.15030269 -0.35606062
+f 1 3 4
+f 6 1 2
+f 6 2 3
+f 6 3 1
+f 7 5 2
+f 7 2 1
+f 7 1 4
+f 7 4 5
+f 8 3 2
+f 8 4 3
+f 9 8 2
+f 9 2 5
+f 9 5 8
+f 10 8 5
+f 10 5 4
+f 10 4 8
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_12/collision/model_normalized_collision_9.obj b/objects/objaverse/pear/pear_12/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f526b3f1fd8aff8bd43d3d03084eca121c05bbc3
--- /dev/null
+++ b/objects/objaverse/pear/pear_12/collision/model_normalized_collision_9.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.06354687 -0.17811640 -0.44096664
+v 0.06220581 -0.17369551 -0.44395845
+v 0.06315336 -0.10497569 -0.47405354
+v 0.05111925 0.02087880 -0.49711876
+v -0.05529377 -0.18012713 -0.44233844
+v 0.06679783 -0.00002589 -0.48377768
+v 0.05991422 -0.14435483 -0.45913268
+v -0.05624221 -0.11023936 -0.47290252
+v 0.06081086 0.01981702 -0.49617195
+v 0.00153138 -0.00523591 -0.46284598
+v -0.02144855 -0.12074411 -0.47527583
+v 0.04247802 -0.04520086 -0.49205495
+v -0.05616416 -0.10681798 -0.47329408
+v 0.04703283 -0.11828059 -0.47427677
+v -0.05285070 -0.14481477 -0.46015270
+v 0.05588341 -0.04057236 -0.49049139
+v -0.05361689 -0.17459920 -0.44537839
+f 5 2 1
+f 6 1 3
+f 7 1 2
+f 7 3 1
+f 9 6 3
+f 10 5 1
+f 10 1 6
+f 10 9 4
+f 10 6 9
+f 11 2 5
+f 12 4 9
+f 12 11 8
+f 13 8 5
+f 13 5 10
+f 13 10 4
+f 13 12 8
+f 13 4 12
+f 14 7 2
+f 14 2 11
+f 14 3 7
+f 14 11 12
+f 15 5 8
+f 15 8 11
+f 16 12 9
+f 16 9 3
+f 16 14 12
+f 16 3 14
+f 17 15 11
+f 17 11 5
+f 17 5 15
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_12/model.xml b/objects/objaverse/pear/pear_12/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..a8c2145be0cb55835bc0a94ec075e71169a4387c
--- /dev/null
+++ b/objects/objaverse/pear/pear_12/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="pear_8">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.1 0.1 0.1" refquat="0.5879378012096792 0.5879378012096793 0.3928474791935511 0.3928474791935512"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.1 0.1 0.1" refquat="0.5879378012096792 0.5879378012096793 0.3928474791935511 0.3928474791935512"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.1 0.1 0.1" refquat="0.5879378012096792 0.5879378012096793 0.3928474791935511 0.3928474791935512"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.1 0.1 0.1" refquat="0.5879378012096792 0.5879378012096793 0.3928474791935511 0.3928474791935512"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.1 0.1 0.1" refquat="0.5879378012096792 0.5879378012096793 0.3928474791935511 0.3928474791935512"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.1 0.1 0.1" refquat="0.5879378012096792 0.5879378012096793 0.3928474791935511 0.3928474791935512"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.1 0.1 0.1" refquat="0.5879378012096792 0.5879378012096793 0.3928474791935511 0.3928474791935512"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.1 0.1 0.1" refquat="0.5879378012096792 0.5879378012096793 0.3928474791935511 0.3928474791935512"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.1 0.1 0.1" refquat="0.5879378012096792 0.5879378012096793 0.3928474791935511 0.3928474791935512"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.1 0.1 0.1" refquat="0.5879378012096792 0.5879378012096793 0.3928474791935511 0.3928474791935512"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.1 0.1 0.1" refquat="0.5879378012096792 0.5879378012096793 0.3928474791935511 0.3928474791935512"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.1 0.1 0.1" refquat="0.5879378012096792 0.5879378012096793 0.3928474791935511 0.3928474791935512"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.1 0.1 0.1" refquat="0.5879378012096792 0.5879378012096793 0.3928474791935511 0.3928474791935512"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.1 0.1 0.1" refquat="0.5879378012096792 0.5879378012096793 0.3928474791935511 0.3928474791935512"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.1 0.1 0.1" refquat="0.5879378012096792 0.5879378012096793 0.3928474791935511 0.3928474791935512"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.1 0.1 0.1" refquat="0.5879378012096792 0.5879378012096793 0.3928474791935511 0.3928474791935512"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.1 0.1 0.1" refquat="0.5879378012096792 0.5879378012096793 0.3928474791935511 0.3928474791935512"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.1 0.1 0.1" refquat="0.5879378012096792 0.5879378012096793 0.3928474791935511 0.3928474791935512"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.1 0.1 0.1" refquat="0.5879378012096792 0.5879378012096793 0.3928474791935511 0.3928474791935512"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.1 0.1 0.1" refquat="0.5879378012096792 0.5879378012096793 0.3928474791935511 0.3928474791935512"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.1 0.1 0.1" refquat="0.5879378012096792 0.5879378012096793 0.3928474791935511 0.3928474791935512"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.1 0.1 0.1" refquat="0.5879378012096792 0.5879378012096793 0.3928474791935511 0.3928474791935512"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.1 0.1 0.1" refquat="0.5879378012096792 0.5879378012096793 0.3928474791935511 0.3928474791935512"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.1 0.1 0.1" refquat="0.5879378012096792 0.5879378012096793 0.3928474791935511 0.3928474791935512"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.1 0.1 0.1" refquat="0.5879378012096792 0.5879378012096793 0.3928474791935511 0.3928474791935512"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.1 0.1 0.1" refquat="0.5879378012096792 0.5879378012096793 0.3928474791935511 0.3928474791935512"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.1 0.1 0.1" refquat="0.5879378012096792 0.5879378012096793 0.3928474791935511 0.3928474791935512"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.1 0.1 0.1" refquat="0.5879378012096792 0.5879378012096793 0.3928474791935511 0.3928474791935512"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.1 0.1 0.1" refquat="0.5879378012096792 0.5879378012096793 0.3928474791935511 0.3928474791935512"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.1 0.1 0.1" refquat="0.5879378012096792 0.5879378012096793 0.3928474791935511 0.3928474791935512"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.1 0.1 0.1" refquat="0.5879378012096792 0.5879378012096793 0.3928474791935511 0.3928474791935512"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.1 0.1 0.1" refquat="0.5879378012096792 0.5879378012096793 0.3928474791935511 0.3928474791935512"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.1 0.1 0.1" refquat="0.5879378012096792 0.5879378012096793 0.3928474791935511 0.3928474791935512"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="Pear.001" texture="image0" specular="0.5" shininess="0.25"/>
+  </asset>
+  <worldbody>
+    <body>
+      <body name="object">
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_0_vis" conaffinity="0" contype="0" group="1" material="Pear.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"/>
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+      </body>
+      <site rgba="0 0 0 0" size="0.005" pos="5.6379743429779695e-05 0.00010684200000000144 -0.03366776825799537" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="5.6379743429779695e-05 0.00010684200000000144 0.03314566114625287" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.033619705588145615 0.04992556000000001 -0.00026105355587124625" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/pear/pear_12/visual/material.mtl b/objects/objaverse/pear/pear_12/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fbcf6b4b1af9257e08a0fd6e283841743ce8fad5
--- /dev/null
+++ b/objects/objaverse/pear/pear_12/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 250.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_12/visual/model_normalized_0.obj b/objects/objaverse/pear/pear_12/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08ccd65ba5f7fb1a375667fd679a1762ad4dfbfe
--- /dev/null
+++ b/objects/objaverse/pear/pear_12/visual/model_normalized_0.obj
@@ -0,0 +1,3671 @@
+# 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_16/collision/model_normalized_collision_11.obj b/objects/objaverse/pear/pear_16/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b76eb0789a58e7c6083fb36c9214fad341d891e2
--- /dev/null
+++ b/objects/objaverse/pear/pear_16/collision/model_normalized_collision_11.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.05911139 -0.16729360 -0.10462122
+v 0.11013302 -0.12126687 -0.09021884
+v 0.03179378 -0.12667218 0.02114272
+v -0.09387989 -0.09174992 -0.01329318
+v -0.11802949 -0.11566792 -0.08949617
+v 0.09367412 -0.10159360 0.00767357
+v -0.09884258 -0.13839207 -0.10250858
+v -0.08196132 -0.09493649 0.00505679
+v 0.08530293 -0.15179225 -0.10521013
+v 0.08061979 -0.11342461 0.00197484
+v -0.05139055 -0.16426607 -0.10376835
+v -0.02662823 -0.12601287 0.02112626
+v -0.06097313 -0.11673290 0.00290474
+v -0.08149360 -0.14879089 -0.10366359
+v -0.03804594 -0.15800658 -0.07622433
+v -0.07457921 -0.10455306 0.00118708
+v -0.05143326 -0.15956814 -0.09109671
+v -0.07839482 -0.14561220 -0.09123515
+v 0.02989480 -0.12799250 0.01762008
+v -0.02413638 -0.12758496 0.01733877
+f 5 4 2
+f 6 2 4
+f 7 5 2
+f 8 6 4
+f 8 4 5
+f 9 2 6
+f 9 7 2
+f 10 6 3
+f 10 3 1
+f 10 9 6
+f 10 1 9
+f 11 9 1
+f 12 3 6
+f 12 6 8
+f 13 5 7
+f 13 12 8
+f 14 7 9
+f 14 9 11
+f 15 12 11
+f 15 11 1
+f 16 13 8
+f 16 8 5
+f 16 5 13
+f 17 11 12
+f 17 12 13
+f 17 14 11
+f 18 13 7
+f 18 7 14
+f 18 17 13
+f 18 14 17
+f 19 15 1
+f 19 1 3
+f 20 19 3
+f 20 3 12
+f 20 12 15
+f 20 15 19
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_16/collision/model_normalized_collision_23.obj b/objects/objaverse/pear/pear_16/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3147580b8ac1666e257e981c7b90402a9d8883c8
--- /dev/null
+++ b/objects/objaverse/pear/pear_16/collision/model_normalized_collision_23.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v -0.10352139 0.09562932 -0.23484850
+v -0.10352139 0.09562932 -0.35606062
+v -0.09778394 0.21879593 -0.29338600
+v -0.10266217 0.21488509 -0.23518276
+v -0.21456050 0.09277413 -0.23635165
+v -0.09847386 0.21865525 -0.25163113
+v -0.09791947 0.20421770 -0.35126535
+v -0.21055360 0.09218761 -0.32158002
+v -0.17825250 0.15764057 -0.32122640
+v -0.19935425 0.09295912 -0.35184495
+v -0.17937027 0.15819779 -0.23771907
+v -0.20696167 0.11757740 -0.29158458
+v -0.12276712 0.19792552 -0.33835911
+v -0.17826157 0.14416642 -0.35082532
+v -0.15141142 0.18531040 -0.23810718
+v -0.19238659 0.14371946 -0.25155320
+v -0.11171184 0.19952881 -0.34993994
+v -0.13682644 0.18460326 -0.35012427
+v -0.19179785 0.11748959 -0.34879135
+v -0.19011457 0.12891788 -0.33652849
+v -0.12580872 0.20370254 -0.23695882
+v -0.15254004 0.18442958 -0.30753499
+v -0.19106460 0.14399710 -0.29324404
+v -0.20624200 0.11641205 -0.23884409
+v -0.16549674 0.17139154 -0.32101390
+v -0.20666011 0.10456964 -0.32000067
+v -0.10995148 0.21362609 -0.25056927
+v -0.10818363 0.21460709 -0.29291246
+f 5 1 4
+f 6 1 3
+f 6 4 1
+f 7 1 2
+f 7 3 1
+f 8 2 1
+f 8 1 5
+f 10 2 8
+f 11 5 4
+f 12 8 5
+f 14 7 2
+f 14 2 10
+f 16 11 9
+f 17 13 3
+f 17 3 7
+f 18 13 17
+f 18 17 7
+f 18 7 14
+f 19 14 10
+f 19 10 8
+f 20 12 9
+f 20 9 14
+f 20 14 19
+f 21 15 11
+f 21 11 4
+f 22 11 15
+f 22 13 18
+f 22 15 21
+f 23 16 9
+f 23 9 12
+f 23 12 16
+f 24 16 12
+f 24 12 5
+f 24 5 11
+f 24 11 16
+f 25 18 14
+f 25 14 9
+f 25 22 18
+f 25 9 11
+f 25 11 22
+f 26 20 19
+f 26 19 8
+f 26 8 12
+f 26 12 20
+f 27 21 4
+f 27 4 6
+f 28 3 13
+f 28 13 22
+f 28 22 21
+f 28 21 27
+f 28 27 6
+f 28 6 3
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_16/collision/model_normalized_collision_4.obj b/objects/objaverse/pear/pear_16/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb9ec6dc23509e17d1a791d3b3007b06036a83ad
--- /dev/null
+++ b/objects/objaverse/pear/pear_16/collision/model_normalized_collision_4.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.00266991 0.04707325 0.30781238
+v -0.14703187 0.17839637 0.48636600
+v 0.00047090 0.07589460 0.30308052
+v -0.13899817 0.17709308 0.49686526
+v -0.13493866 0.15697055 0.48790042
+v -0.11002189 0.16812682 0.45266918
+v -0.09083704 0.15003536 0.45517178
+v -0.03039279 0.06411416 0.31091433
+v -0.13857425 0.16607562 0.49752401
+v -0.11992618 0.17667663 0.48354022
+v -0.12553338 0.15537226 0.49297759
+v 0.00179124 0.04822969 0.30732685
+v -0.03547438 0.08635021 0.31774326
+v -0.14844921 0.17444075 0.47556588
+v -0.14779650 0.17327653 0.48623015
+v -0.13059792 0.17407145 0.46206018
+v -0.13041499 0.17705818 0.49590441
+v -0.08888324 0.13487754 0.44956217
+v -0.12782698 0.15664055 0.49440454
+v -0.01813799 0.08401059 0.31129370
+v -0.13459995 0.15565718 0.48111876
+v -0.14788261 0.17691465 0.47508506
+f 7 1 3
+f 8 1 5
+f 10 7 3
+f 10 3 6
+f 12 8 3
+f 12 3 1
+f 12 1 8
+f 13 3 8
+f 14 13 8
+f 15 9 4
+f 15 4 2
+f 15 2 14
+f 15 5 9
+f 16 10 6
+f 17 10 2
+f 17 2 4
+f 17 4 9
+f 17 11 7
+f 17 7 10
+f 18 11 1
+f 18 1 7
+f 18 7 11
+f 19 9 5
+f 19 5 1
+f 19 1 11
+f 19 17 9
+f 19 11 17
+f 20 6 3
+f 20 3 13
+f 20 16 6
+f 20 13 16
+f 21 14 8
+f 21 8 5
+f 21 15 14
+f 21 5 15
+f 22 2 10
+f 22 10 16
+f 22 14 2
+f 22 16 13
+f 22 13 14
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_16/model.xml b/objects/objaverse/pear/pear_16/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..ecd8cc0f7d753d245ed186a4e161a32c5ff06a42
--- /dev/null
+++ b/objects/objaverse/pear/pear_16/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="pear_3">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.12 0.12 0.12" refquat="0.5879378012096792 0.392847479193551 0.3928474791935511 0.5879378012096793"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.12 0.12 0.12" refquat="0.5879378012096792 0.392847479193551 0.3928474791935511 0.5879378012096793"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.12 0.12 0.12" refquat="0.5879378012096792 0.392847479193551 0.3928474791935511 0.5879378012096793"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.12 0.12 0.12" refquat="0.5879378012096792 0.392847479193551 0.3928474791935511 0.5879378012096793"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.12 0.12 0.12" refquat="0.5879378012096792 0.392847479193551 0.3928474791935511 0.5879378012096793"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.12 0.12 0.12" refquat="0.5879378012096792 0.392847479193551 0.3928474791935511 0.5879378012096793"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.12 0.12 0.12" refquat="0.5879378012096792 0.392847479193551 0.3928474791935511 0.5879378012096793"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.12 0.12 0.12" refquat="0.5879378012096792 0.392847479193551 0.3928474791935511 0.5879378012096793"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.12 0.12 0.12" refquat="0.5879378012096792 0.392847479193551 0.3928474791935511 0.5879378012096793"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.12 0.12 0.12" refquat="0.5879378012096792 0.392847479193551 0.3928474791935511 0.5879378012096793"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.12 0.12 0.12" refquat="0.5879378012096792 0.392847479193551 0.3928474791935511 0.5879378012096793"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.12 0.12 0.12" refquat="0.5879378012096792 0.392847479193551 0.3928474791935511 0.5879378012096793"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.12 0.12 0.12" refquat="0.5879378012096792 0.392847479193551 0.3928474791935511 0.5879378012096793"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.12 0.12 0.12" refquat="0.5879378012096792 0.392847479193551 0.3928474791935511 0.5879378012096793"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.12 0.12 0.12" refquat="0.5879378012096792 0.392847479193551 0.3928474791935511 0.5879378012096793"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.12 0.12 0.12" refquat="0.5879378012096792 0.392847479193551 0.3928474791935511 0.5879378012096793"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.12 0.12 0.12" refquat="0.5879378012096792 0.392847479193551 0.3928474791935511 0.5879378012096793"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.12 0.12 0.12" refquat="0.5879378012096792 0.392847479193551 0.3928474791935511 0.5879378012096793"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.12 0.12 0.12" refquat="0.5879378012096792 0.392847479193551 0.3928474791935511 0.5879378012096793"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.12 0.12 0.12" refquat="0.5879378012096792 0.392847479193551 0.3928474791935511 0.5879378012096793"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.12 0.12 0.12" refquat="0.5879378012096792 0.392847479193551 0.3928474791935511 0.5879378012096793"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.12 0.12 0.12" refquat="0.5879378012096792 0.392847479193551 0.3928474791935511 0.5879378012096793"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.12 0.12 0.12" refquat="0.5879378012096792 0.392847479193551 0.3928474791935511 0.5879378012096793"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.12 0.12 0.12" refquat="0.5879378012096792 0.392847479193551 0.3928474791935511 0.5879378012096793"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.12 0.12 0.12" refquat="0.5879378012096792 0.392847479193551 0.3928474791935511 0.5879378012096793"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.12 0.12 0.12" refquat="0.5879378012096792 0.392847479193551 0.3928474791935511 0.5879378012096793"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.12 0.12 0.12" refquat="0.5879378012096792 0.392847479193551 0.3928474791935511 0.5879378012096793"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.12 0.12 0.12" refquat="0.5879378012096792 0.392847479193551 0.3928474791935511 0.5879378012096793"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.12 0.12 0.12" refquat="0.5879378012096792 0.392847479193551 0.3928474791935511 0.5879378012096793"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.12 0.12 0.12" refquat="0.5879378012096792 0.392847479193551 0.3928474791935511 0.5879378012096793"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.12 0.12 0.12" refquat="0.5879378012096792 0.392847479193551 0.3928474791935511 0.5879378012096793"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.12 0.12 0.12" refquat="0.5879378012096792 0.392847479193551 0.3928474791935511 0.5879378012096793"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.12 0.12 0.12" refquat="0.5879378012096792 0.392847479193551 0.3928474791935511 0.5879378012096793"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="material_0.020" texture="image0" specular="0.5" shininess="0.32489999199999997"/>
+  </asset>
+  <worldbody>
+    <body>
+      <body name="object">
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_0_vis" conaffinity="0" contype="0" group="1" material="material_0.020"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_22._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_23._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_21._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_20._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_24._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_30._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_18._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_19._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_31._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_25._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_27._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_26._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_9._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_8._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_6._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_7._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_5._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_4._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_0._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_1._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_3._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_2._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_17._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_16._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_28._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_14._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_15._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_29._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_11._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_10._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_12._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_13._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+      </body>
+      <site rgba="0 0 0 0" size="0.005" pos="-0.0003053561999999987 0.0014654107150696293 -0.039620956294365545" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="-0.0003053561999999987 0.0014654107150696293 0.019035623756131128" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.027820656 0.06152187603881665 -0.010292666269117212" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/pear/pear_3/collision/model_normalized_collision_0.obj b/objects/objaverse/pear/pear_3/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..528e9875d06997c51d7a9e069675d23ca7fbf5ee
--- /dev/null
+++ b/objects/objaverse/pear/pear_3/collision/model_normalized_collision_0.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.23604264 -0.23518655 -0.38217470
+v 0.21193638 -0.19737396 -0.43637918
+v 0.21671912 -0.00865033 -0.35606060
+v 0.00751377 0.00118499 -0.40630849
+v 0.01438541 -0.21583801 -0.46236903
+v 0.19818432 -0.00860230 -0.49229249
+v 0.00459791 -0.20562003 -0.35606060
+v 0.19494556 -0.19290394 -0.44771132
+v 0.21367931 -0.00853360 -0.48606188
+v 0.12790584 -0.00760694 -0.49498808
+v 0.00627754 -0.00802473 -0.41815796
+v 0.19590469 -0.12250779 -0.48917110
+v 0.19548201 -0.17839849 -0.45837200
+v 0.21016388 -0.13772912 -0.47764389
+v 0.13098741 -0.12416940 -0.48896978
+v 0.21052470 -0.16592296 -0.46088665
+f 7 1 3
+f 7 3 4
+f 7 5 1
+f 8 2 1
+f 8 1 5
+f 9 6 4
+f 9 4 3
+f 9 3 1
+f 10 4 6
+f 11 7 4
+f 11 5 7
+f 11 10 5
+f 11 4 10
+f 12 6 9
+f 12 10 6
+f 13 8 5
+f 13 5 12
+f 14 12 9
+f 14 9 1
+f 14 13 12
+f 15 12 5
+f 15 5 10
+f 15 10 12
+f 16 2 8
+f 16 8 13
+f 16 13 14
+f 16 14 1
+f 16 1 2
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_3/collision/model_normalized_collision_10.obj b/objects/objaverse/pear/pear_3/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75f005993592b30c1cbbe7593f68cb51a0360a35
--- /dev/null
+++ b/objects/objaverse/pear/pear_3/collision/model_normalized_collision_10.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.07694773 -0.28726718 -0.39541950
+v 0.13156458 -0.23296053 -0.42907301
+v 0.12278373 -0.27323335 -0.39359236
+v 0.00459791 0.17316785 -0.41666667
+v 0.00272807 -0.20342158 -0.46755413
+v 0.13243798 0.20305585 -0.45737151
+v 0.04564146 -0.28724820 -0.40750705
+v 0.00406928 0.17115058 -0.48325019
+v 0.13037104 -0.11111418 -0.49317976
+v 0.04427223 -0.25769930 -0.43492391
+v 0.04903237 -0.29328285 -0.39863994
+v 0.12435265 0.11094619 -0.49087606
+v 0.01438541 -0.21583801 -0.46236903
+v 0.12748106 -0.18247043 -0.46273080
+v 0.09679609 0.11089086 -0.49125847
+v 0.12475260 0.16773454 -0.47681609
+v 0.12293194 -0.21051784 -0.44754056
+f 1 3 4
+f 6 3 2
+f 6 4 3
+f 7 2 3
+f 7 3 1
+f 8 5 4
+f 8 4 6
+f 9 6 2
+f 9 5 8
+f 10 2 7
+f 11 7 1
+f 11 1 4
+f 11 4 5
+f 11 5 7
+f 12 6 9
+f 13 10 7
+f 13 7 5
+f 13 5 9
+f 14 9 2
+f 14 13 9
+f 14 10 13
+f 15 12 9
+f 15 9 8
+f 15 8 12
+f 16 12 8
+f 16 8 6
+f 16 6 12
+f 17 14 2
+f 17 2 10
+f 17 10 14
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_3/collision/model_normalized_collision_12.obj b/objects/objaverse/pear/pear_3/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..042c24e3e680f6d7890b25112483afe94bd438e0
--- /dev/null
+++ b/objects/objaverse/pear/pear_3/collision/model_normalized_collision_12.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.21598526 -0.32486107 -0.23421456
+v 0.39955915 -0.14149201 -0.23048248
+v 0.24170726 -0.31430384 -0.23142897
+v 0.21671912 0.15801634 -0.23484848
+v 0.21355369 0.06687855 -0.48370992
+v 0.38206166 0.10683474 -0.23142588
+v 0.20974343 -0.29786521 -0.31854021
+v 0.28191900 -0.29599156 -0.23063948
+v 0.23282820 0.17134226 -0.43749719
+v 0.31891028 0.08003530 -0.40460857
+v 0.21175720 -0.31427878 -0.27632633
+v 0.21016388 -0.13772912 -0.47764389
+v 0.36157310 0.15505984 -0.23351800
+v 0.39508876 0.00547848 -0.25830881
+v 0.27907530 0.07957605 -0.44438108
+v 0.23757447 -0.30818010 -0.25891057
+v 0.31987180 -0.14062153 -0.38792641
+v 0.37005665 0.13673034 -0.23251152
+v 0.31863255 0.14918763 -0.36117542
+v 0.37936771 0.06417583 -0.28835369
+v 0.39755625 0.06295541 -0.23134431
+v 0.26600640 0.10623902 -0.44524091
+v 0.23834950 -0.11284836 -0.47315315
+v 0.26729697 -0.27827023 -0.30068756
+v 0.35005614 -0.14098893 -0.34483400
+v 0.35017433 0.15012597 -0.28813162
+v 0.32106665 0.02265709 -0.40362930
+v 0.34883223 0.09094384 -0.34807471
+v 0.39423989 0.06306818 -0.24533397
+v 0.22558322 0.06645343 -0.47839271
+v 0.29243273 0.09094137 -0.42930936
+v 0.27769974 -0.15027568 -0.43013679
+v 0.25161534 -0.29171774 -0.28738582
+v 0.35085084 -0.22294542 -0.27221362
+v 0.39536902 -0.08293962 -0.25855355
+v 0.33314942 0.14887229 -0.33210365
+v 0.36425749 0.13553953 -0.26122404
+v 0.27756814 -0.02070408 -0.44536197
+v 0.33384463 0.09185060 -0.37599365
+v 0.36321998 0.10534641 -0.30255605
+v 0.37970489 0.10499419 -0.24558684
+v 0.25603002 0.13850999 -0.43871144
+v 0.23817458 0.04901655 -0.47423503
+v 0.30425521 0.11947846 -0.40268121
+v 0.23708582 -0.14950102 -0.45930296
+v 0.22461506 -0.30930918 -0.27358836
+v 0.22089424 -0.29456634 -0.31468429
+v 0.28134959 -0.29234539 -0.24280271
+v 0.35247040 -0.23843583 -0.23107764
+v 0.36388473 -0.17021444 -0.30140007
+v 0.30517914 -0.19272317 -0.37213549
+v 0.37939053 -0.14075895 -0.28648506
+v 0.33297776 0.13415715 -0.34571504
+v 0.30524942 -0.02152295 -0.41758658
+v 0.27786346 0.12000270 -0.43004221
+v 0.30592392 0.09013532 -0.41601129
+v 0.27677159 0.14798593 -0.41479011
+v 0.22271917 -0.13595623 -0.47373518
+v 0.24930338 -0.13642171 -0.45817153
+v 0.21204674 -0.18070217 -0.44992038
+v 0.31129981 -0.26219600 -0.27357860
+v 0.38161619 -0.18436324 -0.24468933
+v 0.32209681 -0.16533111 -0.37362857
+v 0.23735832 -0.21866318 -0.40086530
+f 1 3 4
+f 8 2 6
+f 8 6 4
+f 8 4 3
+f 9 5 4
+f 11 1 4
+f 11 4 7
+f 12 7 4
+f 12 4 5
+f 13 9 4
+f 16 3 1
+f 16 1 11
+f 16 8 3
+f 18 13 4
+f 18 4 6
+f 21 6 2
+f 21 2 14
+f 23 12 5
+f 26 9 13
+f 27 25 17
+f 27 15 10
+f 28 27 10
+f 28 20 14
+f 28 14 27
+f 29 21 14
+f 29 14 20
+f 30 22 15
+f 30 5 9
+f 31 15 22
+f 35 14 2
+f 35 27 14
+f 35 25 27
+f 36 19 9
+f 36 9 26
+f 37 26 13
+f 37 13 18
+f 38 15 27
+f 38 32 23
+f 39 28 10
+f 40 20 28
+f 40 26 37
+f 40 29 20
+f 40 36 26
+f 41 6 21
+f 41 21 29
+f 41 40 37
+f 41 29 40
+f 41 37 18
+f 41 18 6
+f 42 30 9
+f 42 22 30
+f 43 23 5
+f 43 5 30
+f 43 30 15
+f 43 38 23
+f 43 15 38
+f 44 39 10
+f 44 19 39
+f 46 33 16
+f 46 16 11
+f 46 11 33
+f 47 33 11
+f 47 11 7
+f 47 24 33
+f 48 33 24
+f 48 8 16
+f 48 16 33
+f 49 2 8
+f 52 35 2
+f 52 25 35
+f 52 50 25
+f 53 19 36
+f 53 39 19
+f 53 28 39
+f 53 40 28
+f 53 36 40
+f 54 38 27
+f 54 27 17
+f 54 17 32
+f 54 32 38
+f 55 31 22
+f 55 22 42
+f 56 44 10
+f 56 55 44
+f 56 31 55
+f 56 10 15
+f 56 15 31
+f 57 42 9
+f 57 9 19
+f 57 19 44
+f 57 55 42
+f 57 44 55
+f 58 12 23
+f 59 23 32
+f 59 32 45
+f 59 58 23
+f 59 45 58
+f 60 7 12
+f 60 58 45
+f 60 12 58
+f 61 48 24
+f 61 34 49
+f 61 49 8
+f 61 8 48
+f 61 51 34
+f 61 24 51
+f 62 49 34
+f 62 2 49
+f 62 34 50
+f 62 52 2
+f 62 50 52
+f 63 51 32
+f 63 32 17
+f 63 17 25
+f 63 25 50
+f 63 50 34
+f 63 34 51
+f 64 51 24
+f 64 24 47
+f 64 47 7
+f 64 7 60
+f 64 32 51
+f 64 60 45
+f 64 45 32
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_3/collision/model_normalized_collision_13.obj b/objects/objaverse/pear/pear_3/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a3f16d9bbbf8d0311704cc96cd9343282957899
--- /dev/null
+++ b/objects/objaverse/pear/pear_3/collision/model_normalized_collision_13.obj
@@ -0,0 +1,183 @@
+# https://github.com/mikedh/trimesh
+v 0.35473471 0.15106104 -0.01326284
+v 0.35355576 0.15165801 -0.27655746
+v 0.33456021 0.22283107 -0.17245650
+v 0.22586829 0.32785783 -0.11539793
+v 0.21414998 0.15572361 -0.45703769
+v 0.32062837 0.23309437 -0.07327991
+v 0.37087602 0.15202119 -0.07084902
+v 0.25277323 0.15043209 -0.43451729
+v 0.23187064 0.15801634 0.00757577
+v 0.24994149 0.30781859 -0.08664223
+v 0.37007638 0.15190583 -0.18774287
+v 0.35056813 0.19275140 -0.07006149
+v 0.29563580 0.15086190 -0.39177388
+v 0.20986669 0.30975571 -0.28938340
+v 0.22652380 0.15353020 -0.45079924
+v 0.33552663 0.22169328 -0.10117076
+v 0.23681890 0.32169677 -0.20188460
+v 0.24781291 0.27655170 -0.00062245
+v 0.34909655 0.19160938 -0.20053821
+v 0.33650329 0.20357249 -0.04580964
+v 0.36524272 0.16409297 -0.07054708
+v 0.21941821 0.27478296 -0.34577759
+v 0.22484207 0.29883709 -0.01243329
+v 0.21671912 0.15801634 -0.23484848
+v 0.27565917 0.27822108 -0.05976521
+v 0.36458202 0.16516383 -0.18609200
+v 0.23650739 0.32195050 -0.11579553
+v 0.21161604 0.32809143 -0.23166363
+v 0.34551593 0.15417037 0.00425135
+v 0.30514593 0.25061829 -0.22986802
+v 0.34999757 0.16125264 -0.01523192
+v 0.22218468 0.19237908 -0.43110168
+v 0.20856066 0.27970300 -0.34787791
+v 0.22840624 0.28843539 0.00511623
+v 0.22366126 0.31286582 -0.04248069
+v 0.20892633 0.32525593 -0.24514887
+v 0.27391417 0.25008293 -0.00102466
+v 0.24897225 0.30757749 -0.23067927
+v 0.34905363 0.16206261 -0.27418557
+v 0.31922843 0.23627976 -0.21382753
+v 0.29002508 0.20407195 -0.34553653
+v 0.33495591 0.17547618 -0.00246701
+v 0.29124022 0.16275542 -0.38829513
+v 0.22238607 0.16480017 -0.44817723
+v 0.22181146 0.30433273 -0.28786407
+v 0.21191212 0.16748086 -0.45240216
+v 0.21071829 0.19621811 -0.43552164
+v 0.24872234 0.29065114 -0.03049105
+v 0.22200822 0.31959629 -0.24305793
+v 0.24732413 0.26273216 -0.33054082
+v 0.29014441 0.23496900 -0.30033765
+v 0.32141125 0.20413836 -0.01865502
+v 0.24857891 0.16295376 -0.43023801
+v 0.31950496 0.16164990 -0.34802456
+v 0.23491783 0.29042527 -0.30039891
+v 0.23486970 0.30640799 -0.04532379
+v 0.29075842 0.24976982 -0.27165956
+v 0.26021759 0.24896248 -0.33053128
+v 0.32422138 0.15163833 -0.34851951
+v 0.30390962 0.20474001 -0.31760658
+v 0.27564885 0.27873319 -0.24370593
+v 0.26131865 0.29267878 -0.24399879
+f 9 8 1
+f 11 7 1
+f 11 1 2
+f 13 2 1
+f 13 1 8
+f 15 9 5
+f 15 8 9
+f 16 6 12
+f 20 12 6
+f 21 12 1
+f 21 1 7
+f 24 5 9
+f 25 16 10
+f 25 6 16
+f 25 20 6
+f 26 16 12
+f 26 3 16
+f 26 12 21
+f 26 19 3
+f 26 11 2
+f 26 21 7
+f 26 7 11
+f 27 17 4
+f 27 10 16
+f 27 16 3
+f 27 3 17
+f 28 4 17
+f 29 9 1
+f 30 17 3
+f 31 1 12
+f 31 12 20
+f 31 29 1
+f 34 23 9
+f 34 9 29
+f 35 4 28
+f 35 27 4
+f 35 10 27
+f 36 24 9
+f 36 9 23
+f 36 35 28
+f 36 23 35
+f 36 33 24
+f 36 14 33
+f 37 25 18
+f 37 20 25
+f 37 34 29
+f 37 18 34
+f 38 17 30
+f 39 26 2
+f 39 19 26
+f 40 30 3
+f 40 3 19
+f 40 39 30
+f 40 19 39
+f 42 31 20
+f 42 29 31
+f 42 37 29
+f 43 13 8
+f 44 8 15
+f 44 15 5
+f 45 33 14
+f 46 5 24
+f 46 44 5
+f 47 33 22
+f 47 22 32
+f 47 32 44
+f 47 44 46
+f 47 46 24
+f 47 24 33
+f 48 34 18
+f 48 23 34
+f 48 35 23
+f 48 18 25
+f 48 25 10
+f 49 28 17
+f 49 17 38
+f 49 36 28
+f 49 38 45
+f 49 45 14
+f 49 14 36
+f 50 32 22
+f 50 43 32
+f 50 41 43
+f 52 42 20
+f 52 20 37
+f 52 37 42
+f 53 43 8
+f 53 32 43
+f 53 44 32
+f 53 8 44
+f 54 13 43
+f 54 39 2
+f 54 43 41
+f 55 22 33
+f 55 33 45
+f 55 50 22
+f 55 45 38
+f 56 48 10
+f 56 10 35
+f 56 35 48
+f 57 30 39
+f 57 39 51
+f 57 51 50
+f 57 50 55
+f 58 51 41
+f 58 41 50
+f 58 50 51
+f 59 54 2
+f 59 2 13
+f 59 13 54
+f 60 51 39
+f 60 39 54
+f 60 54 41
+f 60 41 51
+f 61 38 30
+f 61 30 57
+f 61 57 55
+f 62 61 55
+f 62 55 38
+f 62 38 61
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_3/collision/model_normalized_collision_14.obj b/objects/objaverse/pear/pear_3/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20b33a9303d49af33ebd1c1dd3e4c7f749068b3f
--- /dev/null
+++ b/objects/objaverse/pear/pear_3/collision/model_normalized_collision_14.obj
@@ -0,0 +1,141 @@
+# https://github.com/mikedh/trimesh
+v 0.10307467 -0.03133288 0.37555778
+v 0.25840466 -0.02478280 0.21584604
+v 0.13523041 0.16665016 0.20903140
+v 0.01999530 0.19758604 0.21442229
+v -0.22212533 -0.02406438 0.24979630
+v 0.01974942 -0.02380185 0.21969698
+v 0.00207941 -0.02101210 0.41483758
+v 0.21059226 0.07856299 0.21114535
+v -0.20941134 -0.03021769 0.28715553
+v -0.16876836 0.09191342 0.22639404
+v 0.05717043 -0.00757376 0.38529090
+v 0.10770481 0.18215659 0.21202718
+v 0.25368438 0.00203534 0.21045484
+v 0.14957654 0.15197658 0.21005657
+v 0.25074235 -0.02770934 0.22404665
+v -0.03832259 -0.02998177 0.42080591
+v 0.06406799 0.19539015 0.21180625
+v -0.20404140 -0.00491272 0.27085154
+v 0.04616129 -0.03044761 0.40720139
+v 0.08445489 -0.00768937 0.36981868
+v 0.03038251 0.00720138 0.38385396
+v 0.23902610 0.03238456 0.20952138
+v -0.15089104 -0.03133463 0.35660912
+v -0.02358619 0.09645434 0.31162484
+v -0.21195840 -0.00014295 0.24549244
+v -0.17644226 -0.01756594 0.32527054
+v 0.00208294 -0.03093016 0.42080124
+v 0.04373817 -0.02045932 0.40076658
+v 0.04605920 0.14360551 0.26367928
+v -0.03723761 -0.01967579 0.41493191
+v -0.09657831 0.16586322 0.22603555
+v -0.18855163 -0.00534512 0.29836257
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\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_3/collision/model_normalized_collision_15.obj b/objects/objaverse/pear/pear_3/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eec529e55410e39fbf5709c1d0b6701697db63d4
--- /dev/null
+++ b/objects/objaverse/pear/pear_3/collision/model_normalized_collision_15.obj
@@ -0,0 +1,144 @@
+# https://github.com/mikedh/trimesh
+v -0.20752331 -0.19046852 0.00757577
+v -0.20752331 -0.19046852 -0.23484848
+v -0.19237179 0.15801634 0.00757577
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+v -0.19237179 0.15801634 -0.23484848
+v -0.38688034 -0.13890416 0.00144014
+v -0.19237179 -0.00865033 0.00757577
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\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_3/collision/model_normalized_collision_17.obj b/objects/objaverse/pear/pear_3/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21d084efc770ecfdcb3090f0458a4b10f55d9e59
--- /dev/null
+++ b/objects/objaverse/pear/pear_3/collision/model_normalized_collision_17.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.07839632 -0.37039357 -0.23007913
+v 0.21193638 -0.19737396 -0.43637918
+v 0.21671912 -0.20562003 -0.23484848
+v -0.19237179 -0.20562003 -0.23484848
+v -0.16701288 -0.23947021 -0.42778903
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+v -0.16830086 -0.35703015 -0.23043799
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+v -0.18695743 -0.20128675 -0.43839635
+v -0.08281539 -0.22741323 -0.45926847
+v -0.08352458 -0.35402515 -0.31727925
+v 0.13688429 -0.35399715 -0.24667546
+v 0.16529572 -0.27808214 -0.37289241
+v 0.16939311 -0.19715142 -0.45269844
+v -0.16845006 -0.21125581 -0.44507554
+v -0.18210901 -0.27887813 -0.37500797
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+v -0.12739724 -0.37303627 -0.23162379
+v 0.01586100 -0.35431416 -0.31797664
+v -0.12355367 -0.33653694 -0.33385303
+v 0.17921916 -0.32201611 -0.30103705
+v 0.13642023 -0.35804056 -0.23113534
+v 0.13911488 -0.30960699 -0.34458789
+v 0.18153892 -0.22042172 -0.42966493
+v -0.12966985 -0.20044228 -0.46376177
+v 0.01667004 -0.23007127 -0.45778085
+v -0.17927357 -0.22375932 -0.43002761
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\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_3/collision/model_normalized_collision_18.obj b/objects/objaverse/pear/pear_3/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..250598e4c14ba81568bc1218645d4d0d523d3f29
--- /dev/null
+++ b/objects/objaverse/pear/pear_3/collision/model_normalized_collision_18.obj
@@ -0,0 +1,183 @@
+# https://github.com/mikedh/trimesh
+v -0.20074788 -0.34369225 -0.02558520
+v -0.18339508 -0.21261812 -0.43489487
+v -0.20752331 -0.19046852 0.00757577
+v -0.37492547 -0.18318739 -0.01250410
+v -0.25231099 -0.30988087 -0.23076382
+v -0.19959335 -0.18645848 -0.43630340
+v -0.20175524 -0.33469923 0.00432741
+v -0.18682240 -0.34513176 -0.24521316
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+v -0.19237179 -0.19046852 -0.23484848
+v -0.34726966 -0.18188885 -0.27269083
+v -0.36614871 -0.18618752 0.00356992
+v -0.18515525 -0.28590341 -0.36242373
+v -0.22655203 -0.33931448 -0.18565856
+v -0.25329861 -0.31042386 -0.02910434
+v -0.18948329 -0.18843689 -0.44252146
+v -0.18517000 -0.32938058 -0.28962246
+v -0.23724533 -0.20902764 -0.38719437
+v -0.37182697 -0.20578498 -0.19601991
+v -0.35604732 -0.22128578 -0.03047794
+v -0.25185214 -0.28186002 -0.28606210
+v -0.18788192 -0.34782438 -0.23317393
+v -0.24169225 -0.32434189 -0.21516324
+v -0.22656655 -0.33748649 -0.05727675
+v -0.18520095 -0.31432851 -0.31866754
+v -0.28508558 -0.18391928 -0.34553700
+v -0.19437648 -0.21005392 -0.42828054
+v -0.38513463 -0.19566273 -0.07326083
+v -0.35603766 -0.20808087 -0.00483606
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+v -0.20810362 -0.28051937 -0.34520732
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+v -0.24076911 -0.31161698 0.00072526
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+v -0.26825008 -0.30952424 -0.17121925
+v -0.21486671 -0.32768566 0.00196637
+v -0.34301179 -0.25144320 -0.11136540
+v -0.39020827 -0.18460437 -0.07100373
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+f 22 8 1
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+f 59 23 36
+f 59 55 52
+f 59 36 55
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+f 60 38 7
+f 60 7 53
+f 61 55 9
+f 61 9 40
+f 61 40 37
+f 61 37 55
+f 62 56 28
+f 62 28 4
+f 62 4 56
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_3/collision/model_normalized_collision_19.obj b/objects/objaverse/pear/pear_3/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2e6ce0b712c4af74d8a3a71144bcebf3a4dc31b
--- /dev/null
+++ b/objects/objaverse/pear/pear_3/collision/model_normalized_collision_19.obj
@@ -0,0 +1,132 @@
+# https://github.com/mikedh/trimesh
+v 0.10120190 -0.29429947 0.27488061
+v 0.23652264 -0.18560379 0.22537549
+v 0.10385983 -0.18463961 0.40305439
+v 0.01908377 -0.02608817 0.41375176
+v 0.01974942 -0.02380185 0.23484850
+v 0.24328818 -0.02521612 0.23078318
+v 0.01950639 -0.28879186 0.33763281
+v 0.15405441 -0.23952834 0.31612983
+v 0.02039042 -0.31785367 0.23577130
+v 0.16804161 -0.17237946 0.34428500
+v 0.12261087 -0.07686125 0.38661379
+v 0.25370529 -0.06906083 0.22739579
+v 0.01890808 -0.19153226 0.41975168
+v 0.14801429 -0.28152765 0.22968855
+v 0.08836038 -0.27858920 0.33095872
+v 0.06084822 -0.29259814 0.31702409
+v 0.18456212 -0.21197643 0.29620636
+v 0.14107009 -0.21235060 0.35814991
+v 0.09686404 -0.03731980 0.38446438
+v 0.08814667 -0.10240441 0.41922293
+v 0.25301768 -0.09782794 0.22741201
+v 0.16973502 -0.10345614 0.34271808
+v 0.12855572 -0.26218787 0.31799947
+v 0.22096573 -0.21415988 0.22545662
+v 0.11811662 -0.29537009 0.23182040
+v 0.02105644 -0.29776533 0.31949948
+v 0.18310118 -0.18482380 0.31459029
+v 0.12716847 -0.18480604 0.38599212
+v 0.15391395 -0.20973088 0.34463308
+v 0.11505079 -0.26574960 0.32964149
+v 0.12474484 -0.05004906 0.36979254
+v 0.07128726 -0.03496555 0.39890306
+v 0.08916399 -0.15691914 0.41918770
+v 0.10018938 -0.06199629 0.39765095
+v 0.19752747 -0.15825132 0.30006066
+v 0.15372595 -0.09128097 0.35852483
+v 0.15785622 -0.26470475 0.25946557
+v 0.11532156 -0.27729411 0.30376279
+v 0.18227741 -0.22260113 0.28705093
+v 0.11745655 -0.29262259 0.24790702
+v 0.15483298 -0.18468493 0.35706021
+v 0.13969145 -0.03440484 0.34206654
+v 0.10102329 -0.15648772 0.41279473
+v 0.09662890 -0.10132878 0.41409021
+v 0.18532847 -0.23832081 0.25567928
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+f 9 7 5
+f 12 2 5
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+f 13 5 7
+f 15 13 7
+f 15 3 13
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+f 16 15 7
+f 16 1 15
+f 20 4 13
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+f 21 2 12
+f 22 10 12
+f 22 12 6
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+f 24 5 2
+f 24 14 9
+f 24 9 5
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+f 26 7 9
+f 26 9 16
+f 27 17 2
+f 27 2 10
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+f 29 27 10
+f 29 17 27
+f 29 18 8
+f 29 8 17
+f 30 18 3
+f 30 3 15
+f 30 23 8
+f 30 8 18
+f 31 11 6
+f 32 6 4
+f 32 4 20
+f 33 20 13
+f 33 13 3
+f 34 32 20
+f 34 19 32
+f 34 31 19
+f 34 11 31
+f 35 21 10
+f 35 10 2
+f 35 2 21
+f 36 22 6
+f 36 6 11
+f 37 8 23
+f 37 14 24
+f 38 1 14
+f 38 37 23
+f 38 14 37
+f 38 23 30
+f 38 30 15
+f 38 15 1
+f 39 24 17
+f 39 17 8
+f 39 8 24
+f 40 25 14
+f 40 14 1
+f 40 1 25
+f 41 28 18
+f 41 18 29
+f 41 29 10
+f 41 10 28
+f 42 31 6
+f 42 19 31
+f 42 32 19
+f 42 6 32
+f 43 20 33
+f 43 22 36
+f 43 28 10
+f 43 10 22
+f 43 33 3
+f 43 3 28
+f 44 34 20
+f 44 11 34
+f 44 20 43
+f 44 43 36
+f 44 36 11
+f 45 37 24
+f 45 24 8
+f 45 8 37
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_3/collision/model_normalized_collision_2.obj b/objects/objaverse/pear/pear_3/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fcd7f58a187cd0e40f4a01936c6cdd524ca89352
--- /dev/null
+++ b/objects/objaverse/pear/pear_3/collision/model_normalized_collision_2.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.01974942 -0.22077155 0.26515153
+v 0.01974942 -0.22077155 0.00757577
+v 0.02194884 0.18379121 0.22798798
+v 0.02088464 0.16813077 0.24473838
+v -0.20352277 -0.00941703 0.27664856
+v 0.01974942 -0.02380185 0.26515153
+v -0.18702170 -0.22758626 0.25288048
+v -0.17722028 0.15801634 0.00757577
+v -0.16814497 0.14945720 0.19123833
+v -0.18419143 -0.22511877 0.26765249
+v 0.01974942 0.15801634 0.00757577
+v -0.17722028 -0.22077155 0.00757577
+v -0.13409060 0.14470521 0.21956487
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 6 5 1
+f 6 4 5
+f 7 2 1
+f 9 8 5
+f 9 3 8
+f 10 7 1
+f 10 1 5
+f 10 5 7
+f 11 8 3
+f 11 3 2
+f 11 2 8
+f 12 7 5
+f 12 5 8
+f 12 8 2
+f 12 2 7
+f 13 9 5
+f 13 5 4
+f 13 4 3
+f 13 3 9
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_3/collision/model_normalized_collision_21.obj b/objects/objaverse/pear/pear_3/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..01df04f4acafa50d31adc847eaa9c4cedc0389b0
--- /dev/null
+++ b/objects/objaverse/pear/pear_3/collision/model_normalized_collision_21.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v -0.12726452 -0.35711228 0.03301113
+v -0.12739724 -0.37303627 -0.23162379
+v -0.12658795 -0.31501320 0.10681463
+v -0.17303642 -0.30381398 0.09396492
+v -0.20115322 -0.35260555 -0.07024082
+v -0.21205646 -0.33502102 -0.23768877
+v -0.13998301 -0.32351426 0.08571662
+v -0.12558519 -0.32640468 0.08968290
+v -0.12971716 -0.38176655 -0.09965933
+v -0.20867113 -0.32870668 0.00838601
+v -0.14507190 -0.36334018 -0.24574534
+v -0.14437927 -0.30583221 0.11030926
+v -0.16890547 -0.36841428 -0.17352508
+v -0.14050499 -0.35316117 0.03215990
+v -0.13111973 -0.31023836 0.11288568
+v -0.20308260 -0.35317738 -0.17381836
+v -0.16761872 -0.37050057 -0.13185819
+v -0.15477948 -0.36828276 -0.21618524
+v -0.16903564 -0.30985935 0.08752415
+v -0.16757008 -0.35335471 0.00344900
+v -0.13977801 -0.37005124 -0.22969965
+v -0.20128684 -0.34302715 -0.23045164
+v -0.19072806 -0.33597233 0.01682391
+v -0.19784579 -0.33822181 0.00083698
+v -0.14196534 -0.35670472 0.01968202
+f 8 1 2
+f 8 2 3
+f 9 2 1
+f 10 6 5
+f 10 4 6
+f 12 6 4
+f 13 2 9
+f 14 8 7
+f 14 1 8
+f 15 8 3
+f 15 7 8
+f 15 11 6
+f 15 6 12
+f 15 3 2
+f 15 2 11
+f 15 12 4
+f 16 5 6
+f 17 13 9
+f 17 9 5
+f 17 16 13
+f 17 5 16
+f 18 2 13
+f 18 13 16
+f 19 14 7
+f 19 15 4
+f 19 7 15
+f 20 5 9
+f 21 18 11
+f 21 11 2
+f 21 2 18
+f 22 18 16
+f 22 16 6
+f 22 6 11
+f 22 11 18
+f 23 19 4
+f 23 4 10
+f 23 20 14
+f 23 14 19
+f 24 10 5
+f 24 5 20
+f 24 23 10
+f 24 20 23
+f 25 20 9
+f 25 9 1
+f 25 1 14
+f 25 14 20
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_3/collision/model_normalized_collision_22.obj b/objects/objaverse/pear/pear_3/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f838b467aa6858e73bada9cb680e428dd09ac62
--- /dev/null
+++ b/objects/objaverse/pear/pear_3/collision/model_normalized_collision_22.obj
@@ -0,0 +1,162 @@
+# https://github.com/mikedh/trimesh
+v 0.22104691 0.14766854 0.16328329
+v 0.23187064 0.15801634 0.00757577
+v 0.22166534 0.29494973 0.00092378
+v -0.11264786 0.35736083 0.00217110
+v -0.17722028 0.15801634 0.00757577
+v 0.07010440 0.31318907 0.08587689
+v 0.17668801 0.24816650 0.11522390
+v 0.07689718 0.35582531 0.00224280
+v -0.12438966 0.14860998 0.22340701
+v 0.21734543 0.23259728 0.09960509
+v 0.13407247 0.31995005 0.04086652
+v -0.08042975 0.35286789 0.03024197
+v -0.16814497 0.14945720 0.19123833
+v 0.02088464 0.16813077 0.24473838
+v 0.17387831 0.20557512 0.15727434
+v 0.17883697 0.28934872 0.05623880
+v 0.13400274 0.29067276 0.08519039
+v 0.10786213 0.32049275 0.05669775
+v 0.16462619 0.32617814 0.00294747
+v 0.04448818 0.35358762 0.02424794
+v -0.17423960 0.33429674 0.00505950
+v 0.11815896 0.18694466 0.20359734
+v -0.12520611 0.29240923 0.09967592
+v 0.14957654 0.15197658 0.21005657
+v 0.21577219 0.16084725 0.15817241
+v 0.21875866 0.29144292 0.01371130
+v 0.19117980 0.26192110 0.08531797
+v 0.11935324 0.24752977 0.14299415
+v 0.07597025 0.35142294 0.01329972
+v 0.16255535 0.32175018 0.01370601
+v 0.01792427 0.33624709 0.05922974
+v -0.15814945 0.34157052 0.00334200
+v 0.14645812 0.18970784 0.18663572
+v -0.05256294 0.18811894 0.21963244
+v -0.16860706 0.20694422 0.15888166
+v 0.17871666 0.14990316 0.19220336
+v 0.14835531 0.26216912 0.11451929
+v 0.06375420 0.20387610 0.20347974
+v -0.02556297 0.29511803 0.11283783
+v -0.13933015 0.33607948 0.03061313
+v 0.14666968 0.16280056 0.20505251
+v -0.09284030 0.17495398 0.22028624
+v -0.15391695 0.29119250 0.08653427
+v 0.17470038 0.16208404 0.18750346
+v 0.10552107 0.27707145 0.11427270
+v -0.08197394 0.33723853 0.05520978
+v -0.05311458 0.20259530 0.20477802
+v -0.01258619 0.29459015 0.11347123
+v -0.11165619 0.35187626 0.01506410
+v -0.15365828 0.33840771 0.01514741
+v -0.15393882 0.22167157 0.15615937
+v -0.12662872 0.23314942 0.15698106
+v -0.16891415 0.30604416 0.05517072
+v 0.01911307 0.19019037 0.22205467
+v -0.16829621 0.32488370 0.02888315
+f 1 2 3
+f 5 2 1
+f 5 3 2
+f 5 4 3
+f 8 3 4
+f 10 1 3
+f 13 5 1
+f 13 1 9
+f 15 10 7
+f 17 16 11
+f 17 7 16
+f 18 17 11
+f 18 6 17
+f 19 3 8
+f 20 8 4
+f 20 4 12
+f 20 6 18
+f 21 5 13
+f 24 14 9
+f 24 22 14
+f 25 1 10
+f 25 10 15
+f 26 10 3
+f 26 3 19
+f 27 16 7
+f 27 7 10
+f 27 26 16
+f 27 10 26
+f 28 22 7
+f 29 18 11
+f 29 20 18
+f 29 8 20
+f 29 19 8
+f 29 11 19
+f 30 19 11
+f 30 11 16
+f 30 26 19
+f 30 16 26
+f 31 20 12
+f 31 6 20
+f 32 4 5
+f 32 5 21
+f 33 15 7
+f 33 7 22
+f 35 21 13
+f 35 13 9
+f 36 24 9
+f 36 9 1
+f 37 17 6
+f 37 28 7
+f 37 7 17
+f 38 28 6
+f 38 14 22
+f 38 22 28
+f 39 34 14
+f 41 33 22
+f 41 22 24
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+f 44 36 1
+f 44 1 25
+f 44 25 15
+f 44 15 33
+f 44 33 41
+f 44 41 24
+f 44 24 36
+f 45 37 6
+f 45 6 28
+f 45 28 37
+f 46 39 31
+f 46 31 12
+f 46 23 39
+f 46 40 23
+f 46 12 40
+f 47 39 23
+f 47 23 34
+f 47 34 39
+f 48 6 31
+f 48 31 39
+f 48 38 6
+f 49 40 12
+f 49 12 4
+f 49 4 40
+f 50 40 4
+f 50 4 32
+f 50 32 21
+f 51 35 9
+f 51 9 42
+f 51 43 35
+f 51 23 43
+f 52 42 34
+f 52 34 23
+f 52 51 42
+f 52 23 51
+f 53 21 35
+f 53 35 43
+f 54 48 39
+f 54 39 14
+f 54 14 38
+f 54 38 48
+f 55 50 21
+f 55 40 50
+f 55 21 53
+f 55 53 43
+f 55 43 40
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_3/collision/model_normalized_collision_24.obj b/objects/objaverse/pear/pear_3/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..700f5426e941cb34525867d7fd75b4de61bc84cb
--- /dev/null
+++ b/objects/objaverse/pear/pear_3/collision/model_normalized_collision_24.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v -0.06417180 -0.24546405 0.47580816
+v -0.02286409 -0.18554795 0.40661738
+v -0.09488295 -0.20408934 0.49296899
+v -0.10559116 -0.16296858 0.37216364
+v -0.04038647 -0.22050649 0.38560933
+v -0.02632340 -0.16096282 0.41792684
+v -0.11848197 -0.24083093 0.45731305
+v -0.05637478 -0.23962663 0.48303247
+v -0.04188323 -0.16971050 0.39367197
+v -0.09684330 -0.17633445 0.43056405
+v -0.11085953 -0.22732016 0.49320467
+v -0.07441081 -0.24834177 0.43829306
+v -0.10499657 -0.21088372 0.39772001
+v -0.05694182 -0.23925837 0.46595926
+v -0.05511909 -0.22594679 0.49201595
+v -0.10252074 -0.24939861 0.46785411
+v -0.11568316 -0.21208051 0.48460302
+v -0.05788258 -0.23115219 0.49386638
+v -0.06983456 -0.24863487 0.45191537
+v -0.10880133 -0.19128745 0.39032265
+v -0.09876878 -0.18823658 0.37739939
+v -0.09792743 -0.24827436 0.44533141
+v -0.07881536 -0.20618321 0.49447624
+v -0.11789410 -0.23920370 0.47683748
+v -0.10969232 -0.21055739 0.49179488
+v -0.05597129 -0.21726672 0.48623497
+v -0.10765043 -0.20605853 0.48604166
+f 8 5 2
+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 14 8 1
+f 14 5 8
+f 15 8 2
+f 15 2 6
+f 17 4 7
+f 17 10 4
+f 18 1 8
+f 18 8 15
+f 18 16 1
+f 18 11 16
+f 19 12 5
+f 19 16 12
+f 19 1 16
+f 19 14 1
+f 19 5 14
+f 20 13 7
+f 20 7 4
+f 21 4 5
+f 21 5 13
+f 21 20 4
+f 21 13 20
+f 22 7 13
+f 22 16 7
+f 22 12 16
+f 22 13 5
+f 22 5 12
+f 23 6 3
+f 23 18 15
+f 23 3 11
+f 23 11 18
+f 24 16 11
+f 24 7 16
+f 24 17 7
+f 24 11 17
+f 25 17 11
+f 25 11 3
+f 26 23 15
+f 26 15 6
+f 26 6 23
+f 27 25 3
+f 27 3 10
+f 27 10 17
+f 27 17 25
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_3/collision/model_normalized_collision_27.obj b/objects/objaverse/pear/pear_3/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20260e9f0f164279e8f5a32f2624ae31caf4b0ee
--- /dev/null
+++ b/objects/objaverse/pear/pear_3/collision/model_normalized_collision_27.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.19237179 0.15801634 0.00757577
+v -0.18475074 0.18310051 -0.43810409
+v -0.18289021 0.20955984 -0.42092069
+v -0.18567435 0.34095671 -0.02722641
+v -0.36208549 0.15201510 -0.15741731
+v -0.21162786 0.15082365 -0.43405529
+v -0.33500135 0.15271080 0.00325055
+v -0.25302973 0.30810319 -0.18596472
+v -0.19216416 0.15785277 -0.44669965
+v -0.23656609 0.16252549 -0.40189296
+v -0.18700338 0.32990177 0.00114693
+v -0.36213163 0.15046167 -0.06975147
+v -0.18607909 0.32747813 -0.24426622
+v -0.20731291 0.16327494 -0.43065289
+v -0.25112821 0.25080704 -0.30006542
+v -0.32979456 0.15076075 -0.27360234
+v -0.29632041 0.26734280 -0.14074202
+v -0.21345359 0.33524098 -0.18490264
+v -0.19201624 0.20575007 -0.41568371
+v -0.19730513 0.27597257 -0.32993473
+v -0.28477310 0.15159807 -0.34778550
+v -0.29574656 0.22246258 -0.25680037
+v -0.34714076 0.15113443 -0.23066756
+v -0.32579241 0.22428070 -0.14246072
+v -0.24113126 0.32240940 -0.07136231
+v -0.22539702 0.32073939 -0.21227459
+v -0.18796293 0.34143782 -0.20058193
+v -0.22064047 0.22060798 -0.37272703
+v -0.18420254 0.25113946 -0.37603418
+v -0.23998398 0.15139062 -0.40508238
+v -0.25238170 0.29267846 -0.22766460
+v -0.26535140 0.22155742 -0.31385190
+v -0.34113916 0.16279318 -0.22973531
+v -0.29551189 0.26715602 -0.07123331
+v -0.31114527 0.23601540 -0.18476303
+v -0.23941929 0.32357017 -0.15940189
+v -0.21492767 0.33499483 -0.05678493
+v -0.19919688 0.32286350 -0.24178530
+v -0.18747140 0.27955007 -0.33235488
+v -0.19428409 0.24728962 -0.37205794
+v -0.26481038 0.17758434 -0.35894975
+v -0.25082744 0.27882942 -0.25658706
+v -0.22181113 0.23358808 -0.35791880
+v -0.34046349 0.17707402 -0.20089555
+v -0.32541517 0.22353898 -0.08681690
+v -0.29504370 0.25203837 -0.03062588
+v -0.32344315 0.19262261 -0.22930993
+v -0.28045317 0.26535746 -0.21319985
+v -0.26609428 0.29485174 -0.18464955
+v -0.22720987 0.31990334 -0.03093511
+v -0.20033870 0.33716442 -0.20009741
+v -0.28000097 0.16500455 -0.34614952
+v -0.28105487 0.25009924 -0.24217426
+v -0.22457966 0.27619632 -0.29955487
+v -0.34073721 0.19316889 -0.15597155
+v -0.34790995 0.15175858 -0.02681039
+v -0.28058875 0.25215051 -0.00360545
+v -0.26676280 0.29284700 -0.04467010
+v -0.32415681 0.20824341 -0.04429590
+v -0.28001695 0.28098834 -0.17011113
+v -0.19798426 0.33650727 -0.02796679
+v -0.20817967 0.24800289 -0.35699197
+v -0.23805459 0.29169041 -0.25484187
+v -0.32953084 0.16487506 0.00031985
+f 1 2 3
+f 1 3 4
+f 9 2 1
+f 9 1 6
+f 11 7 1
+f 11 1 4
+f 12 6 1
+f 12 1 7
+f 13 4 3
+f 14 9 6
+f 14 2 9
+f 14 6 10
+f 16 6 12
+f 19 14 10
+f 19 3 2
+f 19 2 14
+f 23 16 12
+f 23 12 5
+f 24 5 12
+f 27 4 13
+f 28 19 10
+f 28 3 19
+f 29 13 3
+f 30 10 6
+f 30 6 16
+f 30 16 21
+f 31 8 26
+f 32 16 22
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\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_3/collision/model_normalized_collision_28.obj b/objects/objaverse/pear/pear_3/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c4a4ac49e16ea82e49dc393099bcea8ae5fdfc1
--- /dev/null
+++ b/objects/objaverse/pear/pear_3/collision/model_normalized_collision_28.obj
@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
+v 0.21191212 0.16748086 -0.45240216
+v 0.25272427 0.20809657 -0.38967257
+v 0.00459791 0.17316785 -0.35606060
+v 0.02039659 0.31409620 -0.34911077
+v 0.15252960 0.24726892 -0.41675331
+v 0.21323554 0.27394400 -0.35255754
+v 0.00406928 0.17115058 -0.48325019
+v 0.20875189 0.22000435 -0.41716334
+v 0.15378741 0.29774208 -0.34861000
+v 0.18289012 0.16667373 -0.46392189
+v 0.00470332 0.30856126 -0.35543813
+v 0.20794185 0.20549506 -0.43029082
+v 0.20680001 0.26367789 -0.37297147
+v 0.19744184 0.28386783 -0.35066700
+v 0.06265793 0.30765461 -0.35853783
+v 0.09481881 0.16862013 -0.47817459
+v 0.00363098 0.23613340 -0.44707474
+v 0.20932506 0.17952244 -0.44709335
+v 0.15146448 0.19378256 -0.45989845
+v 0.19213025 0.23380540 -0.41480704
+v 0.19584116 0.27747842 -0.36248068
+v 0.12273120 0.27622025 -0.38766414
+v 0.06386816 0.31371820 -0.34912242
+v 0.00382161 0.19584528 -0.47451221
+v 0.00456979 0.26330611 -0.41897735
+v 0.13836431 0.22066467 -0.44419854
+v 0.17791080 0.20626565 -0.44355234
+v 0.19106643 0.24827552 -0.40149440
+v 0.15223719 0.29145964 -0.35902257
+v 0.01756429 0.19488845 -0.47408722
+v 0.02023938 0.30714218 -0.35979430
+v 0.03411037 0.26237169 -0.41859820
+v 0.18002026 0.18055314 -0.45730991
+v 0.15342018 0.23318683 -0.43081527
+v 0.17926450 0.27645455 -0.37253416
+v 0.09545888 0.17931516 -0.47410369
+v 0.03343905 0.23550497 -0.44546288
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+f 39 34 26
+f 39 26 37
+f 39 32 5
+f 39 5 34
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_3/collision/model_normalized_collision_3.obj b/objects/objaverse/pear/pear_3/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..916c0f8c8980dd988476bebb0c5f21ea1d58325f
--- /dev/null
+++ b/objects/objaverse/pear/pear_3/collision/model_normalized_collision_3.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.15261635 -0.36825584 0.00343451
+v 0.22390289 -0.32261826 -0.22947354
+v 0.22166534 0.29494973 0.00092378
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+v -0.21205646 -0.33502102 -0.23768877
+v 0.22421272 0.32266736 -0.23058665
+v -0.20752331 -0.00865033 0.00757577
+v 0.22151089 -0.33258943 0.00431176
+v -0.02707132 -0.38504777 -0.23235473
+v 0.06248953 0.38320813 -0.10038083
+v -0.18873807 0.33154068 -0.23164007
+v 0.14949658 -0.35338617 -0.23144417
+v -0.18700338 0.32990177 0.00114693
+v -0.20867113 -0.32870668 0.00838601
+v 0.22461970 -0.33878495 -0.14163152
+v 0.20335313 0.30658071 0.00248079
+v -0.20752331 -0.00865033 -0.23484848
+v 0.07634765 0.36672496 -0.22862062
+v 0.16232116 -0.37041210 -0.08078043
+v -0.18538927 0.35150054 -0.08498142
+v -0.10029288 -0.38545538 -0.08729923
+v 0.20867399 -0.33949194 -0.18539381
+v -0.08127255 0.36531495 0.00145706
+v 0.03201663 0.36746500 -0.00103478
+v 0.20695521 0.33614703 -0.10064542
+v 0.16620094 0.35201182 -0.17407705
+v -0.03560223 0.36783011 -0.22995853
+v 0.09140124 -0.37052930 -0.21750875
+v 0.19193138 -0.35327212 0.00267948
+v -0.11340582 -0.36972443 0.00112851
+v 0.01689195 -0.38605617 -0.16025444
+v -0.15608997 -0.37195909 -0.10095967
+v -0.16941755 0.35156492 -0.04073149
+v 0.01733694 0.38251364 -0.04145967
+v 0.09088314 0.35203221 0.00064057
+v 0.22071822 0.32027160 -0.05843105
+v 0.06170197 0.38256214 -0.15819122
+v 0.19467450 0.33517378 -0.22997332
+v 0.20982025 0.33620437 -0.18934108
+v 0.16573172 0.35126776 -0.10070501
+v -0.08137862 0.38177852 -0.12655514
+v 0.07839632 -0.37039357 -0.23007913
+v 0.16550048 -0.36905368 -0.02514991
+v 0.21732660 -0.33930838 -0.00598984
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+v -0.11253868 -0.38518495 -0.18661327
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+v -0.18352248 0.33723351 -0.01309933
+v -0.12418884 0.36692460 -0.04281988
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+v -0.13906968 0.34968730 0.00031665
+v -0.14086901 0.36738995 -0.08581997
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\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_3/collision/model_normalized_collision_30.obj b/objects/objaverse/pear/pear_3/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e80182972f163e30504885c84fdeb1fe649d9c65
--- /dev/null
+++ b/objects/objaverse/pear/pear_3/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.35547017 -0.20598745 0.01363839
+v 0.37095443 -0.20626697 -0.24297801
+v 0.35514904 0.16662995 -0.23831060
+v 0.23187064 0.15801634 0.00757577
+v 0.23187064 -0.19046852 -0.23484848
+v 0.34031908 0.15949614 0.00877301
+v 0.23187064 -0.19046852 0.00757577
+v 0.23187064 0.15801634 -0.23484848
+f 1 2 3
+f 5 2 1
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+f 6 3 4
+f 6 4 1
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 3 2
+f 8 2 5
+f 8 5 4
+f 8 4 3
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_3/collision/model_normalized_collision_8.obj b/objects/objaverse/pear/pear_3/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a435dc16af60756713dd0cad8b5e7852306b20ca
--- /dev/null
+++ b/objects/objaverse/pear/pear_3/collision/model_normalized_collision_8.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v 0.13683431 -0.37201336 0.00248597
+v 0.24513293 -0.30960836 0.00672403
+v 0.01880680 -0.31414131 0.26286415
+v -0.18419143 -0.22511877 0.26765249
+v -0.17722028 -0.22077155 0.00757577
+v 0.22096573 -0.21415988 0.22545662
+v -0.13000778 -0.36391417 0.00626078
+v 0.19010590 -0.29250240 0.16408031
+v 0.23187064 -0.22077155 0.00757577
+v 0.01974942 -0.22077155 0.26515153
+v 0.02032377 -0.36897251 0.06214220
+v -0.06497435 -0.30748252 0.26386721
+v -0.09885495 -0.37162882 0.00404110
+v -0.19072806 -0.33597233 0.01682391
+v 0.20567207 -0.34088823 0.01782810
+v 0.15092366 -0.32109502 0.13595138
+v 0.17399368 -0.26530375 0.22674909
+v 0.21708121 -0.26586197 0.17755007
+v 0.23816640 -0.31735965 0.00352010
+v 0.09098690 -0.36869427 0.04821575
+v -0.05250064 -0.36860740 0.04815293
+v -0.09744145 -0.36851440 0.01739398
+v -0.15027898 -0.26384227 0.25986477
+v 0.11811662 -0.29537009 0.23182040
+v 0.12106618 -0.35416574 0.07506859
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+v -0.16337042 -0.25288002 0.25932385
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+f 36 34 1
+f 36 1 28
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\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_3/visual/material.mtl b/objects/objaverse/pear/pear_3/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3e963f5e154ef1e7766d3c2c065b16bfeea95307
--- /dev/null
+++ b/objects/objaverse/pear/pear_3/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 0.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_5/collision/model_normalized_collision_0.obj b/objects/objaverse/pear/pear_5/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c916c0479430a7a42ff05470b7a383bf1a2eec6a
--- /dev/null
+++ b/objects/objaverse/pear/pear_5/collision/model_normalized_collision_0.obj
@@ -0,0 +1,165 @@
+# https://github.com/mikedh/trimesh
+v 0.13629355 -0.37198883 -0.09937863
+v 0.23478107 -0.22652151 -0.36265479
+v 0.22956381 -0.20196120 -0.09848484
+v -0.17952709 -0.20196120 -0.09848484
+v -0.15706155 -0.28098541 -0.33258303
+v -0.17952709 -0.20196120 -0.23484848
+v -0.17437218 -0.35325515 -0.09595935
+v 0.23852169 -0.32350287 -0.09602874
+v 0.10463492 -0.33442220 -0.30362003
+v 0.22956381 -0.20196120 -0.23484848
+v -0.18718396 -0.22758013 -0.36639150
+v -0.10167171 -0.36843119 -0.09714210
+v 0.20793021 -0.32566665 -0.23190896
+v -0.17248942 -0.32246166 -0.22894136
+v -0.17499374 -0.35092606 -0.10976620
+v -0.05707066 -0.27197837 -0.39560754
+v 0.00248001 -0.36570030 -0.20249791
+v 0.13556270 -0.36624755 -0.18573705
+v 0.18868025 -0.29020788 -0.32881001
+v 0.23043400 -0.30912331 -0.23530741
+v -0.17286130 -0.33590848 -0.18601118
+v -0.12966330 -0.35008944 -0.18522314
+v -0.10174460 -0.27171689 -0.38113932
+v -0.02627907 -0.33596940 -0.30261833
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+v 0.11894369 -0.34946120 -0.26058550
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+v 0.20182154 -0.29184299 -0.31471760
+v -0.10114858 -0.36673242 -0.11367062
+v -0.15853101 -0.33314771 -0.21348846
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+v 0.16088160 -0.30416198 -0.32844701
+v -0.05567012 -0.29162898 -0.37454816
+v 0.16186995 -0.31785352 -0.30259785
+v 0.20345837 -0.28007261 -0.33090653
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+v -0.09879650 -0.27838113 -0.37465431
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+v -0.06972759 -0.27824811 -0.38659130
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+v -0.11179925 -0.30342802 -0.33009864
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+f 8 2 3
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+f 26 24 9
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+f 27 25 18
+f 28 16 2
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+f 29 2 20
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+f 32 23 11
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+f 38 26 28
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+f 41 35 17
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+f 42 33 22
+f 42 22 31
+f 43 34 42
+f 43 42 31
+f 45 37 28
+f 45 28 24
+f 46 16 28
+f 46 28 37
+f 46 32 16
+f 47 37 45
+f 48 41 12
+f 48 12 30
+f 48 30 22
+f 48 22 41
+f 49 35 33
+f 49 33 42
+f 49 24 35
+f 49 45 24
+f 49 42 34
+f 49 34 45
+f 50 14 11
+f 50 11 5
+f 51 43 31
+f 51 31 14
+f 51 50 43
+f 51 14 50
+f 52 5 23
+f 52 47 44
+f 53 45 34
+f 53 47 45
+f 53 44 47
+f 54 23 32
+f 54 32 46
+f 54 46 37
+f 54 37 47
+f 54 52 23
+f 54 47 52
+f 55 50 5
+f 55 43 50
+f 55 52 44
+f 55 5 52
+f 56 55 44
+f 56 44 53
+f 56 53 34
+f 56 34 43
+f 56 43 55
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_5/collision/model_normalized_collision_1.obj b/objects/objaverse/pear/pear_5/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c32a9ac36f18919bd14d66e362aabe1fc86d02c
--- /dev/null
+++ b/objects/objaverse/pear/pear_5/collision/model_normalized_collision_1.obj
@@ -0,0 +1,153 @@
+# https://github.com/mikedh/trimesh
+v 0.01744261 0.26773576 0.00757576
+v 0.14422637 0.33177941 -0.24037619
+v 0.14729042 0.33573600 0.01440458
+v -0.05388393 0.37109232 -0.04124227
+v -0.19784749 0.29633293 -0.24401262
+v 0.07369815 0.37134114 -0.12596289
+v -0.12574181 0.31417421 0.09139759
+v 0.01744261 0.26773576 -0.23484848
+v 0.13191760 0.35580529 -0.12683123
+v 0.05931890 0.37048807 -0.03983730
+v -0.07073951 0.35342797 -0.21813205
+v -0.17761317 0.29418395 0.08163493
+v 0.13336772 0.34080386 -0.21666689
+v 0.02998404 0.37158848 -0.02675569
+v 0.13353143 0.35532608 -0.05522031
+v -0.15464220 0.34078383 -0.11056221
+v -0.05805890 0.37122560 -0.14251714
+v -0.11332378 0.34001504 -0.22855741
+v -0.13919332 0.34044052 -0.01018017
+v 0.11696730 0.35586009 -0.15567096
+v 0.04526881 0.35538467 -0.21257467
+v 0.07358898 0.37069551 -0.05784084
+v -0.04090106 0.37035852 -0.02516388
+v 0.08905153 0.35630143 0.00110300
+v -0.20092599 0.30580985 0.01540327
+v -0.06844348 0.37207399 -0.08405662
+v -0.16856751 0.32463988 -0.20333944
+v -0.11245648 0.35444774 -0.17116382
+v 0.04631675 0.37136073 -0.15398555
+v 0.11942120 0.34054865 -0.22977158
+v -0.11789503 0.32252372 0.07990169
+v -0.08261344 0.35579572 0.00402634
+v 0.13553168 0.34347915 0.00272758
+v 0.11798137 0.35497994 -0.02579486
+v -0.15546059 0.33962061 -0.05584770
+v -0.11257515 0.35504120 -0.04185527
+v -0.15643538 0.32432155 -0.22751517
+v -0.07068573 0.37118834 -0.11220748
+v -0.02685561 0.37160399 -0.15626914
+v 0.13668914 0.33609800 -0.23235775
+v 0.07648183 0.35549622 -0.19971151
+v -0.11476358 0.33032210 0.06301664
+v -0.15450426 0.30849213 0.07544905
+v -0.17147710 0.32468054 -0.00977007
+v -0.12644168 0.33962724 0.01673267
+v -0.17320044 0.31518216 -0.22970213
+v -0.12737625 0.33876056 -0.21719900
+v -0.12770237 0.32650209 0.06163350
+v -0.17106192 0.31129392 0.04722028
+v -0.09861928 0.35350010 -0.01017283
+v -0.15594392 0.32311492 0.03203005
+v -0.17233317 0.29848086 0.07822967
+f 1 2 3
+f 7 1 3
+f 8 5 2
+f 8 2 1
+f 8 1 5
+f 9 3 2
+f 12 5 1
+f 12 1 7
+f 13 9 2
+f 15 9 6
+f 15 3 9
+f 18 11 2
+f 18 2 5
+f 20 13 6
+f 20 6 9
+f 20 9 13
+f 22 14 10
+f 22 6 14
+f 22 15 6
+f 23 14 4
+f 24 7 3
+f 24 10 14
+f 25 5 12
+f 26 14 6
+f 26 4 14
+f 27 25 16
+f 27 5 25
+f 28 17 11
+f 28 11 18
+f 28 27 16
+f 29 6 13
+f 29 26 6
+f 30 2 11
+f 30 11 21
+f 31 24 14
+f 31 7 24
+f 32 23 4
+f 33 24 3
+f 33 3 15
+f 34 15 22
+f 34 22 10
+f 34 10 24
+f 34 33 15
+f 34 24 33
+f 35 16 25
+f 35 26 16
+f 36 4 26
+f 36 32 4
+f 36 35 19
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+f 37 18 5
+f 38 26 17
+f 38 17 28
+f 38 28 16
+f 38 16 26
+f 39 17 26
+f 39 26 29
+f 39 11 17
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+f 39 21 11
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+f 40 13 2
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+f 42 14 23
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+f 44 19 35
+f 45 36 19
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+f 46 37 5
+f 46 5 27
+f 46 27 37
+f 47 28 18
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+f 47 37 27
+f 47 27 28
+f 48 43 7
+f 48 7 31
+f 48 31 42
+f 48 42 45
+f 49 25 12
+f 49 43 48
+f 50 45 32
+f 50 32 36
+f 50 36 45
+f 51 45 19
+f 51 19 25
+f 51 25 49
+f 51 49 48
+f 51 48 45
+f 52 49 12
+f 52 43 49
+f 52 12 7
+f 52 7 43
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_5/collision/model_normalized_collision_10.obj b/objects/objaverse/pear/pear_5/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f53ac61e4111c57dffc68a165f563fe2e4b1ef7f
--- /dev/null
+++ b/objects/objaverse/pear/pear_5/collision/model_normalized_collision_10.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.07363918 -0.37093041 0.00608469
+v -0.07273594 -0.37218740 -0.09730096
+v -0.07346648 -0.20196120 0.00757576
+v -0.17952709 -0.20196120 0.00757576
+v -0.17437218 -0.35325515 -0.09595935
+v -0.14085144 -0.32706902 0.09329654
+v -0.13080412 -0.36689978 -0.06649437
+v -0.07346648 -0.20196120 -0.09848484
+v -0.18285566 -0.31624574 0.08701058
+v -0.11602939 -0.36651186 -0.09641297
+v -0.17952709 -0.20196120 -0.09848484
+v -0.17189094 -0.34923294 0.01709553
+v -0.13030961 -0.36640493 -0.02384532
+v -0.13078783 -0.33853342 0.07565677
+v -0.11612321 -0.36551247 0.00355546
+v -0.17355119 -0.33457025 0.05828257
+v -0.16003215 -0.34940865 0.03029699
+v -0.14389645 -0.33550523 0.07538537
+v -0.17457138 -0.32596825 0.07591003
+f 1 2 3
+f 6 1 3
+f 7 2 1
+f 8 3 2
+f 8 4 3
+f 9 6 3
+f 9 3 4
+f 10 7 5
+f 10 5 2
+f 10 2 7
+f 11 8 2
+f 11 2 5
+f 11 4 8
+f 11 9 4
+f 11 5 9
+f 12 9 5
+f 13 12 5
+f 13 5 7
+f 13 7 1
+f 14 1 6
+f 15 13 1
+f 15 12 13
+f 15 1 14
+f 16 9 12
+f 17 15 14
+f 17 12 15
+f 17 16 12
+f 18 14 6
+f 18 17 14
+f 18 16 17
+f 19 6 9
+f 19 9 16
+f 19 18 6
+f 19 16 18
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_5/collision/model_normalized_collision_11.obj b/objects/objaverse/pear/pear_5/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a88286beb61d4e21b8fcfd44c678b4ede1d3eb6
--- /dev/null
+++ b/objects/objaverse/pear/pear_5/collision/model_normalized_collision_11.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.22271681 -0.32882003 -0.04049717
+v 0.37883719 -0.07510813 -0.23215293
+v 0.37887801 0.01241848 -0.01374247
+v 0.22276936 0.30406142 -0.00959170
+v 0.22352357 0.30181761 -0.23042869
+v 0.22404522 -0.31606103 0.00516482
+v 0.22311684 -0.31575046 -0.23228252
+v 0.36255698 0.16755558 -0.20121419
+v 0.36544807 0.10903370 0.00229059
+v 0.33238627 -0.20812534 -0.09905568
+v 0.33492191 -0.17126138 -0.24973957
+v 0.22235745 0.31812792 -0.13043768
+v 0.39348933 0.08016546 -0.18741929
+v 0.36259835 0.15464596 -0.23047935
+v 0.34665779 -0.13508591 0.00272882
+v 0.22711734 0.29470210 0.00672031
+v 0.30175940 -0.25077069 -0.03994115
+v 0.30207361 -0.25027527 -0.17116516
+v 0.34759712 -0.17840718 -0.15719012
+v 0.22263448 -0.32728640 -0.18767960
+v 0.22268829 0.31658794 -0.17002258
+v 0.32103305 0.23608756 -0.08618473
+v 0.39501101 -0.01835793 -0.13018112
+v 0.39533195 0.05351250 -0.10063123
+v 0.36433388 0.16794247 -0.10239533
+v 0.31731884 0.22288639 -0.22880411
+v 0.38650954 0.08485701 -0.23182424
+v 0.36335589 -0.06095070 0.00179024
+v 0.27641345 -0.27511330 -0.01221372
+v 0.33021030 -0.19513787 -0.02691437
+v 0.28808034 -0.25027442 -0.23086993
+v 0.23189264 -0.32238556 -0.04200391
+v 0.36180389 -0.13304161 -0.21481951
+v 0.33298416 -0.19060738 -0.21629318
+v 0.33220774 -0.20795648 -0.14295928
+v 0.29222593 0.26494955 -0.08978961
+v 0.31645471 0.20828372 -0.00039621
+v 0.39547510 -0.00304989 -0.20230103
+v 0.37789283 -0.10481968 -0.11635853
+v 0.37910549 0.06721611 -0.01408801
+v 0.39527421 0.00993306 -0.10201566
+v 0.39458726 0.08179105 -0.12979369
+v 0.33372393 0.22409677 -0.14294200
+v 0.34764710 0.18077117 -0.22899732
+v 0.28944428 0.26663084 -0.18441539
+v 0.29935673 -0.23932569 0.00258088
+v 0.31562561 -0.22276454 -0.02547305
+v 0.32910379 -0.18242460 -0.24771907
+v 0.27370243 -0.27800925 -0.20003161
+v 0.23062908 -0.32187364 -0.18675971
+v 0.24423527 -0.30569570 -0.01353919
+v 0.23336983 -0.31062886 0.00162414
+v 0.36417946 -0.11889972 -0.23167368
+v 0.33926335 -0.16546097 -0.24600061
+v 0.31686254 -0.22194034 -0.20087790
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+v 0.27554847 0.28244305 -0.13130045
+v 0.24692603 0.28087159 0.00264322
+v 0.34966895 0.15298987 0.00184778
+v 0.39435881 0.05223666 -0.21832034
+v 0.37711116 -0.10503145 -0.18577214
+v 0.36269654 -0.13385353 -0.07088270
+v 0.39550832 -0.01928193 -0.18983626
+v 0.37811511 -0.09116448 -0.08559495
+f 6 4 1
+f 11 7 5
+f 12 1 4
+f 14 11 5
+f 16 4 6
+f 16 15 9
+f 16 6 15
+f 18 10 17
+f 20 1 12
+f 21 5 7
+f 21 20 12
+f 21 7 20
+f 26 14 5
+f 27 2 11
+f 27 11 14
+f 27 14 8
+f 27 8 13
+f 28 3 9
+f 28 9 15
+f 32 18 17
+f 32 17 29
+f 34 33 19
+f 35 10 18
+f 40 9 3
+f 40 3 24
+f 41 24 3
+f 42 13 8
+f 42 8 25
+f 42 24 38
+f 42 25 9
+f 42 40 24
+f 42 9 40
+f 43 25 8
+f 43 22 25
+f 44 8 14
+f 44 14 26
+f 44 43 8
+f 44 26 43
+f 45 26 5
+f 45 5 21
+f 45 43 26
+f 46 15 6
+f 46 30 15
+f 46 29 17
+f 47 17 10
+f 47 10 30
+f 47 46 17
+f 47 30 46
+f 48 31 7
+f 48 7 11
+f 49 7 31
+f 49 31 18
+f 50 32 1
+f 50 1 20
+f 50 20 7
+f 50 7 49
+f 50 49 18
+f 50 18 32
+f 51 32 29
+f 52 6 1
+f 52 1 32
+f 52 32 51
+f 52 51 29
+f 52 46 6
+f 52 29 46
+f 54 33 34
+f 54 53 33
+f 54 11 2
+f 54 2 53
+f 54 48 11
+f 54 34 48
+f 55 18 31
+f 55 48 34
+f 55 31 48
+f 55 35 18
+f 55 34 19
+f 55 19 35
+f 56 35 19
+f 56 10 35
+f 57 12 4
+f 57 4 36
+f 57 43 45
+f 57 36 22
+f 57 22 43
+f 57 45 21
+f 57 21 12
+f 58 36 4
+f 58 4 16
+f 58 22 36
+f 58 37 22
+f 58 16 37
+f 59 37 16
+f 59 16 9
+f 59 9 25
+f 59 25 22
+f 59 22 37
+f 60 27 13
+f 60 42 38
+f 60 13 42
+f 60 38 2
+f 60 2 27
+f 61 19 33
+f 61 53 2
+f 61 33 53
+f 61 56 19
+f 61 39 56
+f 62 15 30
+f 62 30 10
+f 62 56 39
+f 62 10 56
+f 63 38 24
+f 63 24 41
+f 63 41 23
+f 63 23 39
+f 63 39 61
+f 63 61 2
+f 63 2 38
+f 64 39 23
+f 64 23 41
+f 64 62 39
+f 64 28 15
+f 64 15 62
+f 64 41 3
+f 64 3 28
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_5/collision/model_normalized_collision_12.obj b/objects/objaverse/pear/pear_5/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7298df1c75aa2ce802fb6b11d1e9a233a7dbef5
--- /dev/null
+++ b/objects/objaverse/pear/pear_5/collision/model_normalized_collision_12.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v 0.19516904 -0.02010800 0.30660811
+v 0.36553645 -0.02213860 0.01295951
+v 0.31674302 0.11096025 0.11808445
+v 0.24355287 0.20609264 0.14301121
+v 0.19926078 -0.02014303 0.00757576
+v 0.34552671 0.15908574 0.00507431
+v 0.24359094 0.08105099 0.23589583
+v 0.28670894 -0.02019621 0.17912276
+v 0.19055160 0.14045852 0.25444954
+v 0.32911749 0.11095611 0.09187931
+v 0.27281090 0.16451514 0.14804244
+v 0.19926078 0.16167515 0.00757576
+v 0.33367134 -0.02042664 0.09102454
+v 0.24311329 0.02263109 0.25223388
+v 0.19171326 0.03877852 0.30262793
+v 0.33177829 0.15505256 0.04467665
+v 0.25824902 0.11081543 0.20546107
+v 0.20232827 0.15310597 0.23645747
+v 0.19461116 0.15837754 0.23976722
+v 0.28906827 0.08360698 0.17444731
+v 0.24352789 -0.01866451 0.25284394
+v 0.20195910 0.07909194 0.27813556
+v 0.22854982 0.03702156 0.26608343
+v 0.25160616 0.20030135 0.13886125
+v 0.27238523 0.15109072 0.16110674
+v 0.23894108 0.20176308 0.15464508
+v 0.20176709 0.13482019 0.24922999
+v 0.25753795 0.06738198 0.22292814
+v 0.20325022 -0.01831900 0.29940279
+v 0.20093531 0.03664036 0.29439170
+v 0.19166686 0.08124434 0.28586770
+v 0.25619512 0.13882906 0.19146236
+v 0.24749778 0.19626059 0.14953685
+f 5 2 1
+f 6 2 5
+f 8 1 2
+f 10 2 6
+f 12 6 5
+f 12 4 6
+f 12 5 9
+f 13 8 2
+f 13 10 3
+f 13 2 10
+f 15 9 5
+f 15 5 1
+f 16 10 6
+f 16 3 10
+f 16 11 3
+f 19 12 9
+f 20 13 3
+f 20 8 13
+f 20 3 17
+f 21 1 8
+f 21 20 14
+f 21 8 20
+f 24 16 6
+f 24 6 4
+f 24 11 16
+f 25 17 3
+f 25 3 11
+f 26 4 12
+f 26 12 19
+f 26 19 18
+f 27 19 9
+f 27 18 19
+f 27 22 7
+f 27 7 17
+f 28 14 20
+f 28 23 14
+f 28 7 23
+f 28 20 17
+f 28 17 7
+f 29 21 14
+f 29 1 21
+f 29 14 23
+f 29 15 1
+f 30 22 15
+f 30 7 22
+f 30 23 7
+f 30 29 23
+f 30 15 29
+f 31 9 15
+f 31 15 22
+f 31 27 9
+f 31 22 27
+f 32 17 25
+f 32 27 17
+f 32 18 27
+f 32 26 18
+f 33 25 11
+f 33 11 24
+f 33 24 4
+f 33 4 26
+f 33 32 25
+f 33 26 32
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_5/collision/model_normalized_collision_13.obj b/objects/objaverse/pear/pear_5/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9cbec2f83c651ce8da5b5aa319043208ab3e4e47
--- /dev/null
+++ b/objects/objaverse/pear/pear_5/collision/model_normalized_collision_13.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.09134655 -0.36767842 0.00461916
+v 0.36553645 -0.02213860 0.01295951
+v 0.11208138 -0.08909432 0.35340885
+v -0.17369401 -0.02015733 0.34799551
+v -0.17952709 -0.02014303 0.00757576
+v 0.01098888 0.00036257 0.40330210
+v -0.09768992 -0.24583804 0.23426715
+v 0.25819043 -0.24785205 0.08866762
+v 0.23336983 -0.31062886 0.00162414
+v 0.24352789 -0.01866451 0.25284394
+v 0.11531769 -0.23064406 0.23489097
+v -0.19346591 -0.34162768 0.01781952
+v -0.08414332 -0.11584733 0.36747536
+v 0.33514542 -0.16568920 0.00533255
+v -0.13261771 -0.36153603 0.00643793
+v 0.15773430 -0.01881044 0.33978152
+v 0.30339354 -0.01924852 0.14936677
+v 0.22821617 -0.13075484 0.23471375
+v 0.04843342 -0.32091242 0.13297506
+v 0.17713868 -0.30336707 0.10205667
+v -0.16706645 -0.14531486 0.29443176
+v -0.11334100 -0.02031844 0.38850043
+v 0.02603002 -0.09038063 0.38310050
+v -0.01162211 -0.22982420 0.26799255
+v 0.29144933 -0.25085114 0.00329447
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+v -0.09894489 -0.33352530 0.10429675
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\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_5/collision/model_normalized_collision_14.obj b/objects/objaverse/pear/pear_5/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73458e19fa96841c9a2932f3007ce0e73b21ce68
--- /dev/null
+++ b/objects/objaverse/pear/pear_5/collision/model_normalized_collision_14.obj
@@ -0,0 +1,159 @@
+# https://github.com/mikedh/trimesh
+v 0.13499054 -0.31158890 -0.33318205
+v 0.23478107 -0.22652151 -0.36265479
+v -0.15706155 -0.28098541 -0.33258303
+v -0.16248489 -0.16871322 -0.42757008
+v 0.09091895 -0.22162180 -0.44360154
+v -0.18718396 -0.22758013 -0.36639150
+v 0.20921238 -0.27117254 -0.33736613
+v 0.19530237 -0.19505880 -0.42501391
+v -0.04116895 -0.30569169 -0.35885270
+v -0.17316905 -0.17989925 -0.41461283
+v 0.17750964 -0.29379569 -0.33330191
+v 0.13566584 -0.19459638 -0.45152201
+v 0.21054847 -0.19816081 -0.41142160
+v 0.06151677 -0.27760169 -0.40147231
+v -0.05608415 -0.31602778 -0.33698935
+v -0.11190715 -0.24801491 -0.39830503
+v 0.15989740 -0.27581458 -0.37118743
+v 0.00399330 -0.19991551 -0.44761613
+v -0.05837994 -0.17161212 -0.44502275
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+v -0.13827302 -0.26197271 -0.37095685
+v -0.12708491 -0.21792519 -0.41322714
+v -0.06826329 -0.26328568 -0.40120384
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\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_5/collision/model_normalized_collision_15.obj b/objects/objaverse/pear/pear_5/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8199927510355156c781b384e2846c276c2345de
--- /dev/null
+++ b/objects/objaverse/pear/pear_5/collision/model_normalized_collision_15.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.10083038 -0.07183452 -0.47212304
+v 0.00775966 -0.00556770 -0.48456268
+v 0.01744261 -0.00499151 -0.35606059
+v -0.19237034 0.18645260 -0.39137772
+v -0.12735821 0.08092261 -0.47297768
+v 0.01715855 0.15587792 -0.46571775
+v -0.16437557 -0.00499151 -0.35606059
+v -0.15894176 -0.03597257 -0.47459749
+v 0.01653910 0.13858378 -0.47476348
+v 0.01744261 0.16167515 -0.35606059
+v -0.08597919 0.15432918 -0.45948667
+v -0.17074279 -0.06998852 -0.46538751
+v -0.15814954 0.00884157 -0.47443690
+v -0.13256052 -0.06145685 -0.47536486
+v -0.04249099 0.13801512 -0.47395778
+v -0.15479131 0.13753751 -0.44214010
+v -0.14439620 0.05236923 -0.47394176
+v -0.10480128 -0.06324585 -0.47521649
+v -0.16242246 -0.06411421 -0.46922868
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+v -0.12750364 0.15370727 -0.44589122
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+f 24 16 21
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_5/collision/model_normalized_collision_16.obj b/objects/objaverse/pear/pear_5/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31301ed840f0cda00c3896df791d81733f71f684
--- /dev/null
+++ b/objects/objaverse/pear/pear_5/collision/model_normalized_collision_16.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.21867245 -0.02070238 0.28291059
+v 0.21088927 0.09903941 0.26139845
+v 0.02537756 0.04094755 0.40203429
+v -0.07127530 0.22730623 0.25608915
+v -0.25369731 -0.01989799 0.26382054
+v 0.07227684 0.20675645 0.26356137
+v 0.15635190 0.00943294 0.33861225
+v 0.20823919 0.11189301 0.25753325
+v -0.02011750 -0.02716510 0.38739545
+v -0.12373069 0.10630966 0.35120136
+v -0.03040117 0.13472792 0.35385084
+v 0.18415606 0.03610302 0.31075130
+v -0.24140975 0.09523646 0.25769110
+v 0.16194484 0.17018506 0.25424614
+v 0.13205802 -0.01891946 0.35677197
+v -0.11334100 -0.02031844 0.38850043
+v 0.02832022 0.21979381 0.26672568
+v 0.05535883 0.14754690 0.32306473
+v -0.08258201 0.10782489 0.36733256
+v 0.18872594 -0.02007739 0.31259269
+v 0.15583653 0.06265621 0.32388406
+v -0.15432936 0.17704025 0.26709712
+v 0.02992038 0.22813972 0.25636388
+v 0.17688560 0.15477154 0.25467811
+v 0.03551179 0.03250947 0.40282863
+v -0.13922587 -0.02004528 0.37368315
+v -0.08161199 0.18979282 0.29711168
+v -0.00099781 0.14868548 0.33897058
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+v -0.09948662 0.05022555 0.38265200
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+v -0.23807437 0.05248812 0.28194658
+v -0.12256678 0.15978792 0.31079186
+v 0.20148810 0.10817867 0.26487111
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+f 54 53 8
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+f 55 40 25
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+f 55 41 35
+f 55 35 21
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+f 63 46 22
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+f 63 45 27
+f 64 50 8
+f 64 8 53
+f 64 53 40
+f 64 40 50
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_5/collision/model_normalized_collision_17.obj b/objects/objaverse/pear/pear_5/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84860861d03873469cb0fb2ac9c8d812796c6f44
--- /dev/null
+++ b/objects/objaverse/pear/pear_5/collision/model_normalized_collision_17.obj
@@ -0,0 +1,132 @@
+# https://github.com/mikedh/trimesh
+v -0.17952709 -0.20196120 0.00757576
+v -0.17952709 -0.20196120 -0.23484848
+v -0.17952709 0.16167515 0.00757576
+v -0.34577847 0.15293677 0.00386399
+v -0.37316021 -0.13469363 -0.12683532
+v -0.17952709 0.16167515 -0.23484848
+v -0.34328912 -0.19351011 0.00513435
+v -0.33553359 0.15643418 -0.23226650
+v -0.38892601 -0.04737122 -0.01088556
+v -0.31605809 -0.19369301 -0.22761069
+v -0.35800481 0.15336699 -0.05496849
+v -0.37269533 -0.10655380 0.00233889
+v -0.38862127 0.02321101 -0.18561068
+v -0.34416752 -0.19025641 -0.14300885
+v -0.37268691 -0.04851541 -0.22762294
+v -0.38861690 0.03895288 -0.02370825
+v -0.37120959 0.08129930 0.00262459
+v -0.38824873 -0.09144100 -0.06815416
+v -0.37228969 0.10929909 -0.16947028
+v -0.35695614 -0.14892219 -0.18130298
+v -0.37226956 0.05127738 -0.22737708
+v -0.38938142 0.05361732 -0.15641735
+v -0.38898786 0.02304168 -0.01116008
+v -0.35824266 0.12401126 0.00198790
+v -0.38883566 -0.07580981 -0.03877313
+v -0.37363621 -0.13278374 -0.05347411
+v -0.38774943 -0.06306773 -0.16851079
+v -0.35751267 0.15143800 -0.15679950
+v -0.35627630 -0.16265982 -0.15733240
+v -0.35768631 -0.10455313 -0.22661178
+v -0.38858087 -0.03352365 -0.18769120
+v -0.35695161 0.10959273 -0.22675289
+v -0.38916354 0.05151414 -0.05515291
+v -0.37228651 0.11005564 -0.04211498
+v -0.35753548 -0.16467755 -0.01089306
+v -0.37192900 -0.12050310 -0.01040184
+v -0.38845416 -0.09110629 -0.11201802
+v -0.37193308 -0.11838362 -0.16889393
+v -0.35823381 0.13879478 -0.18329564
+v -0.34181666 -0.17763260 -0.18490460
+v -0.32714937 -0.17518788 -0.22677741
+v -0.37266509 -0.07455935 -0.21082939
+v -0.34536354 0.13799769 -0.23022866
+v -0.34344332 0.15168094 -0.21482041
+v -0.32925010 -0.19053400 -0.19952500
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+f 8 3 6
+f 8 6 2
+f 10 2 7
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+f 14 7 5
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+f 15 2 10
+f 17 12 7
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+f 29 14 5
+f 30 15 10
+f 31 21 15
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+f 31 22 13
+f 32 21 19
+f 33 23 16
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+f 33 9 23
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+f 34 22 33
+f 34 33 16
+f 34 24 11
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+f 36 25 18
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+f 36 26 35
+f 36 12 25
+f 36 35 7
+f 36 7 12
+f 37 5 18
+f 37 31 27
+f 37 18 25
+f 37 25 22
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+f 38 37 27
+f 38 5 37
+f 38 29 5
+f 38 20 29
+f 38 30 20
+f 39 19 28
+f 39 32 19
+f 40 29 20
+f 40 14 29
+f 41 30 10
+f 41 20 30
+f 41 40 20
+f 42 15 30
+f 42 31 15
+f 42 27 31
+f 42 38 27
+f 42 30 38
+f 43 8 21
+f 43 21 32
+f 43 32 39
+f 44 39 28
+f 44 28 8
+f 44 43 39
+f 44 8 43
+f 45 10 14
+f 45 14 40
+f 45 41 10
+f 45 40 41
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_5/collision/model_normalized_collision_18.obj b/objects/objaverse/pear/pear_5/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19b084d44799e3d850ce383bb811878716a0a95a
--- /dev/null
+++ b/objects/objaverse/pear/pear_5/collision/model_normalized_collision_18.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.21323510 -0.32157407 -0.23398936
+v 0.38226152 -0.06283079 -0.23183292
+v 0.23288041 -0.30935643 -0.23012040
+v 0.21158642 0.30802895 -0.23295793
+v 0.20896726 0.08097262 -0.46563615
+v 0.22352357 0.30181761 -0.23042869
+v 0.20489261 -0.29497530 -0.30468646
+v 0.35388805 0.16934379 -0.23092826
+v 0.20648008 0.25799264 -0.33169654
+v 0.20559272 -0.31016401 -0.27374726
+v 0.25774885 -0.13284183 -0.41540764
+v 0.27577370 -0.26648555 -0.22983844
+v 0.34889242 0.05215992 -0.34576600
+v 0.21887138 0.28044409 -0.28537624
+v 0.20434096 -0.19159576 -0.42126309
+v 0.20614055 0.30113291 -0.26016136
+v 0.21825556 -0.28852842 -0.29997521
+v 0.22942577 -0.30818277 -0.24213774
+v 0.31629509 -0.14516071 -0.33157767
+v 0.38650954 0.08485701 -0.23182424
+v 0.31725527 0.12307618 -0.35638769
+v 0.25800288 -0.04705029 -0.44697172
+v 0.26328930 0.26360582 -0.25759853
+v 0.20701418 0.12226740 -0.44813220
+v 0.20701349 0.28627188 -0.28730243
+v 0.20529480 -0.26775556 -0.34578871
+v 0.21523375 -0.30493110 -0.27107791
+v 0.27420877 -0.26296132 -0.24382302
+v 0.31930422 -0.20696227 -0.23129865
+v 0.34770613 -0.03109441 -0.34393411
+v 0.36420590 0.10990756 -0.28808448
+v 0.27332561 0.06340218 -0.43150757
+v 0.20869611 -0.10602823 -0.46330952
+v 0.33504519 0.19846499 -0.23196482
+v 0.27408952 0.17873959 -0.35544562
+v 0.25979718 0.25092679 -0.28418484
+v 0.24792236 0.28161007 -0.24278242
+v 0.25802934 -0.21861553 -0.34434233
+v 0.34735621 -0.13169152 -0.27315302
+v 0.36417946 -0.11889972 -0.23167368
+v 0.28800532 -0.20423860 -0.31454866
+v 0.37722338 -0.03300621 -0.27553475
+v 0.31712712 -0.03357249 -0.38933705
+v 0.37756261 0.07994092 -0.27643496
+v 0.33466419 0.10874380 -0.34292622
+v 0.27636111 0.11960619 -0.40155837
+v 0.26230262 0.09295896 -0.42788963
+v 0.26442629 0.05232497 -0.44238860
+v 0.23642518 -0.06108504 -0.45943948
+v 0.23118398 -0.14719913 -0.43134692
+v 0.25058292 0.28399135 -0.23052169
+v 0.33392577 0.17714129 -0.27171694
+v 0.21709561 0.16146467 -0.41623156
+v 0.21848126 0.25220285 -0.32801925
+v 0.23320155 0.27798760 -0.27249317
+v 0.21730569 0.29531255 -0.25728203
+v 0.24410914 -0.24580873 -0.32951125
+v 0.28687893 -0.14759502 -0.37505660
+v 0.21570612 -0.18924316 -0.41420106
+v 0.31561492 -0.19068855 -0.27252479
+v 0.34587199 -0.08843275 -0.31850924
+v 0.36100389 -0.11850799 -0.24528664
+v 0.38019997 -0.04377995 -0.26050547
+v 0.36285192 -0.01723588 -0.31850801
+f 6 1 3
+f 6 4 1
+f 12 6 3
+f 12 2 8
+f 16 10 1
+f 16 1 4
+f 16 7 10
+f 16 15 7
+f 16 9 15
+f 16 4 6
+f 17 10 7
+f 18 3 1
+f 18 1 10
+f 20 8 2
+f 24 15 9
+f 25 16 14
+f 25 14 9
+f 25 9 16
+f 26 17 7
+f 26 7 15
+f 27 18 10
+f 27 10 17
+f 27 17 18
+f 28 18 17
+f 28 12 3
+f 28 3 18
+f 29 12 28
+f 31 8 20
+f 33 24 5
+f 33 15 24
+f 40 2 12
+f 40 12 29
+f 43 13 30
+f 43 32 13
+f 43 11 22
+f 44 31 20
+f 44 13 31
+f 45 31 13
+f 45 32 21
+f 45 13 32
+f 46 21 32
+f 46 35 21
+f 47 5 24
+f 47 46 32
+f 47 24 46
+f 48 47 32
+f 48 5 47
+f 48 43 22
+f 48 32 43
+f 49 33 5
+f 49 22 11
+f 49 48 22
+f 49 5 48
+f 50 15 33
+f 50 49 11
+f 50 33 49
+f 51 8 34
+f 51 12 8
+f 51 6 12
+f 51 37 6
+f 51 34 23
+f 51 23 37
+f 52 34 8
+f 52 8 31
+f 52 31 45
+f 52 45 21
+f 52 21 35
+f 52 35 36
+f 52 36 23
+f 52 23 34
+f 53 24 9
+f 53 46 24
+f 53 35 46
+f 54 9 14
+f 54 14 36
+f 54 36 35
+f 54 53 9
+f 54 35 53
+f 55 36 14
+f 55 23 36
+f 55 37 23
+f 55 14 16
+f 56 16 6
+f 56 6 37
+f 56 55 16
+f 56 37 55
+f 57 17 26
+f 57 26 38
+f 57 28 17
+f 57 41 28
+f 57 38 41
+f 58 41 38
+f 58 19 41
+f 58 11 43
+f 58 50 11
+f 59 38 26
+f 59 26 15
+f 59 58 38
+f 59 15 50
+f 59 50 58
+f 60 39 29
+f 60 19 39
+f 60 41 19
+f 60 29 28
+f 60 28 41
+f 61 39 19
+f 61 43 30
+f 61 58 43
+f 61 19 58
+f 62 2 40
+f 62 40 29
+f 62 29 39
+f 63 20 2
+f 63 2 62
+f 63 61 42
+f 63 62 39
+f 63 39 61
+f 63 44 20
+f 63 42 44
+f 64 30 13
+f 64 44 42
+f 64 13 44
+f 64 61 30
+f 64 42 61
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_5/collision/model_normalized_collision_19.obj b/objects/objaverse/pear/pear_5/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fefa2bd483da6f6662d27696dee439a6abc9e2d5
--- /dev/null
+++ b/objects/objaverse/pear/pear_5/collision/model_normalized_collision_19.obj
@@ -0,0 +1,117 @@
+# https://github.com/mikedh/trimesh
+v -0.20332852 0.14132821 0.26001654
+v -0.17952709 0.16167515 -0.23484848
+v -0.17354566 0.16915465 0.25956504
+v -0.17273537 0.31471378 0.03369020
+v -0.30113980 0.19490665 -0.25036032
+v -0.17320044 0.31518216 -0.22970213
+v -0.23827183 0.23674445 0.10619835
+v -0.17952709 0.14652364 0.00757576
+v -0.17173363 0.19510556 0.22598719
+v -0.22834474 0.29563228 -0.14124368
+v -0.22487662 0.20834029 0.16058682
+v -0.24562111 0.13851025 0.21199562
+v -0.18443684 0.15136448 0.26992137
+v -0.17269154 0.33195865 -0.06960509
+v -0.17253729 0.28455886 0.10566278
+v -0.22597595 0.28040957 -0.23066923
+v -0.24243672 0.28036666 0.00292482
+v -0.23909829 0.19229558 0.16119411
+v -0.25528467 0.14652364 0.00757576
+v -0.19826107 0.15064694 0.25545667
+v -0.18394464 0.16387245 0.25580482
+v -0.17280698 0.33168617 -0.11319767
+v -0.19825539 0.25231244 0.13141767
+v -0.17233317 0.29848086 0.07822967
+v -0.19682883 0.31078064 -0.18630978
+v -0.18646749 0.30794574 -0.22926345
+v -0.24169449 0.28100152 -0.17046588
+v -0.22680399 0.29520802 -0.00944981
+v -0.18630154 0.32443485 -0.11162725
+v -0.19765499 0.27933163 0.08917628
+v -0.22460264 0.25080910 0.10327124
+v -0.21161912 0.29514321 -0.21758091
+v -0.24075937 0.26688001 -0.23065573
+v -0.19987574 0.31012856 0.00061536
+v -0.18388141 0.32604253 -0.06780028
+v -0.18530574 0.29403787 0.07405718
+v -0.22550609 0.28029573 0.04366330
+v -0.18359088 0.31048410 0.03284084
+v -0.23937895 0.26771249 0.04583262
+v -0.21328577 0.29402058 0.03183772
+f 6 2 5
+f 8 2 3
+f 9 3 2
+f 9 2 6
+f 12 7 5
+f 12 8 1
+f 13 8 3
+f 13 1 8
+f 15 3 9
+f 18 11 7
+f 18 7 12
+f 18 12 1
+f 18 1 11
+f 19 12 5
+f 19 5 2
+f 19 2 8
+f 19 8 12
+f 20 13 11
+f 20 11 1
+f 20 1 13
+f 21 13 3
+f 21 3 11
+f 21 11 13
+f 22 14 9
+f 22 9 6
+f 23 11 3
+f 23 3 15
+f 24 14 4
+f 24 15 9
+f 24 9 14
+f 25 22 6
+f 26 6 5
+f 26 5 16
+f 26 25 6
+f 27 17 10
+f 27 5 17
+f 28 10 17
+f 29 25 10
+f 29 22 25
+f 30 23 15
+f 31 7 11
+f 31 11 23
+f 31 23 30
+f 32 26 16
+f 32 25 26
+f 32 16 27
+f 32 27 10
+f 32 10 25
+f 33 27 16
+f 33 16 5
+f 33 5 27
+f 34 4 14
+f 35 14 22
+f 35 22 29
+f 35 34 14
+f 35 28 34
+f 35 29 10
+f 35 10 28
+f 36 30 15
+f 36 15 24
+f 37 31 30
+f 38 36 24
+f 38 24 4
+f 38 4 34
+f 39 37 17
+f 39 7 31
+f 39 31 37
+f 39 17 5
+f 39 5 7
+f 40 37 30
+f 40 30 36
+f 40 36 38
+f 40 38 34
+f 40 34 28
+f 40 28 17
+f 40 17 37
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_5/collision/model_normalized_collision_2.obj b/objects/objaverse/pear/pear_5/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5383f328e11535d18f4067fa0aede226f88a717
--- /dev/null
+++ b/objects/objaverse/pear/pear_5/collision/model_normalized_collision_2.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v 0.01744261 -0.20196120 -0.35606059
+v 0.17814675 -0.06990070 -0.48272511
+v 0.01744261 -0.00499151 -0.35606059
+v -0.16437557 -0.00499151 -0.35606059
+v -0.18546564 -0.11674093 -0.44381401
+v 0.08236624 -0.00160457 -0.49439202
+v 0.12350321 -0.00499151 -0.41666665
+v 0.01880991 -0.19979692 -0.44981720
+v -0.18003302 -0.21947156 -0.37973928
+v -0.17379580 -0.00391720 -0.46949570
+v 0.12350321 -0.06559758 -0.41666665
+v 0.17648008 -0.00503071 -0.48880851
+v 0.11377570 -0.06265938 -0.48939329
+v -0.22671314 -0.11180298 -0.41832512
+v -0.15896280 -0.16266535 -0.43244067
+v -0.16242246 -0.06411421 -0.46922868
+v 0.16422934 -0.00446275 -0.49204329
+v 0.15259459 -0.06277418 -0.48962382
+v -0.22121917 -0.13724217 -0.41000695
+v -0.16532367 -0.20299052 -0.40303195
+v -0.21463377 -0.10420078 -0.43202842
+v -0.15777414 -0.10427727 -0.45912830
+v -0.10480128 -0.06324585 -0.47521649
+v 0.16584681 -0.04965706 -0.48916136
+v -0.18447905 -0.14766475 -0.42858611
+v -0.02695404 -0.19790585 -0.44349579
+v -0.20138506 -0.14849906 -0.41772166
+v -0.17294632 -0.13182496 -0.44249105
+v -0.10402857 -0.00447096 -0.48393124
+v 0.16772425 -0.06442128 -0.48652636
+v -0.14524089 -0.14755473 -0.44451483
+v -0.21194083 -0.11643481 -0.42799477
+v -0.21376920 -0.13304120 -0.41774799
+f 1 3 4
+f 6 4 3
+f 7 3 1
+f 7 6 3
+f 8 2 1
+f 9 1 4
+f 9 8 1
+f 10 4 6
+f 11 7 1
+f 11 1 2
+f 11 2 7
+f 12 7 2
+f 14 4 10
+f 17 6 7
+f 17 7 12
+f 18 2 8
+f 18 8 13
+f 18 13 6
+f 18 6 17
+f 19 9 4
+f 19 4 14
+f 21 14 10
+f 21 10 16
+f 21 16 5
+f 21 19 14
+f 22 5 16
+f 23 13 8
+f 23 22 16
+f 23 8 22
+f 24 17 12
+f 24 12 2
+f 24 18 17
+f 25 15 20
+f 26 20 15
+f 26 8 9
+f 26 9 20
+f 26 22 8
+f 27 20 9
+f 27 9 19
+f 27 25 20
+f 28 5 22
+f 28 25 5
+f 28 15 25
+f 29 6 13
+f 29 13 23
+f 29 10 6
+f 29 23 16
+f 29 16 10
+f 30 24 2
+f 30 2 18
+f 30 18 24
+f 31 26 15
+f 31 22 26
+f 31 28 22
+f 31 15 28
+f 32 19 21
+f 32 21 5
+f 32 5 25
+f 32 25 27
+f 33 32 27
+f 33 27 19
+f 33 19 32
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_5/collision/model_normalized_collision_20.obj b/objects/objaverse/pear/pear_5/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d58503877062b40878a7a648c74214cb7bafdad8
--- /dev/null
+++ b/objects/objaverse/pear/pear_5/collision/model_normalized_collision_20.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.39262448 0.08544743 -0.11386319
+v 0.38123291 0.08262697 -0.26086030
+v 0.39013983 0.10197740 -0.16524444
+v 0.36976456 0.16032010 -0.16945033
+v 0.32047291 0.08591757 -0.23484848
+v 0.37705813 0.14001646 -0.18933069
+v 0.37833711 0.13719752 -0.11553604
+v 0.31711869 0.14421239 -0.33845199
+v 0.37707810 0.10938790 -0.24716735
+v 0.39185368 0.08885922 -0.11268293
+v 0.37543791 0.14463994 -0.11513554
+v 0.33706672 0.09012667 -0.34865673
+v 0.34975913 0.16716091 -0.24591216
+v 0.37821903 0.09601111 -0.26140796
+v 0.35000838 0.08337637 -0.33230563
+v 0.36305731 0.13627998 -0.25975452
+v 0.34516273 0.12255887 -0.31626003
+v 0.34873244 0.09421820 -0.32888123
+v 0.33667473 0.12359134 -0.32853952
+v 0.34574262 0.13497642 -0.30234119
+v 0.32418272 0.13973255 -0.33303835
+f 1 2 3
+f 5 2 1
+f 7 6 4
+f 7 3 6
+f 9 6 3
+f 10 1 3
+f 10 3 7
+f 10 5 1
+f 11 7 4
+f 11 10 7
+f 11 5 10
+f 12 5 8
+f 13 4 6
+f 13 11 4
+f 13 8 5
+f 13 5 11
+f 14 9 3
+f 14 3 2
+f 15 2 5
+f 15 5 12
+f 15 14 2
+f 16 13 6
+f 16 6 9
+f 16 9 14
+f 17 16 14
+f 18 15 12
+f 18 17 14
+f 18 14 15
+f 19 12 8
+f 19 18 12
+f 19 17 18
+f 20 13 16
+f 20 16 17
+f 21 19 8
+f 21 17 19
+f 21 20 17
+f 21 8 13
+f 21 13 20
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_5/collision/model_normalized_collision_21.obj b/objects/objaverse/pear/pear_5/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28926a6be50b09b54bda6e5d2e07a66fee03e15a
--- /dev/null
+++ b/objects/objaverse/pear/pear_5/collision/model_normalized_collision_21.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v -0.25528467 0.16167515 0.00757576
+v -0.24828993 0.25986326 -0.23212190
+v -0.24601291 0.27345864 -0.18759725
+v -0.24855041 0.27426625 0.00677336
+v -0.34919287 0.15498460 -0.18807504
+v -0.33553359 0.15643418 -0.23226650
+v -0.34173777 0.15954598 0.00625816
+v -0.29970255 0.23739682 -0.12763166
+v -0.30113980 0.19490665 -0.25036032
+v -0.34795497 0.15649296 -0.00967135
+v -0.25875807 0.25149629 -0.22959884
+v -0.28687747 0.25151914 -0.06913458
+v -0.32719481 0.17988453 -0.21296945
+v -0.34360767 0.17923468 -0.14194996
+v -0.25557372 0.26561516 -0.18561414
+v -0.28579245 0.25107164 -0.12635557
+v -0.34168722 0.18170124 -0.04160804
+v -0.33050133 0.16651363 -0.22909636
+v -0.30059974 0.20669332 -0.22858536
+v -0.34383773 0.16553346 -0.18504126
+v -0.32934998 0.19226393 -0.17072043
+v -0.31394112 0.22430080 -0.11059197
+v -0.34294013 0.16682892 -0.01161203
+v -0.30034253 0.23714824 -0.05626524
+v -0.31405601 0.20704458 -0.18355480
+v -0.31402013 0.22438550 -0.07092120
+v -0.29767915 0.22313174 0.00137207
+v -0.25691552 0.26755056 0.00336098
+v -0.33011419 0.18119755 0.00176046
+f 1 2 3
+f 1 3 4
+f 6 1 5
+f 7 1 4
+f 9 2 1
+f 9 1 6
+f 10 5 1
+f 10 1 7
+f 11 3 2
+f 11 2 9
+f 12 4 3
+f 14 5 10
+f 15 11 8
+f 15 3 11
+f 16 12 3
+f 16 15 8
+f 16 3 15
+f 17 14 10
+f 18 13 9
+f 18 9 6
+f 18 6 5
+f 19 11 9
+f 19 9 13
+f 20 5 14
+f 20 18 5
+f 20 13 18
+f 21 20 14
+f 21 13 20
+f 22 16 8
+f 22 12 16
+f 22 21 14
+f 22 8 21
+f 23 17 10
+f 23 10 7
+f 25 8 11
+f 25 11 19
+f 25 21 8
+f 25 19 13
+f 25 13 21
+f 26 22 14
+f 26 14 17
+f 26 17 24
+f 26 24 12
+f 26 12 22
+f 27 7 4
+f 27 24 17
+f 28 4 12
+f 28 12 24
+f 28 27 4
+f 28 24 27
+f 29 23 7
+f 29 7 27
+f 29 27 17
+f 29 17 23
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_5/collision/model_normalized_collision_22.obj b/objects/objaverse/pear/pear_5/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9c17282f47155e3ff7110ee5689d464b05d9539
--- /dev/null
+++ b/objects/objaverse/pear/pear_5/collision/model_normalized_collision_22.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.13403629 -0.35747321 0.00595690
+v 0.23043400 -0.30912331 -0.23530741
+v 0.21912217 -0.33610660 -0.14177300
+v 0.23114106 -0.30948970 0.00811556
+v 0.15431850 -0.34444939 -0.24679912
+v 0.21966172 -0.33583393 -0.06949117
+v 0.15176099 -0.34731375 0.02005276
+v 0.20449403 -0.33581052 -0.20336290
+v 0.13683647 -0.36786640 -0.17202174
+v 0.21893563 -0.32088481 0.00100243
+v 0.19098473 -0.34882217 -0.05592988
+v 0.21564656 -0.32181442 -0.22924461
+v 0.13652810 -0.35521538 -0.23116240
+v 0.18979702 -0.35004699 -0.15595234
+v 0.15907170 -0.34959565 0.00332524
+v 0.13396552 -0.36902936 -0.05495645
+v 0.16137866 -0.34855797 -0.22876487
+v 0.15031567 -0.36497174 -0.05864969
+v 0.14821181 -0.36500435 -0.17405494
+v 0.17534155 -0.35121150 -0.19930232
+f 5 4 2
+f 6 3 2
+f 6 2 4
+f 7 5 1
+f 7 4 5
+f 8 2 3
+f 10 6 4
+f 10 4 7
+f 11 6 10
+f 12 5 2
+f 12 2 8
+f 13 1 5
+f 14 8 3
+f 14 3 6
+f 14 6 11
+f 15 7 1
+f 15 11 10
+f 15 10 7
+f 16 13 9
+f 16 1 13
+f 17 12 8
+f 17 5 12
+f 17 13 5
+f 18 14 11
+f 18 11 15
+f 18 15 1
+f 18 1 16
+f 18 16 9
+f 19 9 13
+f 19 13 17
+f 19 18 9
+f 19 14 18
+f 20 19 17
+f 20 17 8
+f 20 8 14
+f 20 14 19
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_5/collision/model_normalized_collision_23.obj b/objects/objaverse/pear/pear_5/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7828b7fecdc47154406b6da8855d872991cd6796
--- /dev/null
+++ b/objects/objaverse/pear/pear_5/collision/model_normalized_collision_23.obj
@@ -0,0 +1,171 @@
+# https://github.com/mikedh/trimesh
+v -0.17478047 -0.35396935 -0.00906061
+v -0.17449370 -0.32636180 -0.21590527
+v -0.19256703 -0.21854151 0.20680430
+v -0.28825034 -0.19371884 0.13508347
+v -0.31360761 -0.25014025 -0.11096307
+v -0.17952709 -0.20196120 -0.23484848
+v -0.25571350 -0.29041541 0.06198951
+v -0.23114102 -0.33502437 -0.06450792
+v -0.24716940 -0.19523292 0.18003879
+v -0.32126976 -0.19454702 -0.21433331
+v -0.17143519 -0.29351201 0.13395088
+v -0.32755990 -0.22118903 0.01749366
+v -0.27145319 -0.29068584 -0.13778231
+v -0.17511865 -0.35495832 -0.08199232
+v -0.24331752 -0.32158972 0.00281520
+v -0.22725728 -0.27624159 0.11519346
+v -0.31050230 -0.19954042 -0.23159609
+v -0.17519162 -0.25383136 0.18313010
+v -0.29889017 -0.21970260 0.08723646
+v -0.33509720 -0.19620489 -0.17124975
+v -0.24414986 -0.31840486 -0.10994322
+v -0.29787485 -0.26403677 -0.13861837
+v -0.18674739 -0.33394896 -0.17024762
+v -0.18932023 -0.35060330 -0.08119731
+v -0.17438731 -0.33883814 -0.17065489
+v -0.23185537 -0.33476083 -0.03727925
+v -0.28465767 -0.27638229 0.03095071
+v -0.18837073 -0.33469403 0.04604369
+v -0.24425353 -0.20407210 0.17592278
+v -0.25505774 -0.26250471 0.10221074
+v -0.17716717 -0.31872627 -0.23302004
+v -0.19617865 -0.26046980 0.16125363
+v -0.33068068 -0.19549506 0.04882023
+v -0.32760018 -0.22031266 -0.13927009
+v -0.26929546 -0.26116960 -0.21134479
+v -0.29815857 -0.21955836 -0.22741051
+v -0.32954576 -0.20549622 -0.17050237
+v -0.19971667 -0.32004562 -0.19779477
+v -0.21595866 -0.33461692 -0.10939075
+v -0.21711676 -0.33637310 0.00295725
+v -0.18787495 -0.34995494 -0.00954416
+v -0.31290031 -0.25075006 0.00296294
+v -0.26788563 -0.29382126 0.03189050
+v -0.31274333 -0.21960624 0.05924348
+v -0.27011395 -0.27730082 0.05914602
+v -0.23322830 -0.32048685 0.03084893
+v -0.18307877 -0.28955724 0.13181464
+v -0.17434067 -0.33943335 0.04701578
+v -0.26283216 -0.19749624 0.16377926
+v -0.24374949 -0.27739028 0.09718916
+v -0.28356757 -0.20254824 0.13340875
+v -0.19966437 -0.24547417 0.17456280
+v -0.31414857 -0.20627590 -0.21241690
+v -0.22698257 -0.29093973 -0.22680866
+v -0.18641384 -0.32103599 -0.21488843
+v -0.32676092 -0.20515395 0.04659494
+v -0.20053216 -0.33491964 0.03265038
+v -0.20152767 -0.30729321 -0.22915715
+f 9 3 6
+f 10 9 6
+f 10 4 9
+f 11 2 6
+f 13 8 5
+f 17 10 6
+f 18 11 6
+f 18 6 3
+f 21 8 13
+f 22 13 5
+f 24 14 1
+f 25 11 1
+f 25 1 14
+f 25 2 11
+f 25 23 2
+f 25 14 24
+f 26 8 24
+f 26 5 8
+f 29 3 9
+f 30 16 29
+f 31 17 6
+f 31 6 2
+f 33 19 4
+f 33 20 12
+f 33 4 10
+f 33 10 20
+f 34 5 12
+f 34 12 20
+f 34 22 5
+f 35 13 22
+f 36 35 22
+f 37 20 10
+f 37 34 20
+f 37 22 34
+f 38 2 23
+f 38 21 13
+f 39 8 21
+f 39 38 23
+f 39 21 38
+f 39 24 8
+f 39 25 24
+f 39 23 25
+f 40 15 26
+f 41 26 24
+f 41 24 1
+f 41 40 26
+f 42 26 15
+f 42 5 26
+f 42 12 5
+f 43 42 15
+f 43 27 42
+f 44 42 27
+f 44 12 42
+f 45 44 27
+f 45 19 44
+f 45 30 19
+f 45 7 30
+f 45 43 7
+f 45 27 43
+f 46 15 40
+f 46 43 15
+f 46 7 43
+f 47 28 11
+f 47 46 28
+f 47 16 46
+f 47 32 16
+f 47 11 18
+f 47 18 32
+f 48 1 11
+f 48 11 28
+f 49 29 9
+f 49 9 4
+f 49 30 29
+f 50 30 7
+f 50 16 30
+f 50 46 16
+f 50 7 46
+f 51 4 19
+f 51 19 30
+f 51 49 4
+f 51 30 49
+f 52 32 18
+f 52 18 3
+f 52 3 29
+f 52 29 16
+f 52 16 32
+f 53 10 17
+f 53 17 36
+f 53 37 10
+f 53 36 22
+f 53 22 37
+f 54 36 17
+f 54 17 31
+f 54 35 36
+f 54 38 13
+f 54 13 35
+f 55 31 2
+f 55 2 38
+f 56 33 12
+f 56 12 44
+f 56 44 19
+f 56 19 33
+f 57 46 40
+f 57 28 46
+f 57 48 28
+f 57 40 41
+f 57 41 1
+f 57 1 48
+f 58 54 31
+f 58 31 55
+f 58 55 38
+f 58 38 54
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_5/collision/model_normalized_collision_24.obj b/objects/objaverse/pear/pear_5/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..002344ad99863d93ebaa6d0002c29a8b9e475b50
--- /dev/null
+++ b/objects/objaverse/pear/pear_5/collision/model_normalized_collision_24.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.01281165 -0.00659928 0.48487921
+v 0.03352992 0.00831598 0.40199978
+v 0.03272655 0.02371273 0.49193558
+v -0.00446591 0.04215067 0.48678982
+v -0.00079706 0.00684536 0.40164453
+v 0.02537756 0.04094755 0.40203429
+v -0.00052747 0.00487620 0.49100958
+v 0.03297270 0.00765414 0.48770410
+v 0.03551179 0.03250947 0.40282863
+v 0.03161300 0.04211547 0.47170420
+v -0.00178777 0.03242840 0.40226241
+v -0.00667726 0.03567748 0.49168960
+v -0.01181062 0.00545767 0.48130538
+v 0.02585772 0.00717356 0.49275609
+v 0.00960916 0.04178346 0.40207291
+v 0.01328194 0.04121334 0.49219232
+v 0.03341522 0.03736258 0.41874688
+v -0.01356183 0.03270315 0.48530119
+v 0.00058608 -0.00495246 0.48216061
+v 0.03167161 0.01601158 0.49422128
+v -0.00618897 0.03539910 0.43566045
+v 0.00150036 0.04024010 0.49156049
+v -0.00859036 0.01706095 0.43701819
+v -0.00135020 -0.00283325 0.48595283
+v -0.00850984 0.00740804 0.44982007
+f 5 2 1
+f 6 2 5
+f 8 1 2
+f 9 2 6
+f 9 8 2
+f 9 3 8
+f 10 3 9
+f 14 7 1
+f 14 1 8
+f 15 10 6
+f 15 4 10
+f 15 6 5
+f 15 5 11
+f 16 10 4
+f 16 3 10
+f 17 10 9
+f 17 9 6
+f 17 6 10
+f 18 12 4
+f 18 13 7
+f 18 7 12
+f 19 13 5
+f 19 5 1
+f 20 14 8
+f 20 8 3
+f 20 3 16
+f 20 16 12
+f 20 12 7
+f 20 7 14
+f 21 15 11
+f 21 4 15
+f 21 18 4
+f 22 16 4
+f 22 4 12
+f 22 12 16
+f 23 11 5
+f 23 13 18
+f 23 21 11
+f 23 18 21
+f 24 19 1
+f 24 1 7
+f 24 7 13
+f 24 13 19
+f 25 23 5
+f 25 5 13
+f 25 13 23
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_5/collision/model_normalized_collision_25.obj b/objects/objaverse/pear/pear_5/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13527cfb21ad1b6f92ab16949afca675a6fc7a1e
--- /dev/null
+++ b/objects/objaverse/pear/pear_5/collision/model_normalized_collision_25.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.34376471 -0.12461359 0.02054877
+v 0.35094881 -0.12007446 0.00367203
+v 0.36263557 0.01077822 0.03147827
+v 0.34621343 0.14456841 0.02097227
+v 0.35037939 0.14633299 0.00748000
+v 0.34381601 0.09910526 0.06492319
+v 0.34605510 -0.03299616 0.06237619
+v 0.34808492 -0.12512669 0.00682834
+v 0.36764050 0.09922548 0.00281396
+v 0.34676647 -0.12017490 0.01601700
+v 0.36298310 -0.03231724 0.01753304
+v 0.34462539 -0.03353012 0.06452078
+v 0.34821229 0.09522551 0.05794700
+v 0.35458155 0.14112445 0.00246934
+v 0.36754985 -0.03287511 0.00251358
+v 0.36054086 0.08243316 0.03209533
+v 0.35050907 0.13917490 0.01582016
+v 0.36382304 0.09767638 0.01582268
+f 5 1 4
+f 6 4 1
+f 8 2 1
+f 8 1 5
+f 10 7 1
+f 10 1 2
+f 11 3 7
+f 11 10 2
+f 11 7 10
+f 12 7 6
+f 12 6 1
+f 12 1 7
+f 13 7 3
+f 13 6 7
+f 14 8 5
+f 14 2 8
+f 14 5 4
+f 15 9 3
+f 15 3 11
+f 15 11 2
+f 15 14 9
+f 15 2 14
+f 16 13 3
+f 16 3 9
+f 17 4 6
+f 17 6 13
+f 17 14 4
+f 18 16 9
+f 18 13 16
+f 18 17 13
+f 18 9 14
+f 18 14 17
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_5/collision/model_normalized_collision_26.obj b/objects/objaverse/pear/pear_5/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd748574daf808dfa508ab3ad77281a620d38256
--- /dev/null
+++ b/objects/objaverse/pear/pear_5/collision/model_normalized_collision_26.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.27356262 -0.11073826 0.17346938
+v 0.27680617 -0.10841458 0.16777093
+v 0.28916921 -0.02004815 0.17366179
+v 0.26632207 0.09907281 0.19925940
+v 0.27992244 0.09727584 0.18123855
+v 0.26776692 -0.08003473 0.20056146
+v 0.27376612 0.10085328 0.18854475
+v 0.28556680 -0.02132568 0.17986336
+v 0.26786314 -0.10888243 0.18566117
+v 0.27041540 -0.07703731 0.19559913
+v 0.27345466 0.09652033 0.19057719
+v 0.27115953 -0.10612033 0.18063477
+f 2 1 4
+f 5 3 2
+f 6 1 2
+f 7 5 2
+f 7 2 4
+f 8 3 5
+f 8 6 3
+f 8 4 6
+f 9 6 4
+f 9 4 1
+f 10 6 2
+f 10 2 3
+f 10 3 6
+f 11 7 4
+f 11 5 7
+f 11 8 5
+f 11 4 8
+f 12 9 1
+f 12 1 6
+f 12 6 9
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_5/collision/model_normalized_collision_27.obj b/objects/objaverse/pear/pear_5/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84eed84157d3d3b4b3bce936aaee2272aae1bdb8
--- /dev/null
+++ b/objects/objaverse/pear/pear_5/collision/model_normalized_collision_27.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.21867245 -0.02070238 0.28291059
+v 0.19926078 -0.02014303 0.00757576
+v 0.19926078 0.16167515 0.00757576
+v -0.17897054 0.16090277 0.26468761
+v -0.21985311 -0.02504720 0.30233676
+v -0.17952709 0.16167515 0.00757576
+v 0.18799093 0.15091317 0.24959037
+v -0.17952709 -0.02014303 0.00757576
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 3 2
+f 6 4 3
+f 6 5 4
+f 7 1 3
+f 7 3 4
+f 7 4 1
+f 8 6 2
+f 8 2 5
+f 8 5 6
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_5/collision/model_normalized_collision_28.obj b/objects/objaverse/pear/pear_5/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7fcdc09ef9a7adcb4f70e912e6315dd4c0f7b1bc
--- /dev/null
+++ b/objects/objaverse/pear/pear_5/collision/model_normalized_collision_28.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01744261 -0.20196120 0.00757576
+v 0.01744261 -0.20196120 -0.23484848
+v 0.01744261 0.26773576 0.00757576
+v -0.20092599 0.30580985 0.01540327
+v -0.17952709 -0.20196120 -0.23484848
+v -0.19784749 0.29633293 -0.24401262
+v -0.17952709 -0.20196120 0.00757576
+v 0.01744261 0.26773576 -0.23484848
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 5 4
+f 6 2 5
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 3 2
+f 8 2 6
+f 8 6 4
+f 8 4 3
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_5/collision/model_normalized_collision_29.obj b/objects/objaverse/pear/pear_5/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5fe1e18363be0df9d81275c3302f7d63377faab
--- /dev/null
+++ b/objects/objaverse/pear/pear_5/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.13865472 0.17682666 0.00757576
+v 0.13865472 0.17682666 -0.23484848
+v 0.14729042 0.33573600 0.01440458
+v 0.02150947 0.36043820 0.02199259
+v 0.01744261 0.17682666 -0.23484848
+v 0.14422637 0.33177941 -0.24037619
+v 0.01744261 0.17682666 0.00757576
+v 0.01899221 0.34602429 -0.24603668
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 3 2
+f 6 4 3
+f 7 5 1
+f 7 1 4
+f 8 4 6
+f 8 7 4
+f 8 5 7
+f 8 6 2
+f 8 2 5
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_5/collision/model_normalized_collision_3.obj b/objects/objaverse/pear/pear_5/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7617bc5ec2f982af5c6b130382cbc29d67598dd
--- /dev/null
+++ b/objects/objaverse/pear/pear_5/collision/model_normalized_collision_3.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v 0.22956381 0.17682666 0.00757576
+v 0.23990642 0.19195252 -0.37365894
+v 0.21948589 0.31044506 -0.02622696
+v 0.13553168 0.34347915 0.00272758
+v 0.12350321 0.16167515 -0.34090908
+v 0.14986226 0.32559557 -0.25500444
+v 0.22140190 0.30041616 0.00385406
+v 0.21441229 0.16167515 -0.23484848
+v 0.13865472 0.17682666 0.00757576
+v 0.22352357 0.30181761 -0.23042869
+v 0.12077796 0.33035794 -0.25897196
+v 0.18947420 0.32567214 -0.01294523
+v 0.22956381 0.17682666 -0.23484848
+v 0.12350321 0.16167515 -0.23484848
+v 0.20648008 0.25799264 -0.33169654
+v 0.17622898 0.34079276 -0.12797569
+v 0.20456579 0.31254965 0.00216332
+v 0.20624336 0.27846147 -0.30178471
+v 0.16139754 0.28061641 -0.32961549
+v 0.13365969 0.34346279 -0.20162466
+v 0.17551610 0.33883175 -0.03816096
+v 0.20557608 0.32568095 -0.16088816
+v 0.14912237 0.33946842 0.00217858
+v 0.17725111 0.30937481 -0.27195839
+v 0.14983106 0.29397337 -0.31403162
+v 0.19122694 0.27888550 -0.31393713
+v 0.19196847 0.26763947 -0.32947897
+v 0.12225913 0.28545292 -0.33199614
+v 0.12246682 0.33882768 -0.23312741
+v 0.21926487 0.30902072 -0.21465348
+v 0.16350780 0.34035710 -0.17178680
+v 0.20290923 0.32540893 -0.05545904
+v 0.16146879 0.33895800 -0.01120201
+v 0.20491157 0.30806956 -0.24313291
+v 0.17459923 0.29497508 -0.30021273
+v 0.12147320 0.29823147 -0.31452412
+v 0.14772533 0.33989345 -0.20209816
+v 0.19049298 0.32331347 -0.21659849
+f 7 4 1
+f 7 1 2
+f 8 5 2
+f 9 1 4
+f 9 8 1
+f 10 7 2
+f 10 3 7
+f 13 8 2
+f 13 2 1
+f 13 1 8
+f 14 5 8
+f 14 8 9
+f 14 11 5
+f 14 9 4
+f 14 4 11
+f 17 7 3
+f 17 3 12
+f 18 10 2
+f 18 2 15
+f 20 4 16
+f 21 16 4
+f 21 12 3
+f 23 4 7
+f 23 7 17
+f 25 11 6
+f 26 18 15
+f 27 15 2
+f 27 2 19
+f 27 26 15
+f 27 19 26
+f 28 19 2
+f 28 2 5
+f 28 25 19
+f 29 11 4
+f 29 4 20
+f 29 6 11
+f 30 22 3
+f 30 3 10
+f 31 20 16
+f 31 16 22
+f 32 21 3
+f 32 3 22
+f 32 22 16
+f 32 16 21
+f 33 23 17
+f 33 17 12
+f 33 12 21
+f 33 21 4
+f 33 4 23
+f 34 10 18
+f 34 18 24
+f 34 30 10
+f 35 19 25
+f 35 26 19
+f 35 24 18
+f 35 18 26
+f 35 25 6
+f 35 6 24
+f 36 28 5
+f 36 5 11
+f 36 11 25
+f 36 25 28
+f 37 29 20
+f 37 6 29
+f 37 20 31
+f 38 31 22
+f 38 22 30
+f 38 37 31
+f 38 30 34
+f 38 6 37
+f 38 34 24
+f 38 24 6
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_5/collision/model_normalized_collision_30.obj b/objects/objaverse/pear/pear_5/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7cc2e05b1039b1cb49d24a81513459cfb45c8ac3
--- /dev/null
+++ b/objects/objaverse/pear/pear_5/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01744261 -0.20196120 -0.23484848
+v 0.01744261 -0.20196120 -0.35606059
+v 0.01744261 0.16167515 -0.23484848
+v -0.16437557 0.16167515 -0.23484848
+v -0.18003302 -0.21947156 -0.37973928
+v -0.16437557 -0.20196120 -0.23484848
+v -0.19237034 0.18645260 -0.39137772
+v 0.01744261 0.16167515 -0.35606059
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 5 1
+f 6 1 4
+f 7 2 5
+f 7 4 3
+f 7 6 4
+f 7 5 6
+f 8 7 3
+f 8 3 2
+f 8 2 7
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_5/collision/model_normalized_collision_31.obj b/objects/objaverse/pear/pear_5/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bfe72b25ce2ac79238231355eb3686fe77c0a4ad
--- /dev/null
+++ b/objects/objaverse/pear/pear_5/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.22956381 -0.20196120 0.00757576
+v 0.22956381 -0.20196120 -0.23484848
+v 0.22956381 0.17682666 0.00757576
+v 0.01744261 0.17682666 0.00757576
+v 0.01744261 -0.20196120 -0.23484848
+v 0.01744261 0.17682666 -0.23484848
+v 0.01744261 -0.20196120 0.00757576
+v 0.22956381 0.17682666 -0.23484848
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 4 3
+f 6 5 4
+f 6 2 5
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 6 3
+f 8 3 2
+f 8 2 6
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_5/collision/model_normalized_collision_4.obj b/objects/objaverse/pear/pear_5/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..756b2a806a336687e20891406e23d36f2bdaf682
--- /dev/null
+++ b/objects/objaverse/pear/pear_5/collision/model_normalized_collision_4.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.15960600 -0.32692702 -0.23085304
+v -0.15744649 -0.26843534 -0.34905588
+v -0.15619016 0.28460137 -0.31833978
+v -0.16094191 0.32072133 -0.23221960
+v -0.36216053 -0.09094743 -0.22772027
+v -0.15803396 0.31280321 -0.26067874
+v -0.15762037 -0.32330335 -0.24372631
+v -0.20087872 0.30037423 -0.22759373
+v -0.18568076 0.05223933 -0.45800690
+v -0.15706155 -0.28098541 -0.33258303
+v -0.27215176 -0.24943726 -0.22877055
+v -0.17320044 0.31518216 -0.22970213
+v -0.18315048 0.29501443 -0.27030051
+v -0.15950981 0.08213795 -0.46211970
+v -0.22452957 -0.09086799 -0.42932251
+v -0.20152767 -0.30729321 -0.22915715
+v -0.22534169 -0.23180597 -0.32703568
+v -0.17248942 -0.32246166 -0.22894136
+v -0.17112424 0.30829809 -0.25558464
+v -0.29660525 0.15194818 -0.31278091
+v -0.15712008 0.15481636 -0.43253633
+v -0.16114621 -0.09178914 -0.46249856
+v -0.16955096 -0.31884233 -0.24242930
+v -0.16975530 -0.27697653 -0.32789301
+v -0.21239888 -0.27465704 -0.28317144
+v -0.19757262 -0.15977993 -0.41312117
+v -0.28280567 -0.18965459 -0.29991330
+v -0.31605809 -0.19369301 -0.22761069
+v -0.19863411 0.29562871 -0.24468205
+v -0.22587118 0.23718760 -0.31252592
+v -0.36069474 0.09591694 -0.22951588
+v -0.25622807 0.01025247 -0.41531599
+v -0.15739574 -0.20750175 -0.40447871
+v -0.19817634 0.08036104 -0.44414468
+v -0.21403573 -0.06247055 -0.44496307
+v -0.21124221 -0.23170517 -0.34102211
+v -0.21092081 -0.28948915 -0.25631726
+v -0.26836834 -0.21770934 -0.28724490
+v -0.19896895 -0.10492059 -0.44130246
+v -0.31317620 -0.08806398 -0.32699006
+v -0.24216709 -0.18803702 -0.35516861
+v -0.25762856 -0.26378926 -0.22881502
+v -0.32627774 -0.11901640 -0.28496137
+v -0.18073875 0.28100919 -0.30027346
+v -0.24066032 0.18120944 -0.35426849
+v -0.24009383 0.25179682 -0.26934629
+v -0.33050133 0.16651363 -0.22909636
+v -0.29719486 0.06667742 -0.35914808
+v -0.15896280 -0.16266535 -0.43244067
+v -0.16969810 0.12208767 -0.44242523
+v -0.17093834 0.08019403 -0.45775820
+v -0.21270280 0.05145375 -0.44334702
+v -0.18604179 -0.07522769 -0.45815572
+v -0.25341976 -0.01972732 -0.41876967
+v -0.21085883 -0.21680166 -0.35646969
+v -0.19916959 -0.30332176 -0.24119971
+v -0.24060973 -0.21716879 -0.32706014
+v -0.22746211 -0.14727390 -0.39934822
+v -0.28265334 -0.14716028 -0.34107232
+v -0.25422485 -0.26086082 -0.24084161
+v -0.34628755 -0.13193999 -0.22991796
+v -0.34135476 -0.13250031 -0.24127036
+v -0.35832143 -0.06164224 -0.25640674
+v -0.18033471 0.25178340 -0.34178427
+f 7 3 6
+f 7 6 4
+f 7 4 1
+f 10 3 7
+f 12 1 4
+f 13 6 3
+f 18 12 8
+f 18 1 12
+f 18 7 1
+f 19 12 4
+f 19 4 6
+f 19 8 12
+f 19 6 13
+f 22 9 14
+f 23 10 7
+f 23 18 16
+f 23 7 18
+f 24 2 10
+f 24 10 23
+f 25 17 24
+f 28 18 8
+f 28 8 5
+f 29 19 13
+f 29 8 19
+f 33 10 2
+f 33 21 3
+f 33 3 10
+f 36 24 17
+f 36 2 24
+f 37 25 24
+f 38 28 27
+f 38 11 28
+f 39 15 35
+f 42 28 11
+f 42 16 18
+f 42 18 28
+f 42 37 16
+f 44 13 3
+f 45 20 30
+f 46 29 13
+f 46 44 30
+f 46 13 44
+f 46 8 29
+f 46 30 20
+f 47 31 5
+f 47 5 8
+f 47 8 46
+f 47 46 20
+f 47 20 31
+f 48 31 20
+f 48 45 34
+f 48 20 45
+f 49 22 14
+f 49 14 21
+f 49 21 33
+f 49 39 22
+f 49 33 26
+f 49 26 39
+f 50 21 14
+f 50 45 21
+f 50 34 45
+f 51 14 9
+f 51 9 34
+f 51 50 14
+f 51 34 50
+f 52 34 9
+f 52 48 34
+f 52 32 48
+f 52 9 35
+f 53 35 9
+f 53 9 22
+f 53 39 35
+f 53 22 39
+f 54 35 15
+f 54 52 35
+f 54 32 52
+f 54 15 40
+f 54 48 32
+f 54 40 48
+f 55 33 2
+f 55 2 36
+f 55 36 41
+f 55 41 26
+f 55 26 33
+f 56 23 16
+f 56 16 37
+f 56 37 24
+f 56 24 23
+f 57 17 25
+f 57 25 38
+f 57 38 27
+f 57 27 41
+f 57 41 36
+f 57 36 17
+f 58 39 26
+f 58 15 39
+f 58 26 41
+f 59 41 27
+f 59 58 41
+f 59 40 15
+f 59 15 58
+f 59 43 40
+f 59 27 43
+f 60 25 37
+f 60 37 42
+f 60 38 25
+f 60 42 11
+f 60 11 38
+f 61 28 5
+f 62 43 27
+f 62 27 28
+f 62 28 61
+f 62 61 5
+f 62 5 43
+f 63 43 5
+f 63 40 43
+f 63 48 40
+f 63 5 31
+f 63 31 48
+f 64 44 3
+f 64 30 44
+f 64 45 30
+f 64 3 21
+f 64 21 45
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_5/collision/model_normalized_collision_5.obj b/objects/objaverse/pear/pear_5/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02d10b9107cdd23f9b4fb043d613ec98e673b694
--- /dev/null
+++ b/objects/objaverse/pear/pear_5/collision/model_normalized_collision_5.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.17887599 -0.24630977 0.18846197
+v -0.17952709 -0.20196120 0.00757576
+v -0.18443684 0.15136448 0.26992137
+v -0.24572882 0.27265141 0.01948675
+v -0.37633088 -0.09120276 0.00533728
+v -0.17952709 0.14652364 0.00757576
+v -0.34026915 -0.19928274 0.00664687
+v -0.22338399 -0.03401885 0.29750073
+v -0.34140130 0.06493063 0.10418238
+v -0.27110409 0.25423271 0.00262871
+v -0.17089354 -0.13401941 0.30038563
+v -0.34840286 -0.18138679 0.00496269
+v -0.25033342 0.07914226 0.25370476
+v -0.34335916 -0.07739738 0.10297960
+v -0.24855041 0.27426625 0.00677336
+v -0.37515940 0.06632122 0.00325159
+v -0.26812754 0.19430802 0.11855300
+v -0.17542410 -0.24019955 0.19748201
+v -0.17249582 0.02423211 0.34612455
+v -0.28371566 -0.19015198 0.14490670
+v -0.31817537 0.19731369 0.00221374
+v -0.37336163 -0.01965664 0.04727192
+v -0.31336333 0.03768970 0.16361059
+v -0.35650534 -0.10813701 0.06119900
+v -0.25691552 0.26755056 0.00336098
+v -0.24546332 0.22804517 0.10722665
+v -0.23891271 0.10604467 0.25256535
+v -0.17122560 -0.04749558 0.34576671
+v -0.19581351 0.02298060 0.32763586
+v -0.20227924 -0.23712074 0.18159374
+v -0.22342038 -0.08880194 0.27809568
+v -0.34215351 0.15216114 0.01683909
+v -0.37347480 -0.00502937 0.04585633
+v -0.28213753 0.07658859 0.20843834
+v -0.31282120 -0.03232618 0.16293202
+v -0.35710813 -0.15007570 0.01826330
+v -0.29861803 -0.13532525 0.16230235
+v -0.37411454 -0.06280276 0.03302731
+v -0.25336786 0.16196072 0.17645507
+v -0.26842011 0.22206297 0.07520603
+v -0.26808969 0.06418097 0.23671344
+v -0.18119064 0.02310370 0.33986346
+v -0.17954123 -0.04617131 0.33915226
+v -0.32623358 -0.19305268 0.06317143
+v -0.19814097 -0.18953739 0.23199865
+v -0.25545930 -0.17056016 0.19145382
+v -0.19353477 -0.08661989 0.30942460
+v -0.34577847 0.15293677 0.00386399
+v -0.37156562 0.06693728 0.01601371
+v -0.31143182 0.16398495 0.07519917
+v -0.35787042 0.03746206 0.07675851
+v -0.26710588 0.09236156 0.22184937
+v -0.37308168 -0.09246315 0.01744491
+v -0.35951983 -0.15161537 0.00672667
+v -0.31121159 -0.11015268 0.15117328
+v -0.25243023 -0.07511732 0.25264948
+v -0.35748363 -0.07657681 0.07508234
+v -0.21313372 0.13669461 0.25403003
+v -0.26833549 0.25150302 0.01606531
+v -0.25291859 0.22243059 0.10346007
+v -0.22571826 -0.01853741 0.29656590
+v -0.26687610 -0.06180770 0.23689825
+v -0.34348160 -0.17873451 0.03204229
+v -0.32632812 -0.16355796 0.09102398
+f 6 4 3
+f 7 2 1
+f 11 2 6
+f 12 2 7
+f 15 4 6
+f 16 12 5
+f 18 1 2
+f 18 2 11
+f 19 6 3
+f 21 10 2
+f 21 2 12
+f 21 12 16
+f 25 15 6
+f 25 10 4
+f 25 4 15
+f 25 6 2
+f 25 2 10
+f 26 3 4
+f 27 19 3
+f 28 11 6
+f 28 6 19
+f 29 27 13
+f 30 7 1
+f 30 1 18
+f 33 16 5
+f 33 5 22
+f 34 9 23
+f 35 23 22
+f 35 22 14
+f 38 22 5
+f 39 26 17
+f 40 26 4
+f 41 29 13
+f 41 34 23
+f 42 28 19
+f 42 19 27
+f 42 27 29
+f 43 42 29
+f 43 28 42
+f 44 30 20
+f 44 7 30
+f 45 30 18
+f 45 18 11
+f 45 20 30
+f 46 45 11
+f 46 20 45
+f 46 37 20
+f 47 11 28
+f 47 43 31
+f 47 28 43
+f 47 46 11
+f 47 31 46
+f 48 32 21
+f 48 21 16
+f 49 9 32
+f 49 16 33
+f 49 48 16
+f 49 32 48
+f 50 21 32
+f 50 40 21
+f 50 17 40
+f 50 32 9
+f 50 9 34
+f 50 39 17
+f 51 23 9
+f 51 49 33
+f 51 9 49
+f 51 33 22
+f 51 22 23
+f 52 13 27
+f 52 27 39
+f 52 50 34
+f 52 39 50
+f 52 41 13
+f 52 34 41
+f 53 36 24
+f 53 38 5
+f 53 24 38
+f 54 5 12
+f 54 53 5
+f 54 36 53
+f 56 43 8
+f 56 31 43
+f 56 46 31
+f 56 37 46
+f 57 38 24
+f 57 14 22
+f 57 22 38
+f 57 55 14
+f 57 24 55
+f 58 3 26
+f 58 26 39
+f 58 39 27
+f 58 27 3
+f 59 40 4
+f 59 4 10
+f 59 10 21
+f 59 21 40
+f 60 40 17
+f 60 17 26
+f 60 26 40
+f 61 29 41
+f 61 43 29
+f 61 8 43
+f 62 41 23
+f 62 23 35
+f 62 55 37
+f 62 37 56
+f 62 35 14
+f 62 14 55
+f 62 61 41
+f 62 56 8
+f 62 8 61
+f 63 24 36
+f 63 12 7
+f 63 7 44
+f 63 54 12
+f 63 36 54
+f 64 63 44
+f 64 24 63
+f 64 55 24
+f 64 37 55
+f 64 44 20
+f 64 20 37
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_5/collision/model_normalized_collision_6.obj b/objects/objaverse/pear/pear_5/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae6606495db6c3db3e015f4502acc1133bfc52c6
--- /dev/null
+++ b/objects/objaverse/pear/pear_5/collision/model_normalized_collision_6.obj
@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
+v 0.21441229 -0.20196120 -0.23484848
+v 0.20434096 -0.19159576 -0.42126309
+v 0.21441229 0.16167515 -0.23484848
+v 0.01744261 0.16167515 -0.23484848
+v 0.01744261 -0.20196120 -0.23484848
+v 0.01715855 0.15587792 -0.46571775
+v 0.20740081 0.09390077 -0.46176996
+v 0.16773366 -0.22961319 -0.41318418
+v 0.01653910 0.13858378 -0.47476348
+v 0.20536119 -0.11957787 -0.46077877
+v 0.20520369 0.15040578 -0.43107035
+v 0.17916379 -0.22569829 -0.41003715
+v 0.01880991 -0.19979692 -0.44981720
+v 0.13470943 0.12315864 -0.47310084
+v 0.20670925 0.05113860 -0.47455968
+v 0.14819982 -0.17616682 -0.45812765
+v 0.17591692 -0.20390800 -0.42983486
+v 0.04714393 0.13698892 -0.47428249
+v 0.16358347 0.13614689 -0.45874022
+v 0.17801507 0.09475694 -0.47284121
+v 0.16352391 -0.22581894 -0.41919860
+v 0.16422934 -0.00446275 -0.49204329
+v 0.20091898 -0.16237852 -0.44350219
+v 0.13352739 0.15016899 -0.45924639
+v 0.17754047 0.15034243 -0.44474537
+v 0.19304827 0.07823519 -0.47316744
+v 0.20542064 -0.06282415 -0.47448309
+v 0.10832138 0.09458419 -0.48926677
+v 0.09577389 -0.13821910 -0.47404727
+v 0.15202232 -0.13519978 -0.47426357
+v 0.13219906 0.08264175 -0.48778875
+v 0.05069567 -0.18257473 -0.45958407
+v 0.01818450 0.04369284 -0.48953565
+v 0.19366393 -0.08968982 -0.47369860
+v 0.16783503 0.02392972 -0.48985050
+v 0.01820023 0.08389653 -0.49057983
+v 0.05284072 0.00309452 -0.48783301
+v 0.02833097 -0.13026154 -0.46611304
+v 0.04925857 0.09596280 -0.48992790
+f 1 3 4
+f 5 1 4
+f 6 4 3
+f 7 3 1
+f 8 1 5
+f 9 5 4
+f 9 4 6
+f 10 1 2
+f 11 6 3
+f 11 3 7
+f 12 2 1
+f 12 1 8
+f 13 8 5
+f 13 5 9
+f 15 7 1
+f 17 2 12
+f 18 9 6
+f 20 19 7
+f 20 14 19
+f 21 8 13
+f 21 13 16
+f 21 16 17
+f 21 17 12
+f 21 12 8
+f 23 17 16
+f 23 16 10
+f 23 10 2
+f 23 2 17
+f 24 18 6
+f 24 14 18
+f 24 19 14
+f 25 11 7
+f 25 7 19
+f 25 19 24
+f 25 24 6
+f 25 6 11
+f 26 20 7
+f 26 7 15
+f 27 22 15
+f 27 15 1
+f 27 1 10
+f 28 9 18
+f 28 18 14
+f 28 14 20
+f 30 10 16
+f 30 29 22
+f 31 28 20
+f 31 20 26
+f 32 16 13
+f 32 30 16
+f 32 29 30
+f 33 13 9
+f 34 27 10
+f 34 10 30
+f 34 30 22
+f 34 22 27
+f 35 31 26
+f 35 26 15
+f 35 15 22
+f 35 22 28
+f 35 28 31
+f 36 22 33
+f 36 33 9
+f 37 33 22
+f 37 22 29
+f 37 29 33
+f 38 33 29
+f 38 29 32
+f 38 32 13
+f 38 13 33
+f 39 28 22
+f 39 22 36
+f 39 36 9
+f 39 9 28
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_5/collision/model_normalized_collision_7.obj b/objects/objaverse/pear/pear_5/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..024a8a78013742d7a34e96d950e211ba34050b20
--- /dev/null
+++ b/objects/objaverse/pear/pear_5/collision/model_normalized_collision_7.obj
@@ -0,0 +1,186 @@
+# https://github.com/mikedh/trimesh
+v 0.12350321 0.16167515 -0.23484848
+v 0.23990642 0.19195252 -0.37365894
+v 0.12246682 0.33882768 -0.23312741
+v -0.10192470 0.34353525 -0.22858490
+v -0.15712008 0.15481636 -0.43253633
+v 0.09145160 0.34421263 -0.23069522
+v 0.22205745 0.27828870 -0.28496120
+v 0.19374245 0.15385169 -0.43528474
+v -0.16437557 0.16167515 -0.23484848
+v -0.08582892 0.29510800 -0.34263626
+v 0.20982590 0.29069695 -0.27601700
+v 0.20990435 0.15660263 -0.42389928
+v 0.14970032 0.25027659 -0.37114500
+v -0.16094191 0.32072133 -0.23221960
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\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_5/collision/model_normalized_collision_8.obj b/objects/objaverse/pear/pear_5/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5874ea38f0a6386de2cf44e9ab501cbd8e441300
--- /dev/null
+++ b/objects/objaverse/pear/pear_5/collision/model_normalized_collision_8.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.17688560 0.15477154 0.25467811
+v 0.34552671 0.15908574 0.00507431
+v 0.17785097 0.32807427 0.00178754
+v -0.06983020 0.35862647 0.00463348
+v -0.17952709 0.16167515 0.00757576
+v 0.03106241 0.30984875 0.14841731
+v 0.21465104 0.22244749 0.16132894
+v 0.33698125 0.15492387 0.03095095
+v 0.29025059 0.24154777 0.00098188
+v 0.04489757 0.35549351 0.03331239
+v -0.17897054 0.16090277 0.26468761
+v 0.14547607 0.24934070 0.19178204
+v 0.23830893 0.15692642 0.19911139
+v 0.34001907 0.17123975 0.00269338
+v 0.21888432 0.27803157 0.05860012
+v 0.28854656 0.19200417 0.08895051
+v -0.11478578 0.34594865 0.00493393
+v 0.13122185 0.32376625 0.05964347
+v 0.07416012 0.35871554 0.00387977
+v -0.05492539 0.33876074 0.09058950
+v 0.17358001 0.20994470 0.21446206
+v 0.00048116 0.23687259 0.25072629
+v 0.29431708 0.15574918 0.12152065
+v 0.33234657 0.16564917 0.02970883
+v 0.20456579 0.31254965 0.00216332
+v 0.26135147 0.23506208 0.07404798
+v 0.18579138 0.23616472 0.17524159
+v 0.32113511 0.19422598 0.01684974
+v -0.22469366 0.22196473 0.14376715
+v 0.05849825 0.33906736 0.07540688
+v 0.11858378 0.29365031 0.13280309
+v 0.17372783 0.32508143 0.01539490
+v -0.05377586 0.35602879 0.03353747
+v 0.22921892 0.17985316 0.18984113
+v 0.05768076 0.22147623 0.25285737
+v 0.04236863 0.26506680 0.20658697
+v -0.08073799 0.26619627 0.20555484
+v 0.30214953 0.19381522 0.05975795
+v 0.25972595 0.26477791 0.01676769
+v 0.23050080 0.23576708 0.11897969
+v 0.25959318 0.20704495 0.11846256
+v 0.17217166 0.22019351 0.20513176
+v 0.32341865 0.19774271 0.00304086
+v -0.18726611 0.31422265 0.01064663
+v 0.01480702 0.34036133 0.09265675
+v 0.07399184 0.35475095 0.01778448
+v 0.13189261 0.26457689 0.17690055
+v 0.04345266 0.32381798 0.11895011
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+v 0.22873418 0.20543176 0.16523273
+v 0.27211043 0.18089066 0.13199988
+v 0.19994286 0.17908084 0.21854121
+v 0.14403432 0.19256152 0.24803371
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+v 0.26369814 0.26662231 0.00222858
+v 0.21468952 0.26415011 0.08982053
+v 0.13354654 0.33993101 0.01524231
+v 0.07345263 0.30801463 0.13368478
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+f 64 48 6
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\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_5/collision/model_normalized_collision_9.obj b/objects/objaverse/pear/pear_5/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0274f3158184c9eb55de7ee1f4319260bb8b7fb
--- /dev/null
+++ b/objects/objaverse/pear/pear_5/collision/model_normalized_collision_9.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.10487252 -0.36626078 0.00141442
+v 0.23852169 -0.32350287 -0.09602874
+v 0.22956381 -0.20196120 0.00757576
+v -0.07346648 -0.20196120 0.00757576
+v -0.07273594 -0.37218740 -0.09730096
+v 0.13865472 -0.20196120 -0.09848484
+v -0.07363918 -0.37093041 0.00608469
+v 0.23114106 -0.30948970 0.00811556
+v 0.13629355 -0.37198883 -0.09937863
+v 0.22956381 -0.20196120 -0.09848484
+v -0.07346648 -0.20196120 -0.09848484
+v 0.13403629 -0.35747321 0.00595690
+v 0.13311911 -0.36467166 -0.02576385
+f 6 4 3
+f 8 2 3
+f 8 3 4
+f 8 4 7
+f 9 7 5
+f 9 1 7
+f 10 6 3
+f 10 3 2
+f 10 9 6
+f 10 2 9
+f 11 4 6
+f 11 7 4
+f 11 5 7
+f 11 9 5
+f 11 6 9
+f 12 8 7
+f 12 7 1
+f 13 12 1
+f 13 1 9
+f 13 9 2
+f 13 2 8
+f 13 8 12
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_5/model.xml b/objects/objaverse/pear/pear_5/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..6666e823c3b677b1b7550e5d9ac1e7860e709827
--- /dev/null
+++ b/objects/objaverse/pear/pear_5/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="pear_17">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.08000000000000002 0.08000000000000002 0.08000000000000002" refquat="0.4999999999999999 0.5 0.5 0.5000000000000001"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.08000000000000002 0.08000000000000002 0.08000000000000002" refquat="0.4999999999999999 0.5 0.5 0.5000000000000001"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.08000000000000002 0.08000000000000002 0.08000000000000002" refquat="0.4999999999999999 0.5 0.5 0.5000000000000001"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.08000000000000002 0.08000000000000002 0.08000000000000002" refquat="0.4999999999999999 0.5 0.5 0.5000000000000001"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.08000000000000002 0.08000000000000002 0.08000000000000002" refquat="0.4999999999999999 0.5 0.5 0.5000000000000001"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.08000000000000002 0.08000000000000002 0.08000000000000002" refquat="0.4999999999999999 0.5 0.5 0.5000000000000001"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.08000000000000002 0.08000000000000002 0.08000000000000002" refquat="0.4999999999999999 0.5 0.5 0.5000000000000001"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.08000000000000002 0.08000000000000002 0.08000000000000002" refquat="0.4999999999999999 0.5 0.5 0.5000000000000001"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.08000000000000002 0.08000000000000002 0.08000000000000002" refquat="0.4999999999999999 0.5 0.5 0.5000000000000001"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.08000000000000002 0.08000000000000002 0.08000000000000002" refquat="0.4999999999999999 0.5 0.5 0.5000000000000001"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.08000000000000002 0.08000000000000002 0.08000000000000002" refquat="0.4999999999999999 0.5 0.5 0.5000000000000001"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.08000000000000002 0.08000000000000002 0.08000000000000002" refquat="0.4999999999999999 0.5 0.5 0.5000000000000001"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.08000000000000002 0.08000000000000002 0.08000000000000002" refquat="0.4999999999999999 0.5 0.5 0.5000000000000001"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.08000000000000002 0.08000000000000002 0.08000000000000002" refquat="0.4999999999999999 0.5 0.5 0.5000000000000001"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.08000000000000002 0.08000000000000002 0.08000000000000002" refquat="0.4999999999999999 0.5 0.5 0.5000000000000001"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.08000000000000002 0.08000000000000002 0.08000000000000002" refquat="0.4999999999999999 0.5 0.5 0.5000000000000001"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.08000000000000002 0.08000000000000002 0.08000000000000002" refquat="0.4999999999999999 0.5 0.5 0.5000000000000001"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.08000000000000002 0.08000000000000002 0.08000000000000002" refquat="0.4999999999999999 0.5 0.5 0.5000000000000001"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.08000000000000002 0.08000000000000002 0.08000000000000002" refquat="0.4999999999999999 0.5 0.5 0.5000000000000001"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.08000000000000002 0.08000000000000002 0.08000000000000002" refquat="0.4999999999999999 0.5 0.5 0.5000000000000001"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.08000000000000002 0.08000000000000002 0.08000000000000002" refquat="0.4999999999999999 0.5 0.5 0.5000000000000001"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.08000000000000002 0.08000000000000002 0.08000000000000002" refquat="0.4999999999999999 0.5 0.5 0.5000000000000001"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.08000000000000002 0.08000000000000002 0.08000000000000002" refquat="0.4999999999999999 0.5 0.5 0.5000000000000001"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.08000000000000002 0.08000000000000002 0.08000000000000002" refquat="0.4999999999999999 0.5 0.5 0.5000000000000001"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.08000000000000002 0.08000000000000002 0.08000000000000002" refquat="0.4999999999999999 0.5 0.5 0.5000000000000001"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.08000000000000002 0.08000000000000002 0.08000000000000002" refquat="0.4999999999999999 0.5 0.5 0.5000000000000001"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.08000000000000002 0.08000000000000002 0.08000000000000002" refquat="0.4999999999999999 0.5 0.5 0.5000000000000001"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.08000000000000002 0.08000000000000002 0.08000000000000002" refquat="0.4999999999999999 0.5 0.5 0.5000000000000001"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.08000000000000002 0.08000000000000002 0.08000000000000002" refquat="0.4999999999999999 0.5 0.5 0.5000000000000001"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.08000000000000002 0.08000000000000002 0.08000000000000002" refquat="0.4999999999999999 0.5 0.5 0.5000000000000001"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.08000000000000002 0.08000000000000002 0.08000000000000002" refquat="0.4999999999999999 0.5 0.5 0.5000000000000001"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.08000000000000002 0.08000000000000002 0.08000000000000002" refquat="0.4999999999999999 0.5 0.5 0.5000000000000001"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.08000000000000002 0.08000000000000002 0.08000000000000002" refquat="0.4999999999999999 0.5 0.5 0.5000000000000001"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="tex_u1_v1.007" texture="image0" specular="0.5" shininess="0.359999993"/>
+  </asset>
+  <worldbody>
+    <body>
+      <body name="object">
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_0_vis" conaffinity="0" contype="0" group="1" material="tex_u1_v1.007"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_22._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_23._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_21._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_20._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_24._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_30._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_18._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_19._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_31._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_25._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_27._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_26._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_9._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_8._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_6._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_7._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_5._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_4._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_0._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_1._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_3._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_2._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_17._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_16._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_28._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_14._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_15._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_29._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_11._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_10._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_12._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_13._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+      </body>
+      <site rgba="0 0 0 0" size="0.005" pos="-4.536736327576119e-06 -6.829565243937631e-06 -0.031150512489140754" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="-4.536736327576119e-06 -6.829565243937631e-06 0.03164066280885955" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.029765917099449018 0.03953770011971846 0.00024507515985939594" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/pear/pear_5/visual/material.mtl b/objects/objaverse/pear/pear_5/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..842b70538fc6029daec10eabd1278717f12035ab
--- /dev/null
+++ b/objects/objaverse/pear/pear_5/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 359.99999300
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_1.obj b/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4d592a06c444958b3f752fb3f84c951cf46eee4
--- /dev/null
+++ b/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_1.obj
@@ -0,0 +1,180 @@
+# https://github.com/mikedh/trimesh
+v 0.40702359 -0.22997141 0.24020559
+v 0.48975924 -0.02692710 0.01246215
+v 0.47338297 -0.01274977 0.21612274
+v 0.41426057 0.20345629 0.24516490
+v 0.40467560 0.19892775 -0.15844993
+v 0.48930013 0.11744002 0.12865492
+v 0.45796651 -0.08727515 0.23047688
+v 0.42842632 -0.23839103 0.00486033
+v 0.49046715 0.00206998 0.15790588
+v 0.45938335 0.11671950 0.22806777
+v 0.45841052 0.19008692 -0.04563791
+v 0.42972171 -0.01899316 -0.17287153
+v 0.45848436 -0.17512451 0.14488226
+v 0.49017896 0.01723783 -0.01730414
+v 0.47443771 -0.07253094 0.18749188
+v 0.45906204 0.19072268 0.15666190
+v 0.47392825 0.07394562 0.21524834
+v 0.44374955 -0.14509313 -0.05927117
+v 0.45753963 0.10298103 -0.11651694
+v 0.44203825 -0.15900514 0.23048174
+v 0.44333498 -0.21875197 0.13047967
+v 0.45913611 -0.17613368 0.07214901
+v 0.48971979 -0.04166811 0.12959020
+v 0.49020302 -0.04151577 0.04206099
+v 0.48901712 0.11811120 0.01320131
+v 0.47471653 0.10199050 0.20033856
+v 0.44390888 0.19046772 0.19960706
+v 0.48896276 0.08872582 0.15784075
+v 0.44104195 -0.14916746 -0.06353884
+v 0.47386312 0.00298079 -0.07543066
+v 0.44251466 0.10181970 -0.14559476
+v 0.44293303 0.16038689 -0.11600749
+v 0.45754931 -0.11674441 0.21587298
+v 0.42939891 -0.21826800 0.20157447
+v 0.47335868 -0.10075732 0.01350489
+v 0.44334402 -0.21976213 0.05776663
+v 0.47466101 -0.10169623 0.15903897
+v 0.48969353 -0.02769893 0.14379106
+v 0.47480145 -0.11670876 0.13023581
+v 0.47371648 0.17603943 0.02687484
+v 0.47441741 0.10372909 -0.07518061
+v 0.47335111 0.16047244 0.14174970
+v 0.43017887 0.19004285 0.22841424
+v 0.44205685 -0.18998266 -0.01490587
+v 0.44403805 -0.01192029 -0.14761551
+v 0.48967253 -0.01201247 -0.00157239
+v 0.44431517 0.19087475 -0.08855843
+v 0.41529305 0.19117844 -0.14638149
+v 0.45800617 0.13204317 -0.10175927
+v 0.45899497 -0.16047375 0.17257821
+v 0.41727942 -0.22002171 0.23082894
+v 0.44318772 -0.20385784 0.17334953
+v 0.47358677 -0.11553995 0.04252442
+v 0.47381902 0.16133140 -0.01669980
+v 0.48926709 0.08958211 -0.01761309
+v 0.45907744 0.00258977 -0.11876369
+v 0.47341312 0.17518873 0.11415701
+v 0.44344399 0.15938137 0.22716516
+v 0.44332789 -0.20447827 0.01277308
+v 0.44211470 -0.18877217 0.20115852
+v 0.43630479 -0.22247914 0.01226796
+f 5 1 4
+f 7 4 1
+f 8 1 5
+f 10 4 7
+f 11 5 4
+f 12 8 5
+f 14 6 9
+f 15 9 3
+f 15 3 7
+f 16 11 4
+f 17 3 9
+f 17 10 7
+f 17 7 3
+f 20 7 1
+f 21 1 8
+f 22 13 21
+f 24 14 9
+f 24 2 14
+f 24 9 23
+f 25 6 14
+f 26 10 17
+f 27 16 4
+f 27 26 16
+f 27 10 26
+f 28 17 9
+f 28 9 6
+f 28 26 17
+f 28 6 26
+f 29 8 12
+f 31 12 5
+f 33 15 7
+f 33 7 20
+f 34 1 21
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+f 36 22 21
+f 36 21 8
+f 38 23 9
+f 38 9 15
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+f 39 13 22
+f 39 24 23
+f 39 23 37
+f 40 6 25
+f 40 11 16
+f 41 14 30
+f 42 26 6
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+f 43 27 4
+f 44 29 18
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+f 45 12 31
+f 46 30 14
+f 46 14 2
+f 46 35 30
+f 46 2 35
+f 47 5 11
+f 48 32 31
+f 48 31 5
+f 48 47 32
+f 48 5 47
+f 49 19 31
+f 49 31 32
+f 49 41 19
+f 49 32 47
+f 49 47 11
+f 49 11 41
+f 50 33 20
+f 50 39 37
+f 50 13 39
+f 50 37 15
+f 50 15 33
+f 51 20 1
+f 51 1 34
+f 52 34 21
+f 52 21 13
+f 52 13 50
+f 53 35 24
+f 53 39 22
+f 53 24 39
+f 54 40 25
+f 54 11 40
+f 54 41 11
+f 55 25 14
+f 55 14 41
+f 55 54 25
+f 55 41 54
+f 56 41 30
+f 56 19 41
+f 56 30 18
+f 56 18 29
+f 56 29 45
+f 56 45 31
+f 56 31 19
+f 57 40 16
+f 57 16 42
+f 57 42 6
+f 57 6 40
+f 58 43 4
+f 58 4 10
+f 58 10 27
+f 58 27 43
+f 59 8 44
+f 59 22 36
+f 59 53 22
+f 59 44 35
+f 59 35 53
+f 60 51 34
+f 60 20 51
+f 60 34 52
+f 60 52 50
+f 60 50 20
+f 61 59 36
+f 61 36 8
+f 61 8 59
\ No newline at end of file
diff --git a/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_11.obj b/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c004561eca39b9946b9a862d94e6a455e91abb27
--- /dev/null
+++ b/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_11.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.23360886 0.19317295 0.39499712
+v -0.23357080 0.19621469 -0.33603440
+v -0.22796725 0.21942198 -0.32514352
+v -0.23100606 0.38456704 0.21742059
+v -0.44763271 0.19248217 -0.04658613
+v -0.22768129 0.35023925 0.27245535
+v -0.30138137 0.18983302 -0.29591089
+v -0.28479234 0.37496412 -0.07443304
+v -0.22936302 0.27711776 0.34423770
+v -0.22849132 0.34841538 -0.19171576
+v -0.41340736 0.24563413 0.21339940
+v -0.25721321 0.19076666 -0.32532192
+v -0.33160074 0.18999956 0.35990308
+v -0.36893805 0.25909292 -0.16134396
+v -0.23273895 0.20488589 0.38930953
+v -0.22792066 0.37961397 0.22852179
+v -0.27412690 0.39711613 0.02644286
+v -0.28184208 0.28836709 -0.23323132
+v -0.26803293 0.21512307 -0.30443417
+v -0.44709711 0.19092568 0.20246033
+v -0.32772380 0.27269861 0.29898346
+v -0.30410280 0.18988278 0.37455725
+v -0.37298038 0.19118466 -0.22234506
+v -0.41403289 0.27610386 -0.01704003
+v -0.22930537 0.36320249 -0.16359837
+v -0.34276043 0.34570971 0.14161479
+v -0.22876246 0.29075040 -0.26495573
+v -0.31109382 0.31794098 -0.16147729
+v -0.24006848 0.21654530 -0.32044789
+v -0.31129195 0.22918850 -0.26156657
+v -0.40467871 0.19025219 0.28902849
+v -0.30216094 0.24486534 0.34183483
+v -0.31402112 0.31466355 0.25609882
+v -0.26106148 0.19139822 0.38993910
+v -0.41462255 0.20573067 -0.13448343
+v -0.32819733 0.36129557 -0.00196812
+v -0.42878013 0.26244263 0.09901754
+v -0.27386467 0.37994746 -0.07573774
+v -0.27434092 0.39745727 0.09952918
+v -0.25580952 0.31700800 -0.21830081
+v -0.24079056 0.27368805 -0.27586715
+v -0.31139730 0.28772578 -0.20350067
+v -0.28360065 0.34563983 -0.14761940
+v -0.37058116 0.31726200 -0.04490317
+v -0.25434184 0.20238826 -0.32069742
+v -0.29768586 0.20187542 -0.29108826
+v -0.33954125 0.22997355 -0.23192894
+v -0.44203912 0.20282006 0.20118990
+v -0.37016581 0.25893602 0.27078172
+v -0.24361114 0.27417819 0.34135935
+v -0.34246651 0.23004816 0.32652869
+v -0.31468356 0.21668254 0.35459075
+v -0.27019857 0.33077222 0.26903878
+v -0.24098583 0.37514746 0.22581833
+v -0.26051337 0.20276180 0.38477765
+v -0.41877550 0.19278169 -0.13591738
+v -0.39679992 0.21753557 -0.16084544
+v -0.42794619 0.23486357 -0.06064599
+v -0.29880432 0.37656781 -0.03220050
+v -0.39927202 0.28934087 0.15692158
+v -0.38629930 0.31867883 0.04308004
+v -0.44394873 0.23394659 0.04148225
+v -0.28410773 0.37632134 0.17084153
+v -0.28628032 0.39115306 0.02723243
+f 1 2 3
+f 9 3 6
+f 12 2 1
+f 15 1 3
+f 15 3 9
+f 16 6 3
+f 16 3 10
+f 19 12 7
+f 22 7 12
+f 23 20 5
+f 23 7 20
+f 25 16 10
+f 25 4 16
+f 25 17 4
+f 27 10 3
+f 29 3 2
+f 30 7 23
+f 31 20 7
+f 31 22 13
+f 31 7 22
+f 32 6 21
+f 34 22 12
+f 34 12 1
+f 38 17 25
+f 39 4 17
+f 40 27 18
+f 40 10 27
+f 40 18 28
+f 41 18 27
+f 41 30 18
+f 41 19 30
+f 41 29 19
+f 41 27 3
+f 41 3 29
+f 42 28 18
+f 42 14 28
+f 43 25 10
+f 43 40 28
+f 43 10 40
+f 43 28 8
+f 43 38 25
+f 43 8 38
+f 44 8 28
+f 44 28 14
+f 44 14 24
+f 45 29 2
+f 45 2 12
+f 45 12 19
+f 45 19 29
+f 46 30 19
+f 46 19 7
+f 46 7 30
+f 47 30 23
+f 47 23 14
+f 47 14 42
+f 47 42 18
+f 47 18 30
+f 48 31 11
+f 48 20 31
+f 48 37 20
+f 48 11 37
+f 49 11 31
+f 49 21 33
+f 49 33 26
+f 50 32 9
+f 50 9 6
+f 50 6 32
+f 51 32 21
+f 51 21 49
+f 51 49 31
+f 51 31 13
+f 52 13 22
+f 52 51 13
+f 52 32 51
+f 53 33 21
+f 53 21 6
+f 54 16 4
+f 54 33 53
+f 54 53 6
+f 54 6 16
+f 55 34 1
+f 55 1 15
+f 55 15 9
+f 55 9 32
+f 55 32 52
+f 55 52 22
+f 55 22 34
+f 56 23 5
+f 56 5 35
+f 57 14 23
+f 57 56 35
+f 57 23 56
+f 58 35 5
+f 58 57 35
+f 58 24 14
+f 58 14 57
+f 59 44 36
+f 59 8 44
+f 59 38 8
+f 59 17 38
+f 60 37 11
+f 60 49 26
+f 60 11 49
+f 61 24 37
+f 61 44 24
+f 61 36 44
+f 61 26 39
+f 61 60 26
+f 61 37 60
+f 62 37 24
+f 62 5 20
+f 62 20 37
+f 62 58 5
+f 62 24 58
+f 63 39 26
+f 63 4 39
+f 63 54 4
+f 63 26 33
+f 63 33 54
+f 64 39 17
+f 64 61 39
+f 64 36 61
+f 64 59 36
+f 64 17 59
\ No newline at end of file
diff --git a/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_20.obj b/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28f980be8ccab388c2e44dfbddd3648e4c1d86eb
--- /dev/null
+++ b/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_20.obj
@@ -0,0 +1,168 @@
+# https://github.com/mikedh/trimesh
+v 0.24563118 0.22051773 0.37470749
+v 0.26515152 0.22777860 0.22234726
+v 0.25842198 0.38073607 0.21540735
+v -0.08055311 0.42690437 0.21632785
+v -0.23484847 0.22777860 0.22234726
+v 0.12309986 0.36285777 0.31302003
+v 0.26230011 0.22395794 0.36680829
+v -0.23100606 0.38456704 0.21742059
+v 0.13951597 0.42696901 0.21587323
+v 0.12451427 0.29368535 0.36970643
+v 0.25717202 0.28958364 0.32586645
+v -0.20072900 0.39607432 0.21705277
+v 0.22590674 0.36042550 0.26888856
+v 0.08074403 0.40748136 0.27030896
+v 0.25754171 0.24728949 0.35591167
+v -0.24790711 0.22123409 0.37790960
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+v -0.06461304 0.39175780 0.28513768
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+f 57 55 35
+f 57 35 50
+f 57 50 41
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\ No newline at end of file
diff --git a/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_23.obj b/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4cb064caef4e8c1f82ad54447c80608c9726a22d
--- /dev/null
+++ b/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_23.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.23484847 -0.24191836 -0.18674364
+v -0.23021937 -0.23530622 -0.31390194
+v -0.23484847 0.19747557 -0.18674364
+v -0.39486813 0.19469658 -0.18313492
+v -0.38881785 -0.22060781 -0.17859867
+v -0.22833311 0.11764294 -0.37032145
+v -0.22849061 0.19143246 -0.34118649
+v -0.37828170 -0.23781576 -0.18161988
+v -0.40395999 0.17709097 -0.17987324
+v -0.29699833 -0.05642487 -0.35094092
+v -0.22938736 -0.21854334 -0.32516183
+v -0.32675758 0.12985746 -0.30601596
+v -0.39843413 -0.05781251 -0.23553726
+v -0.33888758 -0.12977079 -0.29269614
+v -0.22850465 -0.13064209 -0.36901510
+v -0.27053532 0.11525181 -0.34987934
+v -0.31133678 0.18654985 -0.29036964
+v -0.38335189 0.14513966 -0.23470761
+v -0.41763653 -0.13224055 -0.17978565
+v -0.36911687 0.07336766 -0.27929413
+v -0.35405566 -0.18933337 -0.24831976
+v -0.35418340 -0.07212285 -0.29319829
+v -0.22921920 -0.07251661 -0.38574516
+v -0.29724287 -0.15850902 -0.32014629
+v -0.23928909 0.15936490 -0.35054777
+v -0.29821785 0.04355027 -0.35036123
+v -0.35480214 0.18880551 -0.24707556
+v -0.38384155 0.19061159 -0.20670467
+v -0.41278324 0.08884361 -0.20736788
+v -0.41799211 0.13378169 -0.17964927
+v -0.35476237 0.12986302 -0.27869788
+v -0.37293939 -0.23419493 -0.19283342
+v -0.38229342 -0.17399598 -0.21964456
+v -0.32598678 -0.08558559 -0.32070676
+v -0.36849152 -0.05708731 -0.27865882
+v -0.28394360 -0.09966894 -0.35034284
+v -0.22883748 0.05851302 -0.38505291
+v -0.26907419 -0.12997025 -0.35005174
+v -0.25435763 -0.22952594 -0.30543363
+v -0.22840569 0.16178653 -0.35493429
+v -0.24072821 0.11621013 -0.36472703
+v -0.26890743 0.18783379 -0.31966985
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+v -0.31255858 0.15815406 -0.30518917
+v -0.39835634 0.17478317 -0.19199490
+v -0.36761064 0.15945808 -0.24816913
+v -0.41331762 -0.07313274 -0.20698343
+v -0.39897502 0.07359483 -0.23617353
+v -0.41203325 0.13238874 -0.19189561
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+v -0.41215236 -0.13127284 -0.19146644
+v -0.36797203 -0.11573932 -0.26331317
+v -0.38291584 -0.21774493 -0.18996420
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+v -0.27022496 0.05704228 -0.36528534
+v -0.24203988 -0.21562545 -0.32144130
+v -0.24132047 -0.12850587 -0.36421988
+v -0.31121649 -0.21439194 -0.27533268
+v -0.29779427 -0.22890149 -0.27557661
+v -0.24162386 0.05773962 -0.37962257
+v -0.24016657 0.18928819 -0.33611542
+v -0.32617078 0.08676127 -0.32120278
+v -0.26865150 0.15848231 -0.33378976
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+f 63 31 12
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+f 63 43 26
+f 63 26 20
+f 64 45 42
+f 64 25 16
+f 64 16 45
+f 64 62 25
+f 64 42 62
\ No newline at end of file
diff --git a/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_25.obj b/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3fa7347e1041a9b02c96770fc983ee9f0dafd962
--- /dev/null
+++ b/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_25.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.14393940 0.22777860 0.22234726
+v 0.14393940 0.22777860 -0.17159213
+v 0.15979126 0.39741900 0.25466838
+v -0.24496103 0.36757995 0.23448466
+v -0.23484847 0.22777860 0.22234726
+v 0.16019280 0.39519488 -0.20197774
+v -0.23728934 0.35469496 -0.17467611
+v -0.23484847 0.22777860 -0.17159213
+f 5 2 1
+f 5 1 3
+f 5 3 4
+f 6 4 3
+f 6 1 2
+f 6 3 1
+f 7 4 6
+f 8 5 4
+f 8 4 7
+f 8 2 5
+f 8 7 6
+f 8 6 2
\ No newline at end of file
diff --git a/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_29.obj b/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39fe79f18d53e7e031a5ac426690ce09336b411b
--- /dev/null
+++ b/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.45300349 -0.02096411 0.26255162
+v 0.42972171 -0.01899316 -0.17287153
+v 0.40467560 0.19892775 -0.15844993
+v 0.26515152 0.19747557 0.23749877
+v 0.26515152 -0.01464564 0.23749877
+v 0.41426057 0.20345629 0.24516490
+v 0.26515152 -0.01464564 -0.15644062
+v 0.26515152 0.19747557 -0.15644062
+f 1 2 3
+f 5 1 4
+f 6 1 3
+f 6 4 1
+f 7 2 1
+f 7 1 5
+f 7 5 4
+f 8 6 3
+f 8 4 6
+f 8 7 4
+f 8 3 2
+f 8 2 7
\ No newline at end of file
diff --git a/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_31.obj b/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92856b7f9b039e877630843efe9dfaf548b5bf40
--- /dev/null
+++ b/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_31.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.40702359 -0.22997141 0.24020559
+v 0.42842632 -0.23839103 0.00486033
+v 0.45300349 -0.02096411 0.26255162
+v 0.26515152 -0.01464564 0.23749877
+v 0.26515152 -0.22676685 0.01022605
+v 0.40151516 -0.01464564 0.01022605
+v 0.26515152 -0.22676685 0.23749877
+v 0.40151516 -0.01464564 0.22234726
+v 0.26515152 -0.01464564 0.01022605
+f 1 2 3
+f 6 3 2
+f 7 1 3
+f 7 3 4
+f 7 4 5
+f 7 5 2
+f 7 2 1
+f 8 6 4
+f 8 4 3
+f 8 3 6
+f 9 5 4
+f 9 4 6
+f 9 6 2
+f 9 2 5
\ No newline at end of file
diff --git a/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_4.obj b/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fdbd53e189d854f63223bfda57edc309cf72c245
--- /dev/null
+++ b/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_4.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.15979126 0.39741900 0.25466838
+v 0.16019280 0.39519488 -0.20197774
+v 0.11144527 0.46838522 -0.00328298
+v -0.00368142 0.46733476 0.11289780
+v -0.27831250 0.34550734 -0.15449228
+v 0.13947556 0.45232457 0.14295215
+v -0.11094979 0.34080868 -0.25557888
+v -0.28242002 0.35263230 0.22453213
+v -0.06246247 0.45102999 -0.06157857
+v 0.09639202 0.46734614 0.11253172
+v 0.14065353 0.45246658 -0.07686494
+v -0.09661050 0.34353397 -0.25792877
+v -0.02073499 0.43648144 0.21618548
+v -0.00494699 0.46671361 -0.04674723
+v -0.04815206 0.42125707 -0.16304516
+v -0.24302781 0.40668755 0.12867344
+v 0.10992983 0.46666535 0.09849515
+v 0.05319971 0.46799850 0.12754600
+v -0.16890304 0.40612335 0.21462169
+v 0.11017543 0.43630486 0.21282489
+v -0.03401689 0.46792290 0.04038320
+v 0.06674391 0.46736435 -0.04723972
+v -0.19841799 0.37410465 -0.16188931
+v -0.10804030 0.37762841 -0.20610798
+v -0.01906467 0.45074372 -0.10504499
+v -0.00518650 0.43664222 -0.14921026
+v -0.27189642 0.39059381 -0.03173944
+v -0.01991801 0.45221966 0.17125581
+v -0.10894715 0.42156065 0.21415781
+v -0.25598604 0.39093680 0.17114288
+v 0.13788873 0.43514092 0.19889901
+v 0.10989217 0.45202106 0.17079179
+v -0.19913413 0.42032765 0.12890280
+v -0.03363324 0.46727208 0.01086794
+v -0.14184331 0.34178500 -0.24197411
+v -0.09368147 0.34982572 -0.25128367
+v -0.12243803 0.38996924 -0.17664857
+v -0.21404061 0.40537622 -0.06071352
+v 0.09631318 0.43629375 -0.14902249
+v 0.02302518 0.46757973 0.12756832
+v -0.06531092 0.43557998 0.20106475
+v -0.25519462 0.37537042 0.21221802
+v -0.27046767 0.39183547 0.14231255
+v 0.13951597 0.42696901 0.21587323
+v -0.01825982 0.46653257 0.09835397
+v -0.12442834 0.43697368 0.14329122
+v -0.22864488 0.40627402 0.15781261
+v -0.19924452 0.42165674 0.01199956
+v -0.25678116 0.36071243 -0.14703200
+v -0.13876911 0.34798804 -0.23492606
+v -0.09173928 0.43479931 -0.09032630
+v 0.14113599 0.43550082 -0.13480087
+v 0.09657191 0.45107533 -0.10584761
+v -0.27228879 0.37831263 0.18502009
+v -0.16921440 0.42051930 0.17237272
+v -0.24347094 0.40601795 -0.00270412
+v -0.07752732 0.45122129 -0.03249492
+v -0.27212140 0.37600884 -0.08952730
+v -0.06212591 0.43487116 -0.11897576
+v 0.14031505 0.42303000 -0.16298069
+v 0.12633677 0.45133878 -0.09091128
+v -0.27177902 0.36518224 0.21382329
+v -0.13876624 0.42010749 0.19997573
+v -0.25777863 0.39062235 -0.06050918
+f 8 7 1
+f 8 5 7
+f 11 6 1
+f 11 1 2
+f 11 3 6
+f 12 2 1
+f 12 1 7
+f 17 10 6
+f 17 6 3
+f 17 3 10
+f 18 10 3
+f 19 8 1
+f 20 13 1
+f 21 18 3
+f 22 3 11
+f 22 21 3
+f 22 14 21
+f 25 9 14
+f 25 14 22
+f 26 15 25
+f 27 5 8
+f 28 13 18
+f 29 19 1
+f 29 1 13
+f 31 1 6
+f 32 18 13
+f 32 13 20
+f 32 10 18
+f 32 6 10
+f 32 31 6
+f 32 20 31
+f 34 21 14
+f 35 7 5
+f 36 24 15
+f 36 12 7
+f 36 7 35
+f 36 15 26
+f 36 26 2
+f 36 2 12
+f 37 24 23
+f 37 23 15
+f 37 15 24
+f 39 2 26
+f 40 28 18
+f 40 4 28
+f 40 21 4
+f 40 18 21
+f 41 29 13
+f 41 13 28
+f 42 8 19
+f 43 27 8
+f 43 16 27
+f 44 31 20
+f 44 20 1
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+f 46 28 4
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+f 47 42 19
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+f 47 43 30
+f 47 16 43
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+f 49 35 5
+f 50 23 24
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+f 50 49 23
+f 50 35 49
+f 51 38 9
+f 51 9 25
+f 52 11 2
+f 53 52 39
+f 53 25 22
+f 53 39 26
+f 53 26 25
+f 54 42 30
+f 54 43 8
+f 54 30 43
+f 55 41 46
+f 55 47 19
+f 55 46 33
+f 55 33 47
+f 56 27 16
+f 56 16 48
+f 56 9 38
+f 57 48 34
+f 57 56 48
+f 57 9 56
+f 57 34 14
+f 57 14 9
+f 58 49 5
+f 58 5 27
+f 58 38 49
+f 59 51 25
+f 59 25 15
+f 59 15 23
+f 59 23 49
+f 59 49 38
+f 59 38 51
+f 60 52 2
+f 60 2 39
+f 60 39 52
+f 61 53 22
+f 61 22 11
+f 61 11 52
+f 61 52 53
+f 62 54 8
+f 62 8 42
+f 62 42 54
+f 63 29 41
+f 63 41 55
+f 63 55 19
+f 63 19 29
+f 64 56 38
+f 64 27 56
+f 64 58 27
+f 64 38 58
\ No newline at end of file
diff --git a/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_5.obj b/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21a96cc84f8691e031d39b2c638edd56b3f2ee1c
--- /dev/null
+++ b/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_5.obj
@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
+v 0.20213767 -0.32522026 0.32119318
+v 0.31004829 -0.25630433 0.32753181
+v 0.15619436 -0.19091346 0.41549403
+v -0.23114097 -0.14798574 0.42105185
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\ No newline at end of file
diff --git a/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_6.obj b/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1afe661f9139c7a3d69f79b3793a3c8748414267
--- /dev/null
+++ b/objects/objaverse/tomato/tomato_0/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/tomato/tomato_0/collision/model_normalized_collision_7.obj b/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2d5a837efed555dfaef3ae25d6941eef9f64ad1
--- /dev/null
+++ b/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_7.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.14535597 -0.25953341 -0.31204096
+v 0.27321299 -0.15553259 -0.30470387
+v -0.23135649 -0.25168698 -0.30147216
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+v -0.12496720 0.10257389 -0.41029459
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+v 0.25505229 -0.14445804 -0.32099083
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+v -0.05185715 0.13011731 -0.41074190
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+v -0.02385321 -0.15791140 -0.39561571
+v -0.12615069 -0.09917453 -0.41088340
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+v -0.11058206 0.21682517 -0.36566408
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+v -0.15449635 -0.12793468 -0.39434877
+v -0.09589977 -0.11388364 -0.40991159
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\ No newline at end of file
diff --git a/objects/objaverse/tomato/tomato_0/model.xml b/objects/objaverse/tomato/tomato_0/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..686785040fa3e0940ff7b5c426f3d091c1ba9699
--- /dev/null
+++ b/objects/objaverse/tomato/tomato_0/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="tomato_4">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.06500000000000003 0.06500000000000003 0.06500000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.06500000000000003 0.06500000000000003 0.06500000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.06500000000000003 0.06500000000000003 0.06500000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.06500000000000003 0.06500000000000003 0.06500000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.06500000000000003 0.06500000000000003 0.06500000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.06500000000000003 0.06500000000000003 0.06500000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.06500000000000003 0.06500000000000003 0.06500000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.06500000000000003 0.06500000000000003 0.06500000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.06500000000000003 0.06500000000000003 0.06500000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.06500000000000003 0.06500000000000003 0.06500000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.06500000000000003 0.06500000000000003 0.06500000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.06500000000000003 0.06500000000000003 0.06500000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.06500000000000003 0.06500000000000003 0.06500000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.06500000000000003 0.06500000000000003 0.06500000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.06500000000000003 0.06500000000000003 0.06500000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.06500000000000003 0.06500000000000003 0.06500000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.06500000000000003 0.06500000000000003 0.06500000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.06500000000000003 0.06500000000000003 0.06500000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.06500000000000003 0.06500000000000003 0.06500000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.06500000000000003 0.06500000000000003 0.06500000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.06500000000000003 0.06500000000000003 0.06500000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.06500000000000003 0.06500000000000003 0.06500000000000003" refquat="1.0 0.0 0.0 0.0"/>
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diff --git a/objects/objaverse/tomato/tomato_8/visual/material.mtl b/objects/objaverse/tomato/tomato_8/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6b5d0f127cc1df2efd6b4835e0300358bb6dde72
--- /dev/null
+++ b/objects/objaverse/tomato/tomato_8/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 359.99999300
+map_Kd material_0.png
\ No newline at end of file
diff --git a/objects/objaverse/tomato/tomato_8/visual/model_normalized_0.obj b/objects/objaverse/tomato/tomato_8/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..529c3a4d5999da9f0133e0c9f339bb20f355f639
--- /dev/null
+++ b/objects/objaverse/tomato/tomato_8/visual/model_normalized_0.obj
@@ -0,0 +1,20186 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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