diff --git a/objects/objaverse/bagel/bagel_5/collision/model_normalized_collision_0.obj b/objects/objaverse/bagel/bagel_5/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e49c3b3862c6730653a372fb852c1328c284989
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_5/collision/model_normalized_collision_0.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.13855560 -0.14393940 -0.05890793
+v 0.14011143 -0.14435429 -0.13803647
+v 0.13855560 0.23484848 -0.05890793
+v 0.09310105 0.23484848 -0.05890793
+v 0.09356272 -0.14424509 -0.13116905
+v 0.13847771 0.23484717 -0.13890029
+v 0.13936986 -0.08408877 0.12061921
+v 0.11080675 -0.14539344 -0.13364063
+v 0.14404720 -0.04194465 0.10886897
+v 0.09335345 0.23488196 -0.13852628
+v 0.09310105 -0.14393940 -0.05890793
+v 0.12929364 0.09565837 0.09142825
+v 0.08729505 0.09468267 0.07190104
+v 0.09855399 -0.08842276 0.10754773
+f 8 5 2
+f 8 2 1
+f 9 6 3
+f 9 2 6
+f 9 7 1
+f 9 1 2
+f 10 4 3
+f 10 3 6
+f 10 6 2
+f 10 2 5
+f 11 1 7
+f 11 8 1
+f 11 5 8
+f 12 9 3
+f 12 3 4
+f 12 7 9
+f 13 10 5
+f 13 5 11
+f 13 4 10
+f 13 12 4
+f 14 13 11
+f 14 11 7
+f 14 7 12
+f 14 12 13
\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_5/collision/model_normalized_collision_1.obj b/objects/objaverse/bagel/bagel_5/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8cb04398c68fe5aab2ced364ef93445769c2c221
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_5/collision/model_normalized_collision_1.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v -0.05907661 0.24006736 0.06455403
+v -0.05653892 0.21452865 -0.13092826
+v -0.05913486 0.35736304 -0.13357327
+v -0.16173038 0.35274682 0.05494612
+v -0.35026143 0.22890984 -0.06141884
+v -0.05787858 0.35504815 0.07192230
+v -0.30692500 0.22699572 0.05195300
+v -0.29926590 0.23397014 -0.12462219
+v -0.25238061 0.33831599 -0.11272798
+v -0.33468317 0.22557028 0.02541141
+v -0.27974105 0.22950727 0.06466559
+v -0.34957284 0.22845603 -0.09605784
+v -0.16704479 0.35472209 -0.12976801
+v -0.26968791 0.32598829 -0.00498162
+v -0.14555011 0.35272627 0.05953444
+v -0.27853795 0.24157857 0.05997527
+v -0.32287808 0.22972627 -0.11783588
+v -0.25059612 0.32212332 -0.11940844
+v -0.31468713 0.26917052 0.00861401
+v -0.31392142 0.28275609 -0.04577846
+v -0.22988122 0.33015564 0.03305162
+v -0.31606594 0.27029843 -0.10361135
+v -0.25456804 0.27932712 -0.12625176
+v -0.26223310 0.31858904 -0.11590585
+v -0.32858216 0.25449786 -0.01564656
+v -0.30283382 0.23938165 0.04627028
+v -0.34421888 0.23965143 -0.06289077
+v -0.29879791 0.29699741 -0.01668606
+v -0.27126863 0.32914333 -0.10470396
+v -0.32118039 0.24382543 -0.11437826
+v -0.31311761 0.28094516 -0.09926016
+v -0.28382330 0.31071797 -0.00520015
+v -0.28524430 0.31441307 -0.10254951
+v -0.34314939 0.23805011 -0.09659050
+f 6 3 4
+f 6 1 2
+f 6 2 3
+f 8 3 2
+f 10 2 7
+f 11 7 2
+f 11 2 1
+f 11 1 6
+f 12 10 5
+f 12 2 10
+f 13 9 4
+f 13 4 3
+f 13 3 8
+f 14 4 9
+f 15 11 6
+f 15 6 4
+f 15 4 11
+f 16 11 4
+f 16 7 11
+f 17 8 2
+f 17 2 12
+f 18 9 13
+f 18 8 17
+f 21 4 14
+f 21 16 4
+f 21 7 16
+f 21 14 19
+f 23 18 13
+f 23 13 8
+f 23 8 18
+f 24 18 17
+f 24 9 18
+f 25 5 10
+f 25 10 19
+f 25 19 20
+f 26 19 10
+f 26 10 7
+f 26 21 19
+f 26 7 21
+f 27 12 5
+f 27 25 20
+f 27 5 25
+f 28 20 19
+f 29 14 9
+f 29 28 14
+f 29 20 28
+f 30 17 12
+f 30 24 17
+f 30 29 9
+f 30 9 24
+f 31 27 20
+f 32 28 19
+f 32 19 14
+f 32 14 28
+f 33 30 22
+f 33 29 30
+f 33 22 31
+f 33 31 20
+f 33 20 29
+f 34 12 27
+f 34 27 31
+f 34 31 22
+f 34 30 12
+f 34 22 30
\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_5/collision/model_normalized_collision_10.obj b/objects/objaverse/bagel/bagel_5/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4d0bb2d7f5794c5bb6d86faee0989c89acb2980
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_5/collision/model_normalized_collision_10.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.13369797 -0.13902101 0.12931738
+v 0.13855560 -0.14393940 -0.05890793
+v 0.13855560 -0.08333334 -0.05890793
+v 0.09905229 -0.01009581 0.07045894
+v -0.02779681 -0.14622943 -0.11594915
+v 0.13064949 -0.07599841 0.11485224
+v 0.00521749 -0.15052724 0.09663796
+v 0.09356272 -0.14424509 -0.13116905
+v 0.09867625 -0.00753739 -0.11024060
+v -0.01950709 -0.11812231 0.05368209
+v -0.02653499 -0.14802492 0.08655319
+v 0.00362272 -0.15170059 -0.12093472
+v 0.09787190 -0.08637947 -0.12091247
+v 0.04620650 -0.01293811 -0.06284189
+v 0.10124769 -0.06003014 0.09779845
+v -0.02870080 -0.11405495 -0.08880521
+v 0.05001855 -0.01207284 -0.01982900
+v 0.08754723 -0.00750971 -0.10354989
+v -0.01955001 -0.10215794 -0.01546698
+v -0.02675827 -0.12924142 -0.10425267
+v -0.02028843 -0.10246336 -0.07018433
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 7 2 1
+f 7 1 6
+f 8 3 2
+f 9 4 3
+f 11 7 6
+f 11 4 10
+f 12 9 8
+f 12 5 9
+f 12 11 5
+f 12 7 11
+f 12 8 2
+f 12 2 7
+f 13 9 3
+f 13 3 8
+f 13 8 9
+f 15 11 6
+f 15 6 4
+f 15 4 11
+f 16 5 11
+f 17 10 4
+f 18 16 14
+f 18 9 5
+f 18 14 17
+f 18 17 4
+f 18 4 9
+f 19 10 17
+f 19 16 11
+f 19 11 10
+f 19 17 14
+f 20 18 5
+f 20 5 16
+f 20 16 18
+f 21 19 14
+f 21 14 16
+f 21 16 19
\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_5/collision/model_normalized_collision_11.obj b/objects/objaverse/bagel/bagel_5/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41656ad3c0c526734c4e8afe58e27624e3f9a075
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_5/collision/model_normalized_collision_11.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.16248367 -0.00963815 0.07930281
+v -0.07632165 0.16846848 -0.10994157
+v -0.07748095 0.16796876 0.01240868
+v -0.19514980 0.15911393 0.07657679
+v -0.19604822 -0.00765574 -0.12633215
+v -0.15848075 0.16403386 0.06339455
+v -0.13393455 -0.00915616 0.04019938
+v -0.19667117 -0.00861095 0.09926373
+v -0.19485645 0.15911079 -0.13340613
+v -0.10928374 0.16559326 0.03693627
+v -0.07880104 0.15923898 -0.10224851
+v -0.14350595 -0.00793790 -0.10638040
+v -0.18767379 -0.00915414 0.09422345
+v -0.12337540 0.16509412 -0.12148610
+v -0.20015213 0.12629632 0.08003644
+v -0.13507475 -0.00801828 -0.09541520
+v -0.16864354 -0.00773081 -0.12042059
+v -0.19835072 0.03599706 0.09386041
+f 6 3 2
+f 7 3 1
+f 8 6 4
+f 9 4 6
+f 10 1 3
+f 10 3 6
+f 10 6 8
+f 11 2 3
+f 11 3 7
+f 12 1 5
+f 13 8 5
+f 13 5 1
+f 13 10 8
+f 13 1 10
+f 14 5 9
+f 14 9 6
+f 14 6 2
+f 15 4 9
+f 15 9 5
+f 16 11 7
+f 16 7 1
+f 16 1 12
+f 16 12 2
+f 16 2 11
+f 17 12 5
+f 17 2 12
+f 17 14 2
+f 17 5 14
+f 18 8 4
+f 18 4 15
+f 18 15 5
+f 18 5 8
\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_5/collision/model_normalized_collision_12.obj b/objects/objaverse/bagel/bagel_5/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9cbc009f56ec184d30189db8a0d334e966b77567
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_5/collision/model_normalized_collision_12.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.35067681 0.09848485 0.00169813
+v 0.42450093 0.10177152 -0.09556654
+v 0.36928541 0.24448128 0.00730351
+v 0.01734348 0.23484848 0.00169813
+v 0.02995510 0.10390340 -0.09123182
+v 0.01754001 0.23547370 -0.13591048
+v 0.02584029 0.10409310 -0.00229412
+v 0.41390671 0.16571597 -0.06216663
+v 0.40260904 0.09646401 -0.12467432
+v 0.02059098 0.16612722 -0.11871773
+v 0.33224991 0.23219436 -0.13160575
+v 0.14039963 0.09933808 -0.13865406
+v 0.01785605 0.22256956 -0.13427751
+v 0.37914373 0.22626191 -0.09612173
+v 0.07208845 0.10490166 -0.11462640
+v 0.36598921 0.12899144 -0.13452460
+v 0.36837420 0.22919554 -0.11533203
+v 0.38572354 0.22938836 -0.05889711
+v 0.39440624 0.19601498 -0.09617557
+v 0.04244165 0.10877569 -0.10131783
+v 0.36033432 0.18700351 -0.13067540
+v 0.35047857 0.09876661 -0.13431014
+v 0.39744867 0.19743046 -0.08652571
+v 0.39272155 0.18276739 -0.11073291
+v 0.02966875 0.12593137 -0.10309389
+v 0.39706852 0.15440271 -0.11601875
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 8 1 2
+f 8 3 1
+f 9 2 1
+f 10 5 7
+f 10 7 4
+f 11 6 3
+f 12 7 5
+f 12 9 1
+f 12 1 7
+f 13 10 4
+f 13 4 6
+f 13 12 10
+f 13 6 12
+f 15 12 5
+f 15 10 12
+f 16 12 6
+f 16 6 11
+f 17 11 3
+f 18 3 8
+f 18 17 3
+f 18 14 17
+f 19 17 14
+f 20 15 5
+f 20 10 15
+f 21 16 11
+f 21 9 16
+f 21 11 17
+f 22 16 9
+f 22 9 12
+f 22 12 16
+f 23 8 2
+f 23 2 19
+f 23 18 8
+f 23 19 14
+f 23 14 18
+f 24 19 2
+f 24 17 19
+f 25 20 5
+f 25 5 10
+f 25 10 20
+f 26 24 2
+f 26 2 9
+f 26 9 21
+f 26 21 17
+f 26 17 24
\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_5/collision/model_normalized_collision_13.obj b/objects/objaverse/bagel/bagel_5/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f6523c055c7d34e38486ea9e501d6a0a76f8ce4
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_5/collision/model_normalized_collision_13.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.00040393 0.14264081 -0.00457007
+v 0.02059098 0.16612722 -0.11871773
+v 0.01734348 0.23484848 -0.01345338
+v -0.19477774 0.23484848 -0.01345338
+v -0.24195393 0.15925702 -0.13360091
+v -0.01263102 0.15939904 0.00154221
+v -0.00509569 0.13467372 -0.06955491
+v -0.19477774 0.15909091 -0.01345338
+v 0.01754001 0.23547370 -0.13591048
+v -0.24017582 0.15908546 -0.13370659
+v -0.07518408 0.16276116 -0.00011187
+v -0.00443478 0.13660359 -0.03152231
+v -0.24107018 0.23619036 -0.13184822
+v 0.01785605 0.22256956 -0.13427751
+v -0.17940940 0.23431585 -0.13414534
+v -0.20994075 0.17431560 -0.13449588
+v -0.20966534 0.21952416 -0.13401215
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 7 2 1
+f 8 4 5
+f 8 5 7
+f 9 3 2
+f 10 7 5
+f 10 2 7
+f 11 6 4
+f 11 4 8
+f 11 8 1
+f 11 1 6
+f 12 8 7
+f 12 7 1
+f 12 1 8
+f 13 5 4
+f 13 4 3
+f 13 3 9
+f 13 10 5
+f 14 10 9
+f 14 9 2
+f 14 2 10
+f 15 13 9
+f 16 15 9
+f 16 9 10
+f 17 16 10
+f 17 10 13
+f 17 13 15
+f 17 15 16
\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_5/collision/model_normalized_collision_14.obj b/objects/objaverse/bagel/bagel_5/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..468a47181bda480348bcbb46a7dc63b4ac1e5f9d
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_5/collision/model_normalized_collision_14.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.14164867 -0.00899029 0.09988332
+v 0.19930863 0.09843954 0.10668330
+v 0.18407670 0.05299381 0.10730533
+v 0.01831757 0.23565588 0.07472095
+v 0.09329275 -0.00762631 0.06218544
+v 0.09558733 0.17264725 0.09031690
+v 0.10600646 -0.01304054 0.07743456
+v 0.13870499 0.23479108 0.09050401
+v 0.03488208 0.23730959 0.07826417
+v 0.12836005 -0.01066262 0.09499708
+v 0.02458910 0.14746776 0.05248236
+v 0.19861550 0.16183050 0.10082255
+v 0.11049271 0.20356316 0.09008568
+v 0.13656492 0.23561339 0.09032955
+v 0.01387221 0.23197126 0.07204972
+v 0.19931380 0.15832775 0.10124954
+f 5 2 3
+f 5 3 1
+f 6 3 2
+f 6 1 3
+f 7 5 1
+f 9 4 1
+f 9 1 6
+f 10 7 1
+f 10 1 4
+f 11 5 7
+f 12 11 8
+f 12 5 11
+f 13 6 2
+f 13 9 6
+f 14 4 9
+f 14 8 11
+f 14 9 13
+f 14 13 2
+f 15 10 4
+f 15 7 10
+f 15 11 7
+f 15 14 11
+f 15 4 14
+f 16 2 5
+f 16 5 12
+f 16 14 2
+f 16 12 8
+f 16 8 14
\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_5/collision/model_normalized_collision_15.obj b/objects/objaverse/bagel/bagel_5/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b0cb3708679dce3116fc723bb47235bd9faa83e
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_5/collision/model_normalized_collision_15.obj
@@ -0,0 +1,174 @@
+# https://github.com/mikedh/trimesh
+v -0.19667117 -0.00861095 0.09926373
+v -0.19604822 -0.00765574 -0.12633215
+v -0.19477774 0.23484848 0.00169813
+v -0.29253776 0.22739191 0.05960013
+v -0.42549131 -0.00968587 0.04030383
+v -0.32287808 0.22972627 -0.11783588
+v -0.23949471 0.23392223 0.07401589
+v -0.19485645 0.15911079 -0.13340613
+v -0.40637598 -0.01057338 0.06533798
+v -0.34412725 0.22559691 0.00863220
+v -0.39968332 -0.00750588 -0.12178765
+v -0.19730008 0.15705234 0.07733909
+v -0.19627537 0.23727633 -0.13374851
+v -0.22867375 -0.00944089 0.10635522
+v -0.33894709 0.07832921 0.08861996
+v -0.38826242 0.12125446 0.03462890
+v -0.42137809 -0.00769873 -0.09758452
+v -0.24014945 0.23471583 -0.13194828
+v -0.22659965 0.11108446 0.08987235
+v -0.28109357 0.19935348 0.07369085
+v -0.29903232 0.02034594 0.10565208
+v -0.41799945 0.03198811 0.03831515
+v -0.38948685 0.06239530 0.06222895
+v -0.33220226 0.22350877 0.03268479
+v -0.40325517 0.09244362 -0.10560249
+v -0.39658586 0.07954127 -0.11696104
+v -0.23907487 0.21782617 0.07675543
+v -0.22902332 0.00552916 0.10474452
+v -0.31281481 0.10914173 0.08830239
+v -0.33526778 0.13686453 0.07435497
+v -0.36950033 -0.00978241 0.09187848
+v -0.40460292 0.00423905 0.06396725
+v -0.41865435 0.04936431 -0.08548294
+v -0.36019017 0.17913019 0.03330572
+v -0.35950596 0.21043422 -0.09573053
+v -0.38111954 0.12490326 -0.11630537
+v -0.41951465 0.03538410 -0.09791841
+v -0.25591764 0.02061015 0.10588070
+v -0.25274878 0.21618505 0.07595006
+v -0.31432861 0.00558476 0.10577924
+v -0.37821954 0.04814871 0.07496361
+v -0.32095007 0.19741627 0.05832499
+v -0.36785740 0.02012095 0.08849861
+v -0.41740507 0.04709553 0.02578486
+v -0.38842307 0.13543350 0.01079209
+v -0.35002010 0.15262223 0.05891407
+v -0.34406102 0.22532698 -0.10435023
+v -0.38870837 0.13560418 -0.10497116
+v -0.40464889 0.10818891 -0.09688191
+v -0.25686867 0.12629312 0.09027288
+v -0.31449555 -0.00936668 0.10750074
+v -0.31711596 0.22269846 0.04628852
+v -0.40236207 0.09079927 0.02658747
+v -0.38811326 0.15122566 -0.06461890
+v -0.34609437 0.17976846 0.04778318
+v -0.33651691 0.21449375 -0.11558811
+v -0.38895720 0.15099383 -0.09583934
+v -0.35695623 0.21019845 -0.04987056
+v -0.40339478 0.10800615 -0.06499857
+f 8 1 2
+f 8 3 1
+f 10 7 6
+f 10 4 7
+f 11 2 9
+f 11 8 2
+f 12 1 3
+f 12 3 7
+f 13 7 3
+f 13 3 8
+f 14 9 2
+f 14 2 1
+f 17 11 9
+f 17 9 5
+f 18 6 7
+f 18 7 13
+f 18 13 8
+f 18 8 11
+f 20 7 4
+f 23 16 22
+f 24 4 10
+f 26 18 11
+f 27 19 12
+f 27 12 7
+f 27 7 21
+f 28 14 1
+f 28 1 12
+f 28 12 19
+f 28 19 27
+f 30 20 4
+f 30 29 20
+f 30 15 29
+f 32 22 5
+f 32 5 9
+f 32 23 22
+f 34 24 10
+f 36 6 18
+f 36 18 26
+f 37 26 11
+f 37 11 17
+f 37 25 26
+f 37 17 5
+f 37 5 33
+f 38 28 27
+f 38 14 28
+f 39 7 20
+f 39 20 29
+f 39 29 21
+f 39 21 7
+f 40 29 15
+f 40 21 29
+f 41 15 30
+f 41 23 32
+f 42 30 4
+f 43 32 9
+f 43 9 31
+f 43 41 32
+f 43 15 41
+f 43 40 15
+f 43 31 40
+f 44 33 5
+f 44 5 22
+f 45 34 10
+f 45 16 34
+f 46 34 16
+f 46 16 23
+f 46 30 42
+f 46 41 30
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+f 47 10 6
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+f 49 37 33
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+f 49 48 25
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+f 51 9 14
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+f 54 45 10
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+f 57 48 49
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+f 59 54 49
+f 59 49 44
+f 59 44 45
+f 59 45 54
\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_5/collision/model_normalized_collision_16.obj b/objects/objaverse/bagel/bagel_5/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f0a539cbfa6be270ed776d349d635970a0d1440
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_5/collision/model_normalized_collision_16.obj
@@ -0,0 +1,162 @@
+# https://github.com/mikedh/trimesh
+v 0.36835924 0.22822756 0.02335195
+v 0.38416787 0.22860728 -0.07188125
+v 0.34706865 0.28241039 -0.00439402
+v 0.20655056 0.42176715 -0.02925409
+v 0.21389372 0.23532705 -0.13745173
+v 0.33467338 0.29659912 -0.09606449
+v 0.23745779 0.35894503 0.04395874
+v 0.38464465 0.22890235 -0.01691346
+v 0.32630127 0.22840246 0.06500947
+v 0.34750100 0.28269131 -0.08559081
+v 0.21689377 0.41603534 -0.06913123
+v 0.35748665 0.23110769 -0.12187174
+v 0.32253097 0.27149649 0.04545196
+v 0.25973806 0.36892877 0.00991638
+v 0.21561230 0.23843521 0.09292472
+v 0.36284867 0.25254438 0.01096160
+v 0.36934925 0.22908026 -0.11415583
+v 0.37887205 0.24106566 -0.01865231
+v 0.20877900 0.39370107 -0.12354781
+v 0.34266589 0.22941930 0.05191489
+v 0.26462711 0.31353857 0.05863582
+v 0.20709607 0.40620454 0.01225592
+v 0.21658704 0.41422373 -0.02889583
+v 0.33328625 0.29503027 0.01058805
+v 0.29916912 0.23007666 0.07855995
+v 0.33400074 0.26884253 0.03496726
+v 0.31756358 0.23257131 -0.13419221
+v 0.32136173 0.29847943 -0.11835671
+v 0.36420554 0.25393580 -0.09597050
+v 0.37811232 0.24059969 -0.07077871
+v 0.20719418 0.40625437 -0.11041811
+v 0.29285180 0.28384945 0.05857394
+v 0.21147314 0.30595167 0.07935504
+v 0.21766428 0.39955046 0.01054127
+v 0.23254669 0.38407274 0.01781423
+v 0.25920433 0.23404512 0.08919410
+v 0.36380383 0.24098925 0.02023002
+v 0.21338492 0.32428635 -0.13418160
+v 0.35223903 0.25664165 -0.11627344
+v 0.25908515 0.30950256 -0.13318808
+v 0.31795201 0.24891353 -0.13197414
+v 0.20729230 0.42300344 -0.07130703
+v 0.24552260 0.36990737 -0.12190928
+v 0.20896244 0.34636537 0.06317261
+v 0.32310146 0.24131785 0.06069188
+v 0.29746447 0.24388437 0.07460406
+v 0.21404390 0.26445429 0.08922048
+v 0.36419606 0.24167604 -0.11178178
+v 0.34754621 0.26807916 -0.11036767
+v 0.22887254 0.32515869 -0.13342373
+v 0.29002895 0.33831186 -0.10990179
+v 0.24713199 0.38489398 -0.09782698
+v 0.23923417 0.30348996 0.07369961
+v 0.22278589 0.34395899 0.05962751
+v 0.21735864 0.40093335 -0.10855389
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+f 18 8 2
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+f 23 11 4
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+f 45 32 9
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+f 46 9 32
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+f 48 17 39
+f 49 39 28
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+f 50 40 38
+f 50 38 19
+f 50 19 40
+f 51 6 28
+f 51 28 43
+f 52 42 11
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+f 52 11 6
+f 52 6 51
+f 53 44 33
+f 53 46 21
+f 53 33 36
+f 53 36 25
+f 53 25 46
+f 54 21 7
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+f 55 52 43
+f 55 31 42
+f 55 42 52
+f 55 43 19
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\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_5/collision/model_normalized_collision_17.obj b/objects/objaverse/bagel/bagel_5/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66c355f8f83c12878d39bd4c9752c10056cb65fc
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_5/collision/model_normalized_collision_17.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.13436989 0.16126957 0.09581532
+v 0.13855560 0.15909091 0.00169813
+v 0.13855560 0.23484848 0.00169813
+v -0.23732753 0.23102424 0.07526094
+v -0.24012671 0.15774682 0.08440001
+v -0.19477774 0.15909091 -0.01345338
+v 0.13656492 0.23561339 0.09032955
+v 0.00040393 0.14264081 -0.00457007
+v 0.01734348 0.23484848 -0.01345338
+v -0.24023228 0.15909091 0.00169813
+v 0.01831757 0.23565588 0.07472095
+v -0.24023228 0.23484848 0.00169813
+v -0.18010161 0.23474420 0.07676012
+v -0.19477774 0.23484848 -0.01345338
+f 7 5 1
+f 7 4 5
+f 7 1 2
+f 7 2 3
+f 8 2 1
+f 8 1 5
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+f 10 6 8
+f 11 7 3
+f 11 3 9
+f 12 10 5
+f 12 5 4
+f 12 6 10
+f 13 4 7
+f 13 7 11
+f 13 12 4
+f 13 11 12
+f 14 9 6
+f 14 6 12
+f 14 12 11
+f 14 11 9
\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_5/collision/model_normalized_collision_18.obj b/objects/objaverse/bagel/bagel_5/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..abd43a6d0da3eeac58f482b55585cc87f690e8d2
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_5/collision/model_normalized_collision_18.obj
@@ -0,0 +1,186 @@
+# https://github.com/mikedh/trimesh
+v -0.31198473 -0.26300528 0.10171041
+v -0.31418098 -0.26448301 -0.12631019
+v -0.31611229 -0.00734515 -0.12857237
+v -0.40637598 -0.01057338 0.06533798
+v -0.41941638 -0.19952721 -0.00050770
+v -0.31449555 -0.00936668 0.10750074
+v -0.31026418 -0.24745413 0.10810998
+v -0.38896499 -0.25744645 0.02334774
+v -0.42137809 -0.00769873 -0.09758452
+v -0.37872194 -0.11257046 0.09086198
+v -0.38987868 -0.25779965 -0.06638882
+v -0.39968332 -0.00750588 -0.12178765
+v -0.43548550 -0.01079411 0.01156463
+v -0.36950033 -0.00978241 0.09187848
+v -0.34279824 -0.03929169 0.10538033
+v -0.42028900 -0.11127505 0.04926246
+v -0.36458238 -0.18476293 0.09036601
+v -0.40255674 -0.24139674 -0.00059430
+v -0.43328137 -0.11130024 -0.06519809
+v -0.39137531 -0.18564753 -0.10510843
+v -0.37881555 -0.03880367 0.09090015
+v -0.33819706 -0.20198766 0.10405925
+v -0.32761334 -0.00966090 0.10546521
+v -0.40506057 -0.18477516 0.04862937
+v -0.43467764 -0.15391632 -0.01597490
+v -0.43358680 -0.02590452 0.02530683
+v -0.39055835 -0.15483720 0.07681785
+v -0.40257155 -0.22650451 0.02264866
+v -0.41924547 -0.19936361 -0.04104641
+v -0.43655992 -0.02635128 -0.05386352
+v -0.39580650 -0.11114241 -0.11664841
+v -0.36360154 -0.25756221 -0.10481725
+v -0.40666093 -0.18603189 -0.08929894
+v -0.39417147 -0.01041790 0.07576039
+v -0.34866587 -0.22995246 0.08935260
+v -0.41883592 -0.15387569 0.03902521
+v -0.41936208 -0.01094716 0.04858245
+v -0.43266163 -0.11086134 0.02403530
+v -0.40506830 -0.13963391 0.06386658
+v -0.38981803 -0.22772282 0.04804598
+v -0.40224165 -0.24122104 -0.04038808
+v -0.43463754 -0.15392934 -0.02599726
+v -0.43494910 -0.01134072 -0.04151283
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+v -0.40201677 -0.21111535 0.03753381
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+v -0.39141299 -0.22870708 -0.09047482
+v -0.38980973 -0.19738427 0.06288105
+v -0.33424354 -0.25844130 0.08878049
+v -0.37667546 -0.25622910 0.04905567
+v -0.36602604 -0.21648276 -0.11436098
+v -0.37684068 -0.22920768 -0.10433139
+v -0.40324128 -0.21171549 -0.08050149
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+f 11 2 8
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+f 12 3 2
+f 13 4 9
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+f 14 6 9
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+f 18 11 8
+f 21 4 10
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+f 54 47 19
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+f 59 35 50
+f 59 49 35
+f 59 1 49
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+f 60 1 59
+f 61 20 31
+f 61 31 56
+f 62 56 32
+f 62 61 56
+f 62 20 61
+f 62 57 20
+f 62 32 48
+f 62 48 57
+f 63 57 53
+f 63 53 47
+f 63 47 33
+f 63 33 57
\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_5/collision/model_normalized_collision_19.obj b/objects/objaverse/bagel/bagel_5/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd40956b1344ad96038e0a799e44c89eef75d3ad
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_5/collision/model_normalized_collision_19.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.34039837 -0.25806841 0.05418793
+v 0.41224290 -0.13892668 -0.07110550
+v 0.41354504 -0.14029103 0.01268541
+v 0.36693115 -0.14876037 0.08154679
+v 0.36577576 -0.15240844 -0.12316075
+v 0.39730951 -0.13957421 0.05126504
+v 0.36241633 -0.23885882 -0.06644248
+v 0.34036116 -0.22875940 -0.11100563
+v 0.37645963 -0.20943969 0.04199519
+v 0.40109977 -0.13884635 -0.09852996
+v 0.40927754 -0.15199843 0.01252920
+v 0.34360557 -0.23137459 0.07229071
+v 0.34122188 -0.25819525 -0.08254089
+v 0.39415989 -0.15298147 0.04984438
+v 0.36357015 -0.24063373 0.02785100
+v 0.39534385 -0.14350313 -0.10357801
+v 0.39193067 -0.16409843 -0.09231991
+v 0.40756706 -0.15072129 -0.07000331
+v 0.37897818 -0.19573979 0.04901365
+v 0.34832946 -0.25309264 0.04848638
+v 0.34476964 -0.21621011 -0.11464175
+v 0.34774541 -0.25180834 -0.07995465
+v 0.34804418 -0.22435092 -0.10484561
+v 0.34799203 -0.21839409 0.07501584
+v 0.35245266 -0.21180163 -0.10848173
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+f 12 8 1
+f 12 4 8
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+f 14 3 6
+f 14 6 4
+f 15 11 9
+f 15 7 11
+f 15 13 7
+f 16 5 10
+f 17 16 10
+f 18 11 7
+f 18 2 11
+f 18 7 17
+f 18 17 10
+f 18 10 2
+f 19 11 3
+f 19 9 11
+f 19 3 14
+f 19 12 9
+f 20 12 1
+f 20 9 12
+f 20 15 9
+f 20 1 13
+f 20 13 15
+f 21 8 5
+f 21 5 16
+f 22 17 7
+f 22 7 13
+f 22 13 8
+f 23 16 17
+f 23 8 21
+f 23 22 8
+f 23 17 22
+f 24 19 14
+f 24 14 4
+f 24 4 12
+f 24 12 19
+f 25 23 21
+f 25 21 16
+f 25 16 23
\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_5/collision/model_normalized_collision_2.obj b/objects/objaverse/bagel/bagel_5/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78932730e984150888ad6de0aa9a450076a507ff
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_5/collision/model_normalized_collision_2.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.05787858 0.35504815 0.07192230
+v 0.12314898 0.41597836 -0.13173174
+v 0.11957773 0.42145071 0.04492939
+v -0.08569430 0.48926779 -0.02134280
+v -0.26243614 0.33482879 -0.10788197
+v 0.10101725 0.47569941 -0.08323219
+v -0.08554215 0.43429193 0.04489169
+v 0.12113625 0.41062386 0.04993158
+v -0.05840133 0.35603753 -0.13361116
+v 0.11634237 0.46021529 -0.00562986
+v -0.09827957 0.47608030 -0.11194783
+v 0.00135362 0.47755014 0.01646982
+v -0.26194877 0.33290117 -0.00188686
+v -0.05667868 0.39605906 0.06356868
+v 0.11625722 0.46091242 -0.10764266
+v 0.11726757 0.44711656 0.01850293
+v -0.19548609 0.43177746 -0.07034154
+v 0.04375327 0.49090928 -0.08275009
+v -0.23573253 0.33748351 -0.12041382
+v 0.01765869 0.42920833 -0.13360321
+v 0.08781093 0.43228377 0.04546118
+v -0.05533905 0.47734204 0.01466516
+v -0.20266995 0.33377975 0.04718623
+v -0.15210085 0.44529184 0.00661881
+v 0.05797689 0.47323133 0.00887629
+v -0.16506164 0.44635153 -0.10620874
+v -0.27714239 0.33426935 -0.08551425
+v -0.08637072 0.49096691 -0.08190996
+v 0.07404732 0.47434352 -0.10994905
+v 0.04310494 0.48940264 -0.02103800
+v 0.09182172 0.41321480 -0.13510410
+v -0.15560038 0.43704413 -0.11748350
+v -0.16420511 0.34092260 -0.12985617
+v 0.08734262 0.46116260 0.01619591
+v -0.05518357 0.48800982 -0.00673338
+v -0.13028129 0.36761739 0.05997852
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+v -0.20748436 0.40159290 -0.00869765
+v -0.15626371 0.46017653 -0.02314990
+v -0.09681006 0.47336083 0.00728938
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+v -0.22653466 0.35977476 0.01402518
+v -0.19685659 0.41881904 -0.10276169
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+v -0.14139658 0.45907233 -0.10890950
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+v -0.16370438 0.33965176 0.05832936
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+v -0.25286524 0.35687369 -0.03266452
+v -0.17896618 0.43012843 -0.00908785
+v -0.12577582 0.47494315 -0.02336821
+v -0.09673747 0.44879996 0.02985359
+v -0.15359324 0.43577308 0.01517998
+v -0.22352689 0.37205315 0.00698027
+v -0.25511736 0.35791961 -0.09297820
+v -0.05567956 0.48901426 -0.09640923
+v -0.12556109 0.47226309 -0.09502750
+f 9 8 1
+f 9 2 8
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+f 15 10 2
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+f 16 3 8
+f 16 8 10
+f 21 12 7
+f 21 7 14
+f 21 14 8
+f 21 8 3
+f 22 7 12
+f 23 9 1
+f 29 18 6
+f 29 6 15
+f 30 6 18
+f 30 28 4
+f 30 18 28
+f 31 2 9
+f 33 32 20
+f 33 19 32
+f 33 9 23
+f 33 23 5
+f 33 5 19
+f 34 21 3
+f 34 3 16
+f 34 16 10
+f 34 25 12
+f 34 12 21
+f 35 22 12
+f 36 1 14
+f 37 23 13
+f 37 5 23
+f 37 27 5
+f 40 39 24
+f 40 35 4
+f 40 22 35
+f 41 23 36
+f 42 13 23
+f 43 17 26
+f 44 28 18
+f 44 29 11
+f 44 18 29
+f 45 26 17
+f 45 17 39
+f 46 11 29
+f 46 31 20
+f 46 2 31
+f 46 29 15
+f 46 15 2
+f 47 12 25
+f 47 25 30
+f 47 35 12
+f 47 30 4
+f 47 4 35
+f 48 10 6
+f 48 6 30
+f 48 34 10
+f 48 30 25
+f 48 25 34
+f 49 31 9
+f 49 20 31
+f 49 33 20
+f 49 9 33
+f 50 32 11
+f 50 20 32
+f 50 46 20
+f 50 11 46
+f 51 32 26
+f 51 11 32
+f 51 26 45
+f 52 32 19
+f 52 19 5
+f 52 5 43
+f 52 43 26
+f 52 26 32
+f 53 36 14
+f 53 14 7
+f 53 41 36
+f 53 7 41
+f 54 36 23
+f 54 23 1
+f 54 1 36
+f 55 17 27
+f 55 27 37
+f 55 39 17
+f 55 38 39
+f 56 37 13
+f 56 13 38
+f 56 55 37
+f 56 38 55
+f 57 39 38
+f 57 38 24
+f 57 24 39
+f 58 4 28
+f 58 45 39
+f 58 40 4
+f 58 39 40
+f 59 7 22
+f 59 22 40
+f 59 41 7
+f 60 23 41
+f 60 42 23
+f 60 41 59
+f 60 59 40
+f 60 40 24
+f 61 38 13
+f 61 13 42
+f 61 42 60
+f 61 60 24
+f 61 24 38
+f 62 43 5
+f 62 5 27
+f 62 27 17
+f 62 17 43
+f 63 44 11
+f 63 11 28
+f 63 28 44
+f 64 28 11
+f 64 51 45
+f 64 11 51
+f 64 58 28
+f 64 45 58
\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_5/collision/model_normalized_collision_20.obj b/objects/objaverse/bagel/bagel_5/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c90bf6913f8e40abfb7a381affab713e0eb7d978
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_5/collision/model_normalized_collision_20.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.05653892 0.21452865 -0.13092826
+v -0.05810078 0.23588036 -0.13563659
+v -0.05913486 0.35736304 -0.13357327
+v -0.26550712 0.34947476 -0.07409843
+v -0.29926590 0.23397014 -0.12462219
+v -0.05840133 0.35603753 -0.13361116
+v -0.17940940 0.23431585 -0.13414534
+v -0.33462655 0.25672447 -0.06920459
+v -0.24738356 0.33400131 -0.11658821
+v -0.05757263 0.34007307 -0.13443309
+v -0.16425631 0.35617435 -0.12993154
+v -0.29482834 0.27602104 -0.11606964
+v -0.17912040 0.24908093 -0.13364751
+v -0.16704479 0.35472209 -0.12976801
+v -0.31276802 0.28946042 -0.07288774
+f 6 3 4
+f 6 4 1
+f 7 2 1
+f 7 1 5
+f 8 5 1
+f 8 1 4
+f 10 6 1
+f 10 1 2
+f 10 2 7
+f 10 3 6
+f 11 3 10
+f 11 9 4
+f 11 4 3
+f 12 4 9
+f 12 9 5
+f 12 5 8
+f 13 7 5
+f 13 5 11
+f 13 11 10
+f 13 10 7
+f 14 11 5
+f 14 5 9
+f 14 9 11
+f 15 12 8
+f 15 8 4
+f 15 4 12
\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_5/collision/model_normalized_collision_21.obj b/objects/objaverse/bagel/bagel_5/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8cc2a7f5d7c96cfd8f57de8c41773fc7df98189
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_5/collision/model_normalized_collision_21.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v 0.41116201 0.09444873 0.03750787
+v 0.42573383 0.09454322 -0.09674039
+v 0.39120566 0.20904100 -0.00395441
+v 0.34266589 0.22941930 0.05191489
+v 0.35125298 0.09766591 -0.13428024
+v 0.37809551 0.19499457 0.03461194
+v 0.42323521 0.12400362 -0.00264101
+v 0.36932458 0.09512128 0.07632968
+v 0.38794845 0.21548846 -0.08762264
+v 0.37826300 0.22536654 0.01124012
+v 0.42742868 0.09485154 0.01101854
+v 0.34880716 0.09773765 0.08747475
+v 0.38017135 0.12457146 0.06108287
+v 0.36366819 0.16318370 -0.13222566
+v 0.42288833 0.12408741 -0.08586742
+v 0.36240831 0.22510562 0.03442515
+v 0.37591335 0.24808801 -0.05893416
+v 0.39338038 0.18245686 0.02024665
+v 0.34124206 0.19946622 0.06636907
+v 0.38405317 0.09503843 0.06551545
+v 0.39550754 0.12462025 0.04612081
+v 0.40585875 0.14215040 -0.11239848
+v 0.38572354 0.22938836 -0.05889711
+v 0.35164640 0.22749576 0.04527092
+v 0.40987728 0.13813330 0.02126127
+v 0.34396077 0.14103620 0.08122507
+v 0.38035344 0.16816792 0.04549968
+v 0.36893682 0.10932966 0.07350868
+v 0.40993871 0.09817168 -0.11796568
+v 0.40858507 0.13783584 -0.11110789
+v 0.39146450 0.20950430 -0.08536418
+v 0.42377560 0.10906408 0.01103206
+v 0.40843559 0.10887971 0.03578608
+v 0.35072023 0.19641195 0.05970241
+v 0.35489913 0.13951882 0.07502574
+v 0.41855024 0.09668478 -0.11085970
+v 0.42282016 0.10897026 -0.09533943
+f 8 5 2
+f 8 2 1
+f 11 1 2
+f 12 5 8
+f 14 5 4
+f 15 11 2
+f 15 7 11
+f 16 6 10
+f 17 14 4
+f 17 9 14
+f 17 10 3
+f 18 7 3
+f 18 3 10
+f 18 10 6
+f 19 4 5
+f 20 8 1
+f 21 20 1
+f 21 13 20
+f 22 14 9
+f 23 3 7
+f 23 7 15
+f 23 17 3
+f 23 9 17
+f 24 16 10
+f 24 6 16
+f 24 4 19
+f 24 17 4
+f 24 10 17
+f 25 7 18
+f 25 18 6
+f 26 12 8
+f 26 19 5
+f 26 5 12
+f 27 19 13
+f 27 6 24
+f 27 13 21
+f 27 25 6
+f 27 21 25
+f 28 20 13
+f 28 8 20
+f 28 26 8
+f 29 5 14
+f 29 14 22
+f 30 29 22
+f 30 22 9
+f 31 23 15
+f 31 9 23
+f 31 30 9
+f 31 15 30
+f 32 11 7
+f 32 7 25
+f 32 25 1
+f 32 1 11
+f 33 25 21
+f 33 21 1
+f 33 1 25
+f 34 27 24
+f 34 24 19
+f 34 19 27
+f 35 28 13
+f 35 13 19
+f 35 19 26
+f 35 26 28
+f 36 2 5
+f 36 5 29
+f 36 30 2
+f 36 29 30
+f 37 30 15
+f 37 15 2
+f 37 2 30
\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_5/collision/model_normalized_collision_22.obj b/objects/objaverse/bagel/bagel_5/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8087e303e96607bfc10a1e6fc0834981bba174b
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_5/collision/model_normalized_collision_22.obj
@@ -0,0 +1,132 @@
+# https://github.com/mikedh/trimesh
+v 0.19131844 -0.41835909 0.02660872
+v 0.35534938 -0.25784961 -0.04292598
+v 0.34039837 -0.25806841 0.05418793
+v 0.19815748 -0.26394220 0.13324554
+v 0.19933406 -0.26535829 -0.13886031
+v 0.29608748 -0.25924301 0.09573490
+v 0.29069392 -0.34052111 0.01221613
+v 0.19022820 -0.40482273 -0.09591492
+v 0.34122188 -0.25819525 -0.08254089
+v 0.23114329 -0.35484164 0.07832162
+v 0.34900719 -0.26868110 0.01237073
+v 0.19465362 -0.30419950 0.12471697
+v 0.20044280 -0.41493150 -0.03937778
+v 0.29954410 -0.26127943 -0.12308562
+v 0.30497044 -0.28195399 0.07704707
+v 0.26048775 -0.35545429 0.04801318
+v 0.34851286 -0.26772361 -0.04169264
+v 0.35576858 -0.25820112 0.01417106
+v 0.33172211 -0.28222589 0.04227584
+v 0.19221545 -0.36205425 0.09350011
+v 0.19147198 -0.37792637 -0.12078411
+v 0.23646188 -0.27335822 0.12161433
+v 0.19993602 -0.41388677 0.02427031
+v 0.19175973 -0.42057974 -0.04100630
+v 0.29236882 -0.28367893 -0.11790262
+v 0.25678462 -0.26305741 -0.13430367
+v 0.29400317 -0.27052356 0.09112482
+v 0.20260380 -0.40127590 0.04922692
+v 0.29020017 -0.34008234 -0.02535224
+v 0.33230902 -0.28189213 -0.06546733
+v 0.30416540 -0.31138534 0.04811901
+v 0.33542261 -0.26979100 0.05025886
+v 0.24084060 -0.26227730 0.12382194
+v 0.20683000 -0.30250172 0.12049021
+v 0.19897765 -0.40009310 -0.09184488
+v 0.21273815 -0.32368181 -0.13307455
+v 0.20327301 -0.37453990 -0.11630519
+v 0.19275915 -0.40538095 0.05279917
+v 0.31719318 -0.28218863 -0.09203192
+v 0.20518748 -0.35918080 0.08902622
+v 0.24461227 -0.37029708 -0.06744936
+v 0.25641190 -0.27794728 -0.13236539
+v 0.19745940 -0.32407072 -0.13471755
+v 0.33509654 -0.26881870 -0.08014436
+v 0.21514076 -0.39902234 -0.05454265
+f 6 5 4
+f 9 6 3
+f 9 3 2
+f 9 5 6
+f 12 4 5
+f 15 3 6
+f 16 15 10
+f 17 2 11
+f 18 11 2
+f 18 2 3
+f 19 7 11
+f 19 18 3
+f 19 11 18
+f 20 12 8
+f 20 8 1
+f 21 12 5
+f 21 8 12
+f 23 13 7
+f 23 7 16
+f 24 1 8
+f 24 23 1
+f 24 13 23
+f 25 14 9
+f 26 5 9
+f 26 9 14
+f 27 15 6
+f 27 10 15
+f 27 22 10
+f 27 6 22
+f 28 16 10
+f 28 23 16
+f 28 1 23
+f 29 7 13
+f 29 17 11
+f 29 11 7
+f 30 9 2
+f 30 2 17
+f 30 17 29
+f 31 16 7
+f 31 7 19
+f 31 15 16
+f 32 19 3
+f 32 3 15
+f 32 31 19
+f 32 15 31
+f 33 22 6
+f 33 6 4
+f 33 4 12
+f 33 12 22
+f 34 10 22
+f 34 22 12
+f 34 12 20
+f 35 24 8
+f 35 13 24
+f 36 25 21
+f 36 14 25
+f 37 8 21
+f 37 21 25
+f 37 35 8
+f 38 20 1
+f 38 1 28
+f 38 28 10
+f 39 25 9
+f 39 37 25
+f 39 35 37
+f 40 34 20
+f 40 10 34
+f 40 38 10
+f 40 20 38
+f 41 30 29
+f 41 39 30
+f 41 35 39
+f 42 36 26
+f 42 26 14
+f 42 14 36
+f 43 36 21
+f 43 21 5
+f 43 5 26
+f 43 26 36
+f 44 39 9
+f 44 9 30
+f 44 30 39
+f 45 41 29
+f 45 29 13
+f 45 13 35
+f 45 35 41
\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_5/collision/model_normalized_collision_23.obj b/objects/objaverse/bagel/bagel_5/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4458367e74e1b316074b1730b3b544d2c1ed85b8
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_5/collision/model_normalized_collision_23.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.14536579 -0.08748581 0.07963820
+v -0.09625761 -0.09314632 -0.07142425
+v -0.14332255 0.00613041 0.05535929
+v -0.20477086 -0.00475552 0.10059923
+v -0.21024534 -0.08362456 -0.12942122
+v -0.15702166 0.00642024 0.07053976
+v -0.09427569 -0.09205023 -0.01510032
+v -0.11455265 -0.09193978 -0.09826868
+v -0.20170856 -0.07776130 0.10886392
+v -0.14958198 0.00753691 0.06207172
+v -0.15381343 -0.08573706 0.08631691
+v -0.13507475 -0.00801828 -0.09541520
+v -0.11955218 -0.08939241 0.03990080
+v -0.13393455 -0.00915616 0.04019938
+v -0.16864354 -0.00773081 -0.12042059
+v -0.13545180 -0.08753796 0.06715820
+v -0.14350595 -0.00793790 -0.10638040
+v -0.15486541 -0.08734942 -0.12116171
+v -0.21050844 -0.00743432 -0.12842826
+v -0.12785934 -0.09060512 -0.10798353
+f 7 1 2
+f 8 2 1
+f 8 1 5
+f 9 5 1
+f 9 4 5
+f 10 6 1
+f 10 1 3
+f 11 6 4
+f 11 1 6
+f 11 9 1
+f 11 4 9
+f 12 7 2
+f 12 2 8
+f 12 10 3
+f 13 7 3
+f 13 1 7
+f 14 12 3
+f 14 3 7
+f 14 7 12
+f 16 13 3
+f 16 3 1
+f 16 1 13
+f 17 12 8
+f 17 15 10
+f 17 10 12
+f 19 5 4
+f 19 4 6
+f 19 6 10
+f 19 10 15
+f 19 18 5
+f 19 15 18
+f 20 8 5
+f 20 5 18
+f 20 17 8
+f 20 18 15
+f 20 15 17
\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_5/collision/model_normalized_collision_24.obj b/objects/objaverse/bagel/bagel_5/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4eb750465955b9fdd6c6f2b33d8c40b9fd179baa
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_5/collision/model_normalized_collision_24.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.24424621 -0.14395967 0.13490319
+v 0.24424674 -0.14365294 -0.14129488
+v 0.24451709 0.09676919 0.10796484
+v 0.13363242 0.09698244 0.09293656
+v 0.13950671 -0.14490241 0.13087400
+v 0.24394405 0.09817767 -0.13844437
+v 0.24488826 -0.02477331 0.12278291
+v 0.14011143 -0.14435429 -0.13803647
+v 0.20146841 0.09753230 0.10704394
+v 0.14039963 0.09933808 -0.13865406
+f 5 2 1
+f 7 1 2
+f 7 5 1
+f 7 6 3
+f 7 2 6
+f 8 5 4
+f 8 2 5
+f 9 4 5
+f 9 3 6
+f 9 7 3
+f 9 5 7
+f 10 6 2
+f 10 2 8
+f 10 8 4
+f 10 9 6
+f 10 4 9
\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_5/collision/model_normalized_collision_25.obj b/objects/objaverse/bagel/bagel_5/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..127a80e7b32771fdd976137b2f6d10f02d95a0c7
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_5/collision/model_normalized_collision_25.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.21561230 0.23843521 0.09292472
+v 0.21389372 0.23532705 -0.13745173
+v 0.21425032 0.35598681 -0.13275669
+v -0.05787858 0.35504815 0.07192230
+v -0.05774237 0.22955697 0.06023394
+v 0.20896244 0.34636537 0.06317261
+v 0.12362948 0.23476187 0.08943397
+v -0.05821795 0.35570615 -0.13362063
+v 0.21354326 0.27888617 0.08620230
+v 0.15116225 0.34960840 0.07387175
+v -0.01202812 0.35466471 0.07535840
+v -0.02644667 0.26828292 0.07439379
+v 0.18360204 0.35551170 -0.13367343
+v -0.05810078 0.23588036 -0.13563659
+v 0.21082542 0.31928531 0.07479727
+v -0.02681564 0.33956908 0.07575379
+v -0.05907661 0.24006736 0.06455403
+v 0.02012755 0.23771888 0.07587884
+f 1 2 3
+f 7 5 2
+f 7 2 1
+f 8 4 3
+f 9 1 3
+f 10 6 3
+f 11 7 1
+f 11 1 9
+f 11 9 10
+f 11 10 3
+f 11 3 4
+f 13 8 3
+f 13 3 2
+f 13 2 8
+f 14 8 2
+f 14 2 5
+f 15 9 3
+f 15 3 6
+f 15 10 9
+f 15 6 10
+f 16 11 4
+f 16 7 11
+f 16 12 7
+f 16 4 12
+f 17 12 4
+f 17 14 5
+f 17 4 8
+f 17 8 14
+f 18 17 5
+f 18 5 7
+f 18 7 12
+f 18 12 17
\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_5/collision/model_normalized_collision_26.obj b/objects/objaverse/bagel/bagel_5/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f55ecd0e9b3b0b8432181c520aa0efe45396a31
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_5/collision/model_normalized_collision_26.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.17353488 -0.46441206 0.00000329
+v -0.17347992 -0.41913733 -0.12206755
+v -0.17964495 -0.26530541 0.13637865
+v -0.37990871 -0.25797757 0.04090941
+v -0.31415503 -0.35748735 -0.07729896
+v -0.18123781 -0.26674283 -0.12168221
+v -0.21485610 -0.38709647 0.09030710
+v -0.17317686 -0.43390622 0.06545536
+v -0.22866744 -0.42916202 -0.06971337
+v -0.27179540 -0.40132470 0.02265010
+v -0.30557136 -0.25956853 0.10717679
+v -0.38127065 -0.25851415 -0.08397957
+v -0.17340261 -0.46436842 -0.04079566
+v -0.17603967 -0.35161419 0.12465350
+v -0.25952130 -0.38662135 -0.10250681
+v -0.35940024 -0.31527139 0.01396372
+v -0.21421993 -0.41595921 0.06178731
+v -0.24401414 -0.42978163 -0.02516760
+v -0.30047814 -0.32843404 0.07625024
+v -0.33882425 -0.26115250 -0.11843166
+v -0.17397037 -0.45058401 -0.08180527
+v -0.17457313 -0.40698694 0.09330216
+v -0.24876717 -0.30486145 0.11784941
+v -0.27176047 -0.40076677 -0.06984590
+v -0.35845641 -0.31481722 -0.05545740
+v -0.39440885 -0.25963920 0.00022931
+v -0.20177125 -0.44496033 0.02344187
+v -0.21642654 -0.44406275 -0.00054307
+v -0.21632126 -0.44394879 -0.03959335
+v -0.31705384 -0.37050482 -0.01598220
+v -0.31951566 -0.28657820 0.08780517
+v -0.32833834 -0.32618127 0.05154786
+v -0.25892850 -0.38577037 0.06120007
+v -0.32234912 -0.30410470 -0.11481102
+v -0.20130531 -0.44423003 -0.06996081
+v -0.17345235 -0.43364656 -0.10703922
+v -0.20450763 -0.34933916 0.11779311
+v -0.18777963 -0.40301677 0.09134434
+v -0.26484012 -0.26181167 0.12289082
+v -0.21448606 -0.41678918 -0.10327137
+v -0.27109398 -0.38509694 -0.09265863
+v -0.25839074 -0.41346605 -0.05467795
+v -0.35832871 -0.29978736 -0.07901813
+v -0.37360442 -0.28446036 0.02243326
+v -0.39397532 -0.25942396 -0.04155885
+v -0.22901477 -0.43010001 0.02274479
+v -0.17360965 -0.44972774 0.04112920
+v -0.18581200 -0.45868280 -0.03949116
+v -0.25904717 -0.41447234 0.01445549
+v -0.34481137 -0.32718723 0.02215514
+v -0.32984838 -0.35774546 -0.02508342
+v -0.31601739 -0.36907844 -0.03971996
+v -0.32288939 -0.26072950 0.09529704
+v -0.30452199 -0.27154720 0.10322759
+v -0.35884645 -0.28482617 0.05007943
+v -0.27204491 -0.35662687 0.07621804
+v -0.24276510 -0.41310090 0.03707607
+v -0.27042423 -0.38465884 0.05203013
+v -0.21416241 -0.40117856 -0.11792671
+v -0.31707641 -0.32928482 -0.10208527
+v -0.34724869 -0.28689010 -0.10392610
+v -0.18655939 -0.43032304 0.06216379
+v -0.20140198 -0.37467623 0.10405153
+v -0.26372060 -0.27600064 0.12008488
+f 6 3 2
+f 11 3 6
+f 12 11 6
+f 12 4 11
+f 13 8 1
+f 14 8 2
+f 14 2 3
+f 20 12 6
+f 20 6 2
+f 22 8 14
+f 28 1 27
+f 29 18 9
+f 29 28 18
+f 31 19 23
+f 32 19 31
+f 33 17 7
+f 34 20 2
+f 35 21 13
+f 35 29 9
+f 35 13 29
+f 36 13 21
+f 36 2 8
+f 36 8 13
+f 37 22 14
+f 37 14 23
+f 37 23 19
+f 38 8 22
+f 38 7 17
+f 39 23 14
+f 39 14 3
+f 39 3 11
+f 40 24 15
+f 40 9 24
+f 40 2 36
+f 40 35 9
+f 40 36 21
+f 40 21 35
+f 41 24 5
+f 41 15 24
+f 42 24 9
+f 42 9 18
+f 42 18 24
+f 43 25 12
+f 43 5 25
+f 44 26 16
+f 44 4 26
+f 45 26 4
+f 45 4 12
+f 45 12 25
+f 45 25 16
+f 45 16 26
+f 46 27 17
+f 46 28 27
+f 47 27 1
+f 47 1 8
+f 47 17 27
+f 48 13 1
+f 48 1 28
+f 48 29 13
+f 48 28 29
+f 49 18 28
+f 49 30 18
+f 49 10 30
+f 49 28 46
+f 50 30 10
+f 50 16 30
+f 50 32 16
+f 50 10 32
+f 51 30 16
+f 51 16 25
+f 52 24 18
+f 52 18 30
+f 52 30 51
+f 52 5 24
+f 52 51 25
+f 52 25 5
+f 53 31 11
+f 53 11 4
+f 53 4 31
+f 54 31 23
+f 54 23 11
+f 54 11 31
+f 55 16 32
+f 55 44 16
+f 55 4 44
+f 55 32 31
+f 55 31 4
+f 56 33 7
+f 56 37 19
+f 56 7 37
+f 57 46 17
+f 57 49 46
+f 57 10 49
+f 58 32 10
+f 58 10 57
+f 58 57 17
+f 58 17 33
+f 58 19 32
+f 58 56 19
+f 58 33 56
+f 59 34 2
+f 59 15 34
+f 59 40 15
+f 59 2 40
+f 60 34 15
+f 60 5 43
+f 60 41 5
+f 60 15 41
+f 61 12 20
+f 61 20 34
+f 61 43 12
+f 61 60 43
+f 61 34 60
+f 62 38 17
+f 62 8 38
+f 62 47 8
+f 62 17 47
+f 63 37 7
+f 63 7 38
+f 63 38 22
+f 63 22 37
+f 64 39 11
+f 64 11 23
+f 64 23 39
\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_5/collision/model_normalized_collision_27.obj b/objects/objaverse/bagel/bagel_5/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88411e76151ee266c88ea0cb25bfa8d0a6a9d786
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_5/collision/model_normalized_collision_27.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v 0.19513899 0.34877176 0.06671772
+v 0.21425032 0.35598681 -0.13275669
+v 0.20299172 0.41616456 -0.00491192
+v 0.11832973 0.46501574 -0.01871907
+v 0.12269337 0.35517410 -0.13648707
+v 0.18746578 0.42721590 -0.09860746
+v 0.11843341 0.43306344 0.03350959
+v 0.21250755 0.35278891 0.05748431
+v 0.20255000 0.41461328 -0.10448427
+v 0.17325219 0.44453035 -0.07106695
+v 0.11751632 0.46291847 -0.09976570
+v 0.14571243 0.44237663 0.00865987
+v 0.12316331 0.35530627 0.07512254
+v 0.16218037 0.40340635 0.04426337
+v 0.18955037 0.43010906 -0.02019814
+v 0.14757813 0.44872514 -0.10558235
+v 0.14603220 0.45904356 -0.06035939
+v 0.12082217 0.39187670 0.06061046
+v 0.19115102 0.38915032 0.04384087
+v 0.15923086 0.42945796 0.01716307
+v 0.17332423 0.42742135 0.00841990
+v 0.13156610 0.46038972 -0.02070643
+v 0.20313716 0.40032054 -0.12038599
+v 0.12059829 0.43948152 -0.12494281
+v 0.14537356 0.45695569 -0.08270468
+v 0.17314484 0.44391626 -0.06002613
+v 0.13439986 0.39115076 0.05863106
+v 0.20489517 0.40198148 0.01913499
+v 0.13145168 0.42959960 0.03152649
+v 0.15804924 0.44234700 -0.00682901
+v 0.14519470 0.43403251 -0.12033780
+v 0.12300517 0.40114658 -0.13458931
+v 0.20780405 0.37635541 0.04497526
+v 0.18975284 0.39955317 0.03265202
+v 0.13718331 0.39942763 -0.13420667
+f 5 2 1
+f 8 1 2
+f 8 2 3
+f 9 3 2
+f 10 9 6
+f 11 7 4
+f 11 5 7
+f 12 4 7
+f 13 5 1
+f 15 3 9
+f 15 9 10
+f 16 10 6
+f 16 6 9
+f 17 11 4
+f 18 7 5
+f 18 5 13
+f 18 13 1
+f 19 14 1
+f 19 1 8
+f 20 14 19
+f 21 3 15
+f 21 12 20
+f 22 4 12
+f 22 17 4
+f 22 15 17
+f 23 16 9
+f 23 9 2
+f 24 5 11
+f 24 11 16
+f 24 23 2
+f 25 16 11
+f 25 11 17
+f 25 17 10
+f 25 10 16
+f 26 17 15
+f 26 15 10
+f 26 10 17
+f 27 14 7
+f 27 7 18
+f 27 18 1
+f 27 1 14
+f 28 8 3
+f 28 3 21
+f 28 21 20
+f 29 20 12
+f 29 12 7
+f 29 7 14
+f 29 14 20
+f 30 21 15
+f 30 12 21
+f 30 22 12
+f 30 15 22
+f 31 24 16
+f 31 16 23
+f 31 23 24
+f 32 5 24
+f 33 28 19
+f 33 19 8
+f 33 8 28
+f 34 28 20
+f 34 20 19
+f 34 19 28
+f 35 32 24
+f 35 24 2
+f 35 2 5
+f 35 5 32
\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_5/collision/model_normalized_collision_28.obj b/objects/objaverse/bagel/bagel_5/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8165e042dba41394333ee4bce0c19fd1754ad361
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_5/collision/model_normalized_collision_28.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.12316331 0.35530627 0.07512254
+v 0.12269337 0.35517410 -0.13648707
+v 0.12190914 0.41263303 -0.13262441
+v -0.05604284 0.40921154 0.05848065
+v -0.05787858 0.35504815 0.07192230
+v -0.05841718 0.41669805 -0.13366086
+v 0.12113625 0.41062386 0.04993158
+v 0.09237984 0.35182248 0.07843747
+v 0.01759964 0.41664737 -0.13458473
+v -0.05840133 0.35603753 -0.13361116
+v 0.01775177 0.36678111 0.07510288
+v 0.07598673 0.40766708 0.05952523
+v -0.04242141 0.35522487 -0.13443842
+v 0.01855853 0.35426565 0.07723857
+v 0.09216862 0.36573281 0.07428769
+v 0.12082217 0.39187670 0.06061046
+f 1 2 3
+f 6 5 4
+f 7 1 3
+f 7 6 4
+f 8 2 1
+f 9 3 2
+f 9 2 6
+f 9 7 3
+f 9 6 7
+f 10 5 6
+f 11 4 5
+f 12 7 4
+f 12 4 11
+f 13 10 6
+f 13 6 2
+f 13 2 8
+f 13 8 5
+f 13 5 10
+f 14 11 5
+f 14 5 8
+f 14 8 11
+f 15 8 1
+f 15 1 12
+f 15 12 11
+f 15 11 8
+f 16 12 1
+f 16 1 7
+f 16 7 12
\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_5/collision/model_normalized_collision_29.obj b/objects/objaverse/bagel/bagel_5/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5aaf4ab587b7528ea4ac6c42891a43d908f55290
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_5/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.35997991 -0.29175053 0.03994624
+v -0.21108773 -0.26629542 -0.12533258
+v -0.20992925 -0.26515152 0.01684965
+v -0.31598986 -0.00757576 0.01684965
+v -0.31611229 -0.00734515 -0.12857237
+v -0.20992925 -0.00757576 0.01684965
+v -0.31418098 -0.26448301 -0.12631019
+v -0.21050844 -0.00743432 -0.12842826
+f 1 2 3
+f 5 1 4
+f 6 1 3
+f 6 4 1
+f 6 5 4
+f 7 2 1
+f 7 1 5
+f 8 6 3
+f 8 3 2
+f 8 5 6
+f 8 7 5
+f 8 2 7
\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_5/collision/model_normalized_collision_3.obj b/objects/objaverse/bagel/bagel_5/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e4baeef821ca744c79b3246a18a449e204e1043
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_5/collision/model_normalized_collision_3.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.34880716 0.09773765 0.08747475
+v 0.35067681 0.09848485 0.00169813
+v 0.36928541 0.24448128 0.00730351
+v 0.12231192 0.28053353 0.08859896
+v 0.04434542 0.08635949 0.01219720
+v 0.25691577 0.26194670 0.08349887
+v 0.33006152 0.09578312 0.09482160
+v 0.13855560 0.23484848 0.00169813
+v 0.33818779 0.21297346 0.06278005
+v 0.21696876 0.28519004 0.08439603
+v 0.20146841 0.09753230 0.10704394
+v 0.30002096 0.18652116 0.08890891
+v 0.01993522 0.12921776 0.02098239
+v 0.34108259 0.16914182 0.07568747
+v 0.34266589 0.22941930 0.05191489
+v 0.25966794 0.09675780 0.10786566
+v 0.32848868 0.14084077 0.08820563
+v 0.31074246 0.22822450 0.07358125
+v 0.05707903 0.15798318 0.07649163
+v 0.21354326 0.27888617 0.08620230
+v 0.20142590 0.11287738 0.10632618
+v 0.24158033 0.24567097 0.08936676
+v 0.13985916 0.15844201 0.09666331
+v 0.06417967 0.09954827 0.06047171
+v 0.12356830 0.28026837 0.08865347
+v 0.25850005 0.11122572 0.10607369
+f 1 2 3
+f 7 5 2
+f 7 2 1
+f 8 3 2
+f 8 2 5
+f 10 6 3
+f 10 8 4
+f 10 3 8
+f 13 8 5
+f 13 4 8
+f 14 1 3
+f 15 3 6
+f 15 14 3
+f 15 9 14
+f 16 11 5
+f 16 5 7
+f 16 7 12
+f 17 12 7
+f 17 7 1
+f 17 14 12
+f 17 1 14
+f 18 6 12
+f 18 15 6
+f 18 9 15
+f 18 14 9
+f 18 12 14
+f 19 4 13
+f 21 11 16
+f 22 12 6
+f 22 6 10
+f 22 10 20
+f 23 19 11
+f 23 4 19
+f 23 21 4
+f 23 11 21
+f 24 19 13
+f 24 13 5
+f 24 5 11
+f 24 11 19
+f 25 21 16
+f 25 4 21
+f 25 20 10
+f 25 10 4
+f 26 16 12
+f 26 12 22
+f 26 22 20
+f 26 25 16
+f 26 20 25
\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_5/collision/model_normalized_collision_30.obj b/objects/objaverse/bagel/bagel_5/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..442e1eca231e2208a009c2791566a448041d17ae
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_5/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.25451365 -0.27358091 0.11257058
+v 0.24461620 -0.26515152 0.01684965
+v 0.24949843 -0.14367190 0.13428610
+v -0.32086452 -0.14345429 0.11536772
+v -0.35997991 -0.29175053 0.03994624
+v 0.24461620 -0.14393940 0.01684965
+v -0.31839810 -0.26644203 0.09624403
+v -0.31598986 -0.14393940 0.01684965
+f 5 2 1
+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 7 4 5
+f 8 5 4
+f 8 4 6
+f 8 6 2
+f 8 2 5
\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_5/collision/model_normalized_collision_31.obj b/objects/objaverse/bagel/bagel_5/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0333876583008c6cac4a32ec164a8b83bf1c4f46
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_5/collision/model_normalized_collision_31.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.24461620 -0.26515152 0.01684965
+v 0.24246568 -0.26338809 -0.13661159
+v 0.24461620 -0.14393940 0.01684965
+v -0.00638275 -0.10408996 0.02123916
+v 0.01734348 -0.26515152 0.01684965
+v 0.24424674 -0.14365294 -0.14129488
+v 0.01754836 -0.26354120 -0.13413268
+v 0.22912361 -0.14367495 -0.14194979
+v 0.01947541 -0.14944913 -0.12273703
+v 0.01792723 -0.20643231 -0.13380606
+v 0.11080675 -0.14539344 -0.13364063
+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 4 6
+f 10 8 7
+f 10 7 4
+f 10 4 9
+f 11 9 4
+f 11 4 8
+f 11 10 9
+f 11 8 10
\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_5/collision/model_normalized_collision_4.obj b/objects/objaverse/bagel/bagel_5/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d19c88205cd4c5b525ff97d8559dccba5219b39
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_5/collision/model_normalized_collision_4.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.09041877 -0.15234998 0.08130410
+v -0.08897175 -0.14519787 0.07576443
+v -0.18767379 -0.00915414 0.09422345
+v -0.31449555 -0.00936668 0.10750074
+v -0.31598986 -0.14393940 0.01684965
+v -0.21007332 -0.14426950 0.12094494
+v -0.16248367 -0.00963815 0.07930281
+v -0.20992925 -0.14393940 0.01684965
+v -0.15475012 -0.14777275 0.10797786
+v -0.22867375 -0.00944089 0.10635522
+v -0.32086452 -0.14345429 0.11536772
+v -0.15571607 -0.00862361 0.07163940
+v -0.09172461 -0.14003494 0.06954656
+v -0.21377698 -0.02509404 0.10507013
+v -0.31459569 -0.12892663 0.11640069
+v -0.31598986 -0.00757576 0.01684965
+v -0.20992925 -0.00757576 0.01684965
+f 7 3 1
+f 8 1 5
+f 9 1 3
+f 10 3 4
+f 10 4 6
+f 11 9 6
+f 11 5 1
+f 11 1 9
+f 12 7 1
+f 12 1 2
+f 12 4 3
+f 12 3 7
+f 13 2 1
+f 13 1 8
+f 13 12 2
+f 14 9 3
+f 14 3 10
+f 14 10 6
+f 14 6 9
+f 15 11 6
+f 15 6 4
+f 15 4 11
+f 16 11 4
+f 16 5 11
+f 16 4 12
+f 16 8 5
+f 17 13 8
+f 17 12 13
+f 17 16 12
+f 17 8 16
\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_5/collision/model_normalized_collision_5.obj b/objects/objaverse/bagel/bagel_5/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80ab30f276e8c81b363527be1cf5f47467f460d4
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_5/collision/model_normalized_collision_5.obj
@@ -0,0 +1,138 @@
+# https://github.com/mikedh/trimesh
+v 0.06065373 -0.43864855 0.08554020
+v 0.25451365 -0.27358091 0.11257058
+v -0.10319108 -0.35390512 0.13605795
+v -0.32079842 -0.12830936 0.11505908
+v 0.05632976 -0.09098291 0.08218836
+v 0.24424621 -0.14395967 0.13490319
+v -0.18020321 -0.40262044 0.09425795
+v 0.07591301 -0.33735925 0.13528876
+v 0.19668935 -0.36795264 0.08753226
+v -0.17789772 -0.27901288 0.13741191
+v 0.13064949 -0.07599841 0.11485224
+v 0.24949843 -0.14367190 0.13428610
+v -0.11629587 -0.39195865 0.11980843
+v -0.31839810 -0.26644203 0.09624403
+v 0.18138851 -0.38180647 0.08596982
+v -0.28469379 -0.13001032 0.12131581
+v 0.21280297 -0.18901937 0.13759388
+v 0.14273305 -0.08751508 0.12294429
+v 0.01714095 -0.44432498 0.09043967
+v -0.17613669 -0.36453051 0.11991982
+v 0.04501682 -0.39342410 0.11922540
+v -0.29726907 -0.20411207 0.12051600
+v 0.10477177 -0.42355554 0.08538190
+v 0.17713306 -0.33113579 0.11770408
+v 0.24084060 -0.26227730 0.12382194
+v 0.03116893 -0.35284052 0.13589902
+v -0.13292479 -0.33920272 0.13608014
+v -0.17345888 -0.38970095 0.10526586
+v 0.01636176 -0.42089166 0.10697200
+v -0.30557136 -0.25956853 0.10717679
+v -0.29691543 -0.14436767 0.12077460
+v 0.08741381 -0.40423231 0.10432004
+v 0.19082071 -0.34449467 0.10583333
+v 0.08884358 -0.37745093 0.11955952
+v 0.21315788 -0.20376005 0.13694488
+v 0.10569479 -0.32205591 0.13535629
+v -0.27819640 -0.26075888 0.11810863
+v 0.01650709 -0.43831644 0.09502053
+v -0.31459569 -0.12892663 0.11640069
+v 0.05932295 -0.43492753 0.08998796
+v 0.10264115 -0.41954960 0.08941637
+v 0.19224602 -0.31653827 0.11949235
+v 0.17476954 -0.35902931 0.10394186
+v 0.19815289 -0.23388847 0.13654385
+v -0.17769745 -0.29404278 0.13620554
+v 0.02915593 -0.42024732 0.10583498
+v 0.17771118 -0.37541420 0.09181115
+f 9 5 2
+f 11 5 4
+f 12 2 5
+f 12 5 11
+f 14 5 1
+f 14 1 7
+f 14 4 5
+f 15 5 9
+f 16 10 6
+f 16 11 4
+f 17 6 10
+f 17 12 6
+f 18 12 11
+f 18 6 12
+f 18 16 6
+f 18 11 16
+f 19 13 7
+f 19 7 1
+f 20 13 3
+f 20 14 7
+f 21 3 13
+f 23 1 5
+f 23 5 15
+f 25 2 12
+f 26 17 10
+f 26 10 3
+f 26 3 21
+f 27 20 3
+f 27 3 10
+f 28 20 7
+f 28 7 13
+f 28 13 20
+f 29 21 13
+f 30 22 4
+f 30 4 14
+f 30 14 20
+f 31 4 22
+f 31 22 10
+f 31 10 16
+f 33 15 9
+f 33 9 2
+f 34 21 32
+f 34 26 21
+f 34 8 26
+f 35 25 12
+f 35 12 17
+f 36 34 24
+f 36 8 34
+f 36 26 8
+f 37 30 20
+f 37 22 30
+f 38 29 13
+f 38 13 19
+f 39 31 16
+f 39 16 4
+f 39 4 31
+f 40 1 23
+f 40 38 19
+f 40 19 1
+f 41 23 15
+f 41 40 23
+f 41 32 40
+f 42 24 33
+f 42 36 24
+f 42 25 36
+f 42 33 2
+f 42 2 25
+f 43 15 33
+f 43 32 41
+f 43 34 32
+f 43 33 24
+f 43 24 34
+f 44 36 25
+f 44 25 35
+f 44 35 17
+f 44 17 26
+f 44 26 36
+f 45 27 10
+f 45 10 22
+f 45 22 37
+f 45 37 20
+f 45 20 27
+f 46 29 38
+f 46 38 40
+f 46 21 29
+f 46 40 32
+f 46 32 21
+f 47 43 41
+f 47 41 15
+f 47 15 43
\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_5/collision/model_normalized_collision_6.obj b/objects/objaverse/bagel/bagel_5/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c01077419f06c15e5353c24563b61a3acf5e1b2
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_5/collision/model_normalized_collision_6.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.32342500 -0.25713833 0.07625259
+v 0.43923812 -0.03462479 -0.07166052
+v 0.39497133 0.06545882 0.06169710
+v 0.24451709 0.09676919 0.10796484
+v 0.24246568 -0.26338809 -0.13661159
+v 0.24394405 0.09817767 -0.13844437
+v 0.31236175 -0.14248982 0.11893569
+v 0.40857720 -0.12479451 0.03960120
+v 0.33577426 -0.25436738 -0.09433871
+v 0.24084060 -0.26227730 0.12382194
+v 0.42573383 0.09454322 -0.09674039
+v 0.32861969 0.05003561 0.10389049
+v 0.43772131 0.05063422 -0.00280702
+v 0.35077045 -0.16977632 0.08993257
+v 0.31238905 -0.25954431 -0.11749318
+v 0.37060615 -0.21344175 -0.08232532
+v 0.24488826 -0.02477331 0.12278291
+v 0.34974309 -0.00793430 -0.13360081
+v 0.33527989 0.09867617 -0.13452516
+v 0.36932458 0.09512128 0.07632968
+v 0.37106137 0.00649420 0.08953109
+v 0.43887354 -0.03530611 -0.00173969
+v 0.43920830 0.05092644 -0.07122805
+v 0.35096605 -0.21262812 0.07482232
+v 0.29454886 -0.24333223 0.10391088
+v 0.27140520 -0.26268469 -0.13154256
+v 0.33465575 -0.25426817 0.06464540
+v 0.42300698 -0.10769232 -0.07140215
+v 0.35394478 -0.19747771 -0.11692372
+v 0.31351184 -0.05390256 0.12046247
+v 0.41139731 0.09498150 -0.11734465
+v 0.42220102 0.09351367 0.02006784
+v 0.28845376 0.09594381 0.10557320
+v 0.34402390 0.09582604 0.08949548
+v 0.38204640 0.05062638 0.07543095
+v 0.36659309 -0.09622155 0.09114156
+v 0.42308637 -0.03609404 0.03786495
+v 0.43945044 0.02323944 -0.08685325
+v 0.37850763 -0.16873688 0.06353271
+v 0.30643042 -0.25613275 0.08940551
+v 0.32451203 -0.18465616 0.10432436
+v 0.33557087 -0.23988718 0.07571868
+v 0.34800614 -0.11299119 -0.13236335
+v 0.40941241 -0.13912127 0.02650176
+v 0.43932368 -0.04990835 -0.02804528
+v 0.36503125 -0.21005915 -0.09382384
+v 0.33635665 -0.23969576 -0.10696988
+v 0.32530577 -0.24274157 -0.11697374
+v 0.34321623 0.00588620 0.10460017
+v 0.30269357 -0.02444761 0.12005811
+v 0.31400089 0.07984049 0.10343134
+v 0.41063277 0.05071898 0.04772600
+v 0.35789701 0.06505411 0.08932225
+v 0.33888154 -0.14079573 0.10434126
+v 0.42212754 -0.09413341 0.02377257
+v 0.42340168 0.00712449 0.03694467
+v 0.39309871 -0.11044336 0.06367303
+v 0.43860392 0.03570239 -0.08628195
+v 0.42239366 0.08117495 -0.11024813
+v 0.42402044 -0.04940473 -0.10808990
+v 0.25122550 -0.25787634 0.12083193
+v 0.30151619 -0.21748828 -0.13106137
+v 0.41168398 -0.05001043 -0.11883888
+v 0.41016235 -0.13804422 -0.08259850
+f 10 6 5
+f 10 4 6
+f 15 9 1
+f 17 4 10
+f 18 5 6
+f 19 6 4
+f 19 18 6
+f 23 11 13
+f 23 13 22
+f 26 10 5
+f 26 15 1
+f 26 1 10
+f 27 1 9
+f 27 9 16
+f 30 17 10
+f 30 10 7
+f 31 19 11
+f 31 18 19
+f 32 13 11
+f 32 11 19
+f 32 19 20
+f 32 20 3
+f 34 20 19
+f 34 19 4
+f 34 4 33
+f 35 3 20
+f 36 30 7
+f 36 21 30
+f 37 21 36
+f 39 14 24
+f 39 24 27
+f 40 10 1
+f 41 24 14
+f 42 41 25
+f 42 24 41
+f 42 27 24
+f 42 1 27
+f 42 40 1
+f 42 25 40
+f 43 5 18
+f 44 27 16
+f 44 39 27
+f 44 8 39
+f 45 28 2
+f 45 44 28
+f 45 2 38
+f 45 38 23
+f 45 23 22
+f 46 16 9
+f 47 9 15
+f 47 46 9
+f 47 29 46
+f 48 15 26
+f 48 47 15
+f 48 29 47
+f 49 30 21
+f 49 12 30
+f 50 30 12
+f 50 17 30
+f 50 33 4
+f 50 4 17
+f 51 34 33
+f 51 12 34
+f 51 50 12
+f 51 33 50
+f 52 35 21
+f 52 3 35
+f 52 32 3
+f 53 35 20
+f 53 21 35
+f 53 49 21
+f 53 20 34
+f 53 34 12
+f 53 12 49
+f 54 36 7
+f 54 14 36
+f 54 41 14
+f 54 7 41
+f 55 37 8
+f 55 22 37
+f 55 8 44
+f 55 45 22
+f 55 44 45
+f 56 37 22
+f 56 22 13
+f 56 13 32
+f 56 32 52
+f 56 52 21
+f 56 21 37
+f 57 37 36
+f 57 8 37
+f 57 39 8
+f 57 36 14
+f 57 14 39
+f 58 11 23
+f 58 23 38
+f 59 31 11
+f 59 58 38
+f 59 11 58
+f 60 38 2
+f 60 2 28
+f 60 59 38
+f 61 40 25
+f 61 10 40
+f 61 25 41
+f 61 41 7
+f 61 7 10
+f 62 26 5
+f 62 5 43
+f 62 43 29
+f 62 48 26
+f 62 29 48
+f 63 43 18
+f 63 18 31
+f 63 31 59
+f 63 59 60
+f 63 60 29
+f 63 29 43
+f 64 44 16
+f 64 28 44
+f 64 16 46
+f 64 60 28
+f 64 46 29
+f 64 29 60
\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_5/collision/model_normalized_collision_7.obj b/objects/objaverse/bagel/bagel_5/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a51ad5f7097284de1c681ce5c98fc3310046860e
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_5/collision/model_normalized_collision_7.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.01734348 -0.26515152 0.01684965
+v 0.01754836 -0.26354120 -0.13413268
+v -0.00638275 -0.10408996 0.02123916
+v -0.20170856 -0.07776130 0.10886392
+v -0.21108773 -0.26629542 -0.12533258
+v -0.02653499 -0.14802492 0.08655319
+v 0.01947541 -0.14944913 -0.12273703
+v -0.20992925 -0.26515152 0.01684965
+v -0.02417559 -0.14214375 0.08087769
+v -0.21024534 -0.08362456 -0.12942122
+v -0.20629576 -0.13768305 0.11956407
+v -0.02156516 -0.12612074 0.06490362
+v 0.01792723 -0.20643231 -0.13380606
+v -0.11925641 -0.20526172 -0.13465245
+v -0.14139837 -0.08742189 -0.11579015
+v -0.02616263 -0.10759289 -0.08224160
+f 5 2 1
+f 7 1 2
+f 7 3 1
+f 8 5 1
+f 9 6 1
+f 9 1 3
+f 9 4 6
+f 10 5 8
+f 11 6 4
+f 11 10 8
+f 11 4 10
+f 11 8 1
+f 11 1 6
+f 12 9 3
+f 12 3 4
+f 12 4 9
+f 13 10 7
+f 13 7 2
+f 14 2 5
+f 14 5 10
+f 14 13 2
+f 14 10 13
+f 15 10 4
+f 15 4 3
+f 15 7 10
+f 16 15 3
+f 16 3 7
+f 16 7 15
\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_5/collision/model_normalized_collision_8.obj b/objects/objaverse/bagel/bagel_5/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..469f4c9079f9778b5458e08e22f98a8af56f1d03
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_5/collision/model_normalized_collision_8.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.08838083 -0.01081968 0.05582972
+v 0.09867625 -0.00753739 -0.11024060
+v 0.09331029 0.09861950 0.07711394
+v -0.00531508 0.16632532 0.02658978
+v 0.04620650 -0.01293811 -0.06284189
+v 0.09758733 0.10119437 -0.12555325
+v 0.01304306 0.16463478 0.05030937
+v 0.10032033 0.05516958 0.06797016
+v 0.07827435 -0.01232693 0.03903616
+v -0.00920007 0.16611535 -0.10826326
+v 0.05707903 0.15798318 0.07649163
+v 0.09329275 -0.00762631 0.06218544
+v 0.09943640 0.08680254 -0.12221275
+v 0.06366894 -0.01117291 0.00964204
+v 0.00452319 0.12443558 -0.03277220
+v 0.01890899 0.16136253 -0.11582543
+v 0.08754723 -0.00750971 -0.10354989
+v 0.04730454 -0.01145437 -0.04542070
+f 7 4 1
+f 8 6 3
+f 9 5 2
+f 9 2 1
+f 9 1 4
+f 10 4 7
+f 11 3 6
+f 11 10 7
+f 12 1 2
+f 12 2 8
+f 12 8 3
+f 12 3 11
+f 12 11 7
+f 12 7 1
+f 13 8 2
+f 13 2 6
+f 13 6 8
+f 14 9 4
+f 14 5 9
+f 15 10 5
+f 15 5 4
+f 15 4 10
+f 16 6 2
+f 16 2 10
+f 16 11 6
+f 16 10 11
+f 17 10 2
+f 17 2 5
+f 17 5 10
+f 18 14 4
+f 18 4 5
+f 18 5 14
\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_5/collision/model_normalized_collision_9.obj b/objects/objaverse/bagel/bagel_5/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18ad7fa66e9b049b1c37304be4bb173ca6980732
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_5/collision/model_normalized_collision_9.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.02855656 -0.49113595 0.01526666
+v 0.19727326 -0.33903779 -0.13306647
+v 0.20679275 -0.27273832 0.12925704
+v -0.17914340 -0.26118431 0.13599627
+v -0.17347992 -0.41913733 -0.12206755
+v 0.19933406 -0.26535829 -0.13886031
+v 0.01718045 -0.40015952 0.11979161
+v 0.18896025 -0.41431239 0.04013890
+v 0.04395215 -0.45957742 -0.12010667
+v -0.17118085 -0.44472469 0.05384913
+v -0.18123781 -0.26674283 -0.12168221
+v -0.07315639 -0.41750183 -0.13408059
+v 0.08609447 -0.45933442 0.05346410
+v -0.05582751 -0.48973011 -0.07055658
+v 0.09938404 -0.47308306 -0.04030352
+v -0.14568298 -0.39407819 0.11145991
+v -0.07131778 -0.47323473 0.05361921
+v 0.01754836 -0.26354120 -0.13413268
+v -0.17683104 -0.39616069 0.09976190
+v 0.06077373 -0.43956559 -0.13091729
+v -0.04004465 -0.46047444 -0.12056145
+v 0.16138847 -0.38918209 0.08899565
+v -0.17079789 -0.45895753 -0.06986368
+v 0.02808964 -0.49136868 -0.05639806
+v 0.13060473 -0.45886040 0.01428141
+v 0.15674308 -0.43038012 -0.09549324
+v -0.11442816 -0.43220407 0.09315870
+v 0.01621028 -0.47421388 0.05387012
+v -0.10049390 -0.49057353 -0.01570870
+v -0.04174378 -0.44120480 -0.13117608
+v 0.00134726 -0.49052985 -0.07145423
+v 0.15778477 -0.42826070 0.05066924
+v 0.18787486 -0.38593930 0.07872387
+v 0.16401213 -0.37793901 0.09548848
+v 0.10148527 -0.43090560 0.07855987
+v -0.08516287 -0.47338097 -0.09226194
+v -0.17122776 -0.45960604 0.02318959
+v 0.04280242 -0.48975461 -0.04099659
+v 0.08840825 -0.47303526 0.02294203
+v 0.18634632 -0.41296539 -0.08382273
+v 0.13014513 -0.42869803 -0.12118890
+v 0.08637603 -0.46048817 -0.10653028
+v -0.09908474 -0.46167072 0.06416225
+v -0.15719825 -0.41751464 0.09232625
+v -0.10044735 -0.41973499 0.10451268
+v 0.01636176 -0.42089166 0.10697200
+v -0.05602528 -0.48853695 0.02361694
+v 0.05815358 -0.47323505 0.03818689
+v -0.10017527 -0.48927625 -0.04012147
+v -0.11336790 -0.44455467 -0.11949580
+v -0.07214683 -0.42679361 -0.13301168
+v 0.15803255 -0.44491253 0.01391943
+v 0.14415513 -0.44220314 0.03802379
+v 0.18919501 -0.39909844 0.06265944
+v 0.10088109 -0.44500029 0.06272400
+v 0.13217279 -0.40496663 0.09025206
+v 0.05846967 -0.44532458 0.07834211
+v -0.11338362 -0.47511897 -0.07791961
+v -0.14368933 -0.47357396 0.01448452
+v 0.08778182 -0.47306262 -0.06983410
+v 0.10007114 -0.47345610 -0.00017294
+v 0.10448489 -0.42439947 -0.13011208
+v 0.18842866 -0.38973869 -0.11529031
+v 0.05837492 -0.47243982 -0.09604318
+f 6 3 2
+f 6 4 3
+f 7 3 4
+f 8 2 3
+f 12 5 11
+f 16 7 4
+f 18 11 4
+f 18 4 6
+f 18 12 11
+f 18 6 12
+f 19 4 11
+f 19 16 4
+f 19 11 5
+f 20 12 6
+f 20 6 2
+f 23 19 5
+f 29 24 1
+f 29 14 24
+f 30 20 9
+f 30 9 21
+f 31 21 9
+f 31 14 21
+f 31 24 14
+f 34 3 7
+f 34 33 3
+f 34 22 33
+f 36 21 14
+f 37 10 19
+f 37 19 23
+f 38 1 24
+f 39 13 1
+f 40 2 8
+f 41 9 20
+f 42 41 26
+f 42 9 41
+f 43 27 10
+f 43 17 27
+f 44 19 10
+f 44 10 27
+f 44 27 16
+f 44 16 19
+f 45 7 16
+f 45 16 27
+f 46 27 17
+f 46 17 28
+f 46 45 27
+f 46 7 45
+f 47 28 17
+f 47 1 28
+f 47 29 1
+f 48 28 1
+f 48 1 13
+f 48 13 28
+f 49 29 23
+f 49 14 29
+f 50 30 21
+f 50 5 30
+f 50 21 36
+f 50 23 5
+f 51 30 5
+f 51 5 12
+f 51 12 20
+f 51 20 30
+f 52 8 32
+f 52 40 8
+f 52 25 15
+f 52 15 26
+f 52 26 40
+f 53 32 13
+f 53 52 32
+f 53 25 52
+f 53 39 25
+f 53 13 39
+f 54 8 3
+f 54 3 33
+f 54 33 32
+f 54 32 8
+f 55 35 13
+f 55 13 32
+f 55 32 35
+f 56 33 22
+f 56 22 34
+f 56 34 7
+f 56 46 35
+f 56 7 46
+f 56 35 32
+f 56 32 33
+f 57 28 13
+f 57 13 35
+f 57 46 28
+f 57 35 46
+f 58 36 14
+f 58 50 36
+f 58 23 50
+f 58 49 23
+f 58 14 49
+f 59 37 23
+f 59 23 29
+f 59 29 47
+f 59 47 17
+f 59 17 43
+f 59 43 10
+f 59 10 37
+f 60 38 24
+f 60 15 38
+f 60 42 26
+f 60 26 15
+f 61 38 15
+f 61 1 38
+f 61 39 1
+f 61 15 25
+f 61 25 39
+f 62 41 20
+f 62 20 2
+f 62 2 41
+f 63 40 26
+f 63 26 41
+f 63 41 2
+f 63 2 40
+f 64 31 9
+f 64 9 42
+f 64 24 31
+f 64 60 24
+f 64 42 60
\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_5/model.xml b/objects/objaverse/bagel/bagel_5/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..1b47644907904c760862b4a72cc0514b7877ccae
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_5/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="more_bagel_6">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="Material.052" 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="Material.052"/>
+        <geom solimp="0.998 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="0.00014452600000000037 -2.0088500000001175e-05 -0.014194979000000003" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.00014452600000000037 -2.0088500000001175e-05 0.013759388000000001" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.043945044 0.049096691 -0.00021779549999999953" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/bagel/bagel_5/visual/material.mtl b/objects/objaverse/bagel/bagel_5/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fbcf6b4b1af9257e08a0fd6e283841743ce8fad5
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_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 250.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_9/collision/model_normalized_collision_0.obj b/objects/objaverse/bagel/bagel_9/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25570b525e1c7b0d876a2a16be7f5252d95a45ea
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_9/collision/model_normalized_collision_0.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.38495576 -0.00841642 -0.02071824
+v 0.42014004 -0.02188840 -0.24411061
+v 0.41963850 0.12549195 -0.21275753
+v 0.13229468 0.10794196 -0.17654403
+v 0.11350329 0.00754680 -0.15742415
+v 0.15936780 0.09795444 -0.19430160
+v 0.38495541 0.09856871 -0.01517377
+v 0.25852229 -0.01205134 0.01025649
+v 0.15347732 -0.00488761 -0.20657910
+v 0.26400067 0.09848484 -0.01501369
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 7 1 3
+f 8 2 1
+f 8 1 7
+f 9 5 4
+f 9 4 6
+f 9 6 2
+f 9 8 5
+f 9 2 8
+f 10 7 3
+f 10 3 4
+f 10 8 7
+f 10 4 5
+f 10 5 8
\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_9/collision/model_normalized_collision_10.obj b/objects/objaverse/bagel/bagel_9/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d560c918cae71086293edc4510fe6f8f75da3291
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_9/collision/model_normalized_collision_10.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.01503883 0.23807095 0.24139862
+v 0.02218784 0.23456954 -0.10333031
+v 0.02194223 0.49221445 0.01849719
+v -0.03246692 0.48989880 0.07228840
+v -0.40249828 0.23074143 0.09881351
+v 0.02153130 0.42156517 0.18177838
+v -0.04700440 0.23504968 0.26935556
+v 0.00281088 0.42578619 -0.05843161
+v 0.01842014 0.48405276 0.11362635
+v 0.02947026 0.29196793 -0.09416420
+v -0.18087782 0.23038188 -0.01445741
+v -0.26415079 0.33662728 0.26811346
+v -0.00402722 0.28668083 0.25642692
+v -0.26636968 0.38539412 0.07268005
+v 0.02319064 0.46728253 0.13612024
+v 0.01913099 0.49202629 0.07139141
+v 0.02526428 0.43696935 -0.05969892
+v -0.40330795 0.22999923 0.20433465
+v -0.35263005 0.23141562 0.05936284
+v -0.20333388 0.41248029 0.19354420
+v -0.00093310 0.26440563 0.25430599
+v 0.01572481 0.30814644 0.23949044
+v -0.18811068 0.27801772 0.30262022
+v -0.09207229 0.47295808 0.03794736
+v -0.03554362 0.49076766 0.04606408
+v -0.35661402 0.32703371 0.15486431
+v -0.00015798 0.26931509 -0.08899058
+v -0.26937726 0.34941869 0.04971121
+v -0.06837032 0.46175333 0.14557993
+v -0.08942082 0.23805056 0.28586336
+v -0.05276949 0.34502172 0.25447056
+v -0.29371482 0.23488732 0.29437335
+v -0.03319946 0.47443474 -0.00090705
+v -0.24212870 0.41313680 0.14902118
+v -0.09131009 0.47384526 0.08540988
+v -0.37267366 0.29527221 0.11093224
+v -0.36945356 0.29738136 0.20177270
+v -0.13433341 0.43538334 0.01840270
+v -0.37150516 0.25809862 0.07713711
+v -0.05105855 0.47455037 0.11373264
+v -0.16486139 0.37214215 0.25656980
+v -0.09298155 0.30138827 0.28392604
+v -0.00315516 0.35414117 0.22735849
+v -0.23164856 0.31638307 0.28550843
+v -0.15322389 0.23875667 0.30611305
+v -0.33303021 0.23259862 0.27013619
+v 0.02242137 0.48227504 -0.00863357
+v -0.03122029 0.44889463 -0.02714641
+v -0.01675697 0.49091806 0.02092565
+v -0.24465893 0.41379234 0.11009924
+v -0.27095482 0.38172806 0.20440985
+v -0.07819159 0.47432269 0.09968673
+v -0.28165217 0.38657217 0.10029765
+v -0.40149507 0.25738876 0.12793698
+v -0.26775448 0.37155500 0.06011531
+v -0.16478244 0.40564958 0.01867668
+v -0.14970404 0.44388185 0.04137080
+v -0.09408496 0.46086405 0.01756920
+v -0.35128511 0.25760940 0.06526264
+v -0.37866599 0.23159760 0.07297003
+v -0.38594540 0.26585255 0.10128425
+v -0.06077895 0.40572529 0.21273959
+v -0.22180740 0.37113069 0.25848813
+v -0.12206132 0.32246878 0.28338217
+f 7 2 1
+f 10 6 1
+f 10 1 2
+f 11 2 7
+f 15 6 10
+f 16 4 9
+f 16 15 3
+f 16 9 15
+f 17 10 8
+f 17 15 10
+f 17 3 15
+f 18 11 7
+f 18 5 11
+f 19 2 11
+f 19 11 5
+f 21 7 1
+f 22 1 6
+f 22 21 1
+f 22 13 21
+f 25 16 3
+f 25 4 16
+f 27 19 8
+f 27 2 19
+f 27 10 2
+f 27 8 10
+f 28 8 19
+f 29 15 9
+f 30 21 13
+f 30 7 21
+f 31 13 22
+f 35 25 24
+f 35 4 25
+f 40 29 9
+f 40 9 4
+f 41 15 29
+f 42 13 31
+f 43 31 22
+f 43 22 6
+f 43 6 31
+f 44 32 23
+f 44 12 32
+f 45 23 32
+f 45 42 23
+f 45 30 13
+f 45 13 42
+f 45 32 7
+f 45 7 30
+f 46 18 7
+f 46 7 32
+f 46 37 18
+f 46 32 12
+f 46 12 37
+f 47 3 17
+f 47 17 33
+f 48 33 17
+f 48 17 8
+f 48 8 38
+f 49 25 3
+f 49 47 33
+f 49 3 47
+f 49 33 24
+f 49 24 25
+f 50 26 34
+f 50 35 24
+f 50 34 35
+f 51 20 34
+f 51 37 12
+f 51 34 26
+f 51 26 37
+f 52 35 34
+f 52 34 20
+f 52 20 29
+f 52 29 40
+f 52 40 4
+f 52 4 35
+f 53 36 26
+f 53 14 36
+f 53 50 14
+f 53 26 50
+f 54 5 18
+f 54 26 36
+f 54 37 26
+f 54 18 37
+f 55 14 38
+f 55 28 39
+f 55 39 36
+f 55 36 14
+f 56 38 8
+f 56 8 28
+f 56 55 38
+f 56 28 55
+f 57 38 14
+f 57 50 24
+f 57 14 50
+f 58 24 33
+f 58 48 38
+f 58 33 48
+f 58 57 24
+f 58 38 57
+f 59 39 28
+f 59 28 19
+f 60 19 5
+f 60 5 39
+f 60 59 19
+f 60 39 59
+f 61 39 5
+f 61 36 39
+f 61 54 36
+f 61 5 54
+f 62 6 15
+f 62 15 41
+f 62 41 31
+f 62 31 6
+f 63 41 29
+f 63 29 20
+f 63 12 44
+f 63 51 12
+f 63 20 51
+f 64 23 42
+f 64 44 23
+f 64 63 44
+f 64 41 63
+f 64 42 31
+f 64 31 41
\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_9/collision/model_normalized_collision_12.obj b/objects/objaverse/bagel/bagel_9/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c57f133a6ec82140f2e7834820c586e619aa4d4
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_9/collision/model_normalized_collision_12.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.22436139 -0.33062368 0.06982945
+v -0.22406061 -0.32315499 0.08310484
+v -0.41530378 -0.23428885 0.15821456
+v -0.43404065 -0.00928972 0.23278989
+v -0.22084782 -0.00757576 0.07589540
+v -0.25629822 -0.15032037 0.28445261
+v -0.30908395 -0.29253700 0.15659892
+v -0.45161596 -0.18552747 0.07800622
+v -0.40305821 -0.09030640 0.27204467
+v -0.22387939 -0.00750621 0.30845541
+v -0.27669684 -0.29608020 0.15236404
+v -0.30662952 -0.32625480 0.07245695
+v -0.43048521 -0.00996301 0.07786849
+v -0.44560477 -0.09607266 0.21604057
+v -0.38975189 -0.20441898 0.22979984
+v -0.25343448 -0.00498159 0.31911984
+v -0.22492008 -0.18177543 0.25408821
+v -0.28974485 -0.22126226 0.24239342
+v -0.36198453 -0.29271284 0.11445134
+v -0.27462898 -0.32638801 0.09676158
+v -0.44539968 -0.19589297 0.14798507
+v -0.44931287 -0.02426612 0.20679226
+v -0.43197652 -0.06813820 0.24374267
+v -0.35237924 -0.15845606 0.27294627
+v -0.43194091 -0.11952450 0.23772958
+v -0.35027009 -0.01004935 0.30103729
+v -0.22963030 -0.07763378 0.30038403
+v -0.44476714 -0.00840417 0.21116399
+v -0.24943331 -0.24906872 0.20336713
+v -0.30419369 -0.25196930 0.21276043
+v -0.24655390 -0.19680922 0.25453610
+v -0.30696033 -0.31976870 0.10123814
+v -0.41546215 -0.25231468 0.07807288
+v -0.37827485 -0.24728692 0.18567346
+v -0.42834808 -0.19543766 0.18835575
+v -0.41631124 -0.02309887 0.25666419
+v -0.44425167 -0.02418161 0.22176171
+v -0.36012492 -0.15342919 0.27291275
+v -0.32426235 -0.08987239 0.30326298
+v -0.30010879 -0.17473638 0.27355028
+v -0.31675708 -0.21758917 0.24253084
+v -0.43413351 -0.15035596 0.21260463
+v -0.40511409 -0.08550226 0.27167206
+v -0.29337566 -0.00643585 0.31828314
+v -0.22648572 -0.14877986 0.27123887
+v -0.26121126 -0.27690945 0.17202744
+v -0.33319837 -0.30632402 0.11436297
+v -0.38887160 -0.28021523 0.10245769
+v -0.38968586 -0.28020197 0.07657701
+v -0.44764650 -0.19709666 0.08018978
+v -0.41650292 -0.25004852 0.11675882
+v -0.40358936 -0.24739133 0.15723812
+v -0.36472109 -0.23215723 0.21236245
+v -0.43109560 -0.20616528 0.17290463
+v -0.41673563 -0.18380688 0.21447614
+v -0.43365294 -0.05617023 0.24098739
+v -0.37928831 -0.00932637 0.28569809
+v -0.35170273 -0.06489006 0.30057330
+v -0.28097339 -0.11109335 0.30196556
+v -0.31754867 -0.17518145 0.27111612
+v -0.31958629 -0.30573824 0.12625976
+v -0.33473768 -0.27777794 0.17031822
+v -0.40368139 -0.26277382 0.11609542
+v -0.43050309 -0.22223370 0.14662354
+f 5 2 1
+f 10 2 5
+f 11 1 2
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+f 17 2 10
+f 20 11 7
+f 20 12 1
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+f 21 14 8
+f 22 13 8
+f 22 8 14
+f 25 15 9
+f 25 23 14
+f 27 10 16
+f 28 13 22
+f 28 16 5
+f 28 5 13
+f 29 2 17
+f 30 7 11
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+f 31 17 6
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+f 51 33 49
+f 52 34 15
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+f 52 48 19
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+f 53 41 15
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+f 56 4 37
+f 57 4 36
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+f 57 44 28
+f 57 28 4
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+f 58 9 38
+f 58 38 39
+f 58 43 9
+f 58 57 43
+f 58 26 57
+f 58 44 26
+f 58 39 44
+f 59 27 16
+f 59 44 39
+f 59 16 44
+f 59 6 27
+f 59 40 6
+f 59 39 24
+f 60 41 40
+f 60 24 41
+f 60 59 24
+f 60 40 59
+f 61 47 32
+f 61 32 7
+f 62 34 19
+f 62 19 47
+f 62 47 61
+f 62 61 7
+f 62 53 34
+f 62 7 30
+f 62 30 53
+f 63 52 51
+f 63 51 48
+f 63 48 52
+f 64 51 3
+f 64 3 54
+f 64 54 21
+f 64 21 51
\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_9/collision/model_normalized_collision_13.obj b/objects/objaverse/bagel/bagel_9/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23654b8e231a4605b0e4ae54ef37c752a7183763
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_9/collision/model_normalized_collision_13.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.15676569 -0.00827561 -0.01348274
+v 0.15869941 -0.00795133 -0.21031123
+v 0.15055066 0.03738775 -0.01082145
+v -0.08560076 0.03828414 -0.01379448
+v -0.08212228 -0.01164830 -0.08543472
+v 0.16321452 0.03087240 -0.20048956
+v -0.03769299 -0.01194861 0.02110690
+v -0.08555526 0.01091415 -0.07491616
+v -0.04623804 -0.01591537 -0.10785566
+v -0.01343166 -0.01383298 0.02071838
+v -0.03539256 -0.00027359 0.01601800
+v -0.09315756 0.01500097 -0.03346024
+v -0.03105919 0.02355763 -0.09182536
+v 0.14165212 0.01683388 -0.19450335
+v -0.03138348 0.01150789 -0.10511564
+v 0.13688906 -0.01126380 -0.19953914
+v -0.01746785 -0.00480418 0.01722529
+v -0.07871641 0.02150299 -0.06284914
+v 0.15065993 0.03035463 -0.19471543
+f 6 4 3
+f 6 1 2
+f 6 3 1
+f 9 5 8
+f 9 7 5
+f 10 1 3
+f 10 7 9
+f 11 3 4
+f 11 4 7
+f 12 7 4
+f 12 5 7
+f 12 8 5
+f 12 4 8
+f 14 2 9
+f 15 9 8
+f 16 9 2
+f 16 2 1
+f 16 10 9
+f 16 1 10
+f 17 10 3
+f 17 3 11
+f 17 11 7
+f 17 7 10
+f 18 13 8
+f 18 8 4
+f 18 4 13
+f 19 13 4
+f 19 4 6
+f 19 8 13
+f 19 15 8
+f 19 9 15
+f 19 14 9
+f 19 6 2
+f 19 2 14
\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_9/collision/model_normalized_collision_14.obj b/objects/objaverse/bagel/bagel_9/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..451b8512a7bb63ab040e4fedb62562e8b74e1a9e
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_9/collision/model_normalized_collision_14.obj
@@ -0,0 +1,138 @@
+# https://github.com/mikedh/trimesh
+v 0.00312185 -0.45025143 0.06702034
+v 0.00266810 -0.44273454 0.07943958
+v -0.22877314 -0.31513770 0.09564224
+v -0.03908588 -0.05306363 0.15161181
+v 0.01448324 -0.13641292 0.07879876
+v -0.22219737 -0.18558599 0.25140104
+v -0.10584222 -0.44983111 0.07217635
+v 0.00017937 -0.27801823 0.16203989
+v -0.22084782 -0.14393940 0.07589540
+v -0.18399277 -0.38079696 0.09877100
+v -0.04591318 -0.37535353 0.14971999
+v -0.00141091 -0.11873908 0.14561438
+v -0.03120753 -0.05842231 0.14575639
+v -0.04494722 -0.05656574 0.16253834
+v -0.22793020 -0.21011655 0.23390722
+v -0.22084591 -0.32566194 0.07586315
+v -0.10537889 -0.44609075 0.07836306
+v -0.06260424 -0.25375654 0.19847284
+v -0.00232136 -0.37548457 0.13316471
+v -0.02099764 -0.07422027 0.14385023
+v -0.10462048 -0.37221161 0.14961499
+v -0.18942201 -0.38138472 0.07490949
+v -0.14953337 -0.41934016 0.07035190
+v 0.00137497 -0.43390935 0.08962575
+v -0.06147084 -0.32120168 0.17853920
+v -0.05901666 -0.13029228 0.20747713
+v -0.04060158 -0.09143518 0.18419656
+v -0.22326820 -0.19520422 0.24579111
+v -0.18473817 -0.32817276 0.15357942
+v -0.18849270 -0.37948993 0.08820869
+v -0.00676522 -0.40129679 0.11992599
+v -0.01698249 -0.32152981 0.16444595
+v -0.06808706 -0.13994093 0.21216782
+v -0.00569683 -0.12138688 0.15411353
+v -0.06832835 -0.11794898 0.20865210
+v -0.02629534 -0.07761928 0.15389179
+v -0.03732498 -0.06100943 0.15619559
+v -0.18714317 -0.35210314 0.12638644
+v -0.17002804 -0.37028329 0.11938575
+v -0.03077308 -0.33171117 0.16453396
+v -0.00194421 -0.33573283 0.14799493
+v -0.01271806 -0.24415647 0.17724037
+v -0.07648896 -0.20253313 0.20856005
+v -0.01125001 -0.13684823 0.17037040
+v -0.09022339 -0.12134975 0.21122928
+v -0.21016541 -0.18315934 0.24862201
+v -0.01843126 -0.13598363 0.17982169
+f 5 2 1
+f 8 2 5
+f 9 5 1
+f 12 8 5
+f 13 9 4
+f 13 5 9
+f 14 9 6
+f 14 4 9
+f 14 13 4
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+f 15 6 9
+f 15 3 10
+f 16 3 9
+f 17 7 1
+f 17 1 2
+f 17 10 7
+f 19 2 8
+f 20 12 5
+f 20 5 13
+f 21 11 6
+f 21 17 11
+f 22 3 16
+f 23 16 9
+f 23 9 1
+f 23 22 16
+f 23 1 7
+f 23 7 10
+f 24 17 2
+f 24 11 17
+f 24 2 19
+f 25 18 6
+f 25 6 11
+f 28 21 6
+f 28 6 15
+f 28 15 21
+f 29 21 15
+f 29 17 21
+f 30 10 3
+f 30 3 22
+f 30 23 10
+f 30 22 23
+f 31 24 19
+f 31 19 11
+f 31 11 24
+f 32 11 19
+f 32 18 25
+f 34 12 20
+f 35 27 14
+f 35 26 27
+f 35 33 26
+f 36 20 13
+f 36 34 20
+f 36 27 34
+f 37 13 14
+f 37 14 27
+f 37 36 13
+f 37 27 36
+f 38 29 15
+f 38 15 10
+f 38 10 29
+f 39 29 10
+f 39 10 17
+f 39 17 29
+f 40 32 25
+f 40 25 11
+f 40 11 32
+f 41 32 19
+f 41 19 8
+f 41 8 32
+f 42 32 8
+f 42 18 32
+f 42 33 18
+f 42 26 33
+f 43 18 33
+f 44 8 12
+f 44 12 34
+f 45 35 14
+f 45 14 6
+f 45 6 35
+f 46 35 6
+f 46 33 35
+f 46 43 33
+f 46 6 18
+f 46 18 43
+f 47 42 8
+f 47 8 44
+f 47 26 42
+f 47 27 26
+f 47 44 34
+f 47 34 27
\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_9/collision/model_normalized_collision_15.obj b/objects/objaverse/bagel/bagel_9/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1cbced0ee2b8448f9a07f5db28df73b4ef7d678
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_9/collision/model_normalized_collision_15.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.01736357 -0.49001413 -0.00698851
+v 0.20312843 -0.45859457 -0.06244400
+v 0.02744249 -0.46108675 0.04484534
+v 0.00398957 -0.39919262 0.11716721
+v 0.00642491 -0.40151516 -0.06046823
+v 0.20198984 -0.39998567 0.02789864
+v 0.00061526 -0.46359043 0.05009795
+v 0.04638866 -0.47603271 0.00625179
+v 0.00525256 -0.48583557 -0.11084219
+v 0.16400068 -0.44727060 -0.01206753
+v 0.03509721 -0.41407540 0.09167930
+v 0.02056534 -0.39524226 0.11129100
+v 0.20463759 -0.44217701 -0.04072727
+v 0.00167152 -0.40699626 0.11285044
+v 0.05526989 -0.48086363 -0.10945418
+v 0.00669457 -0.49104260 -0.00535959
+v 0.19868683 -0.43010229 -0.01291523
+v 0.04861011 -0.48697360 -0.10185282
+v 0.00487542 -0.49089925 -0.08756828
+v 0.20062862 -0.44583018 -0.03910391
+v 0.00645996 -0.48728604 -0.10460929
+f 7 1 3
+f 8 1 2
+f 8 3 1
+f 9 7 5
+f 10 6 3
+f 10 8 2
+f 10 3 8
+f 11 3 6
+f 12 6 5
+f 12 5 4
+f 12 4 6
+f 13 6 2
+f 13 2 5
+f 13 5 6
+f 14 7 3
+f 14 4 5
+f 14 5 7
+f 14 3 11
+f 14 11 6
+f 14 6 4
+f 15 9 5
+f 15 5 2
+f 16 1 7
+f 17 6 10
+f 18 15 2
+f 18 2 1
+f 18 9 15
+f 18 1 16
+f 19 16 7
+f 19 7 9
+f 19 18 16
+f 20 17 10
+f 20 10 2
+f 20 2 6
+f 20 6 17
+f 21 19 9
+f 21 9 18
+f 21 18 19
\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_9/collision/model_normalized_collision_17.obj b/objects/objaverse/bagel/bagel_9/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8a0779d0eae9089990278707e91189a3c8487a5
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_9/collision/model_normalized_collision_17.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.19673112 -0.15044792 0.03330201
+v 0.23340285 -0.14305529 -0.00355345
+v 0.18937363 -0.08371631 0.01223729
+v 0.00114614 -0.08133678 0.00866269
+v 0.00642491 -0.14393940 -0.06046823
+v 0.00896955 -0.11255073 0.12323642
+v 0.23348331 -0.12590459 0.01189582
+v 0.11949751 -0.08113144 -0.05222530
+v 0.18506908 -0.08180208 0.01004034
+v 0.01605794 -0.14482098 0.12707579
+v 0.23604306 -0.13578268 0.00547575
+v 0.09355902 -0.12291756 0.10468799
+v 0.04693024 -0.09143743 -0.03699873
+v 0.10510957 -0.15253123 0.10795117
+v 0.10341207 -0.13554638 0.10341451
+v 0.11394929 -0.12575971 0.09259103
+f 5 2 1
+f 6 4 5
+f 8 2 5
+f 8 7 2
+f 9 6 3
+f 9 4 6
+f 9 8 4
+f 9 3 7
+f 9 7 8
+f 10 6 5
+f 11 7 1
+f 11 1 2
+f 11 2 7
+f 12 7 3
+f 12 3 6
+f 13 8 5
+f 13 5 4
+f 13 4 8
+f 14 10 5
+f 14 5 1
+f 14 1 7
+f 14 12 6
+f 14 6 10
+f 15 14 7
+f 15 12 14
+f 16 15 7
+f 16 7 12
+f 16 12 15
\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_9/collision/model_normalized_collision_18.obj b/objects/objaverse/bagel/bagel_9/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14f79c6f606bf089ae3d5fbc453ebf1b787ef7de
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_9/collision/model_normalized_collision_18.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v 0.20312843 -0.45859457 -0.06244400
+v 0.37123665 -0.31857301 -0.06562695
+v 0.26654163 -0.37624097 0.01347489
+v 0.20524939 -0.26511686 0.07853867
+v 0.20339460 -0.26515152 -0.06046823
+v 0.33889429 -0.26883211 -0.00714259
+v 0.19675497 -0.35385029 0.06192781
+v 0.31713817 -0.40822336 -0.06519291
+v 0.32530466 -0.35699625 -0.02546670
+v 0.27163763 -0.30710200 0.04253112
+v 0.36721677 -0.24051040 -0.06432382
+v 0.20051050 -0.39815121 0.02918855
+v 0.20062862 -0.44583018 -0.03910391
+v 0.37547131 -0.24177192 -0.07023281
+v 0.36908258 -0.31776210 -0.05686562
+v 0.32402629 -0.39801770 -0.05998684
+v 0.25115324 -0.26482780 0.06201104
+v 0.32276933 -0.29327151 0.00220412
+v 0.31897577 -0.35613467 -0.01933129
+v 0.22923673 -0.32698775 0.05978962
+v 0.22312058 -0.38573162 0.03029032
+v 0.24449249 -0.41469784 -0.01100768
+v 0.20002118 -0.41673531 0.00498890
+v 0.35820933 -0.34674632 -0.06900109
+v 0.30904711 -0.26366285 0.01656938
+v 0.36902603 -0.24735215 -0.05873927
+v 0.27457103 -0.39897395 -0.01468021
+v 0.32409318 -0.34304810 -0.01753321
+v 0.28105479 -0.31706022 0.03042557
+v 0.21063578 -0.34963671 0.05816680
+v 0.22939330 -0.44375512 -0.04286437
+v 0.21183199 -0.41686368 0.00050671
+v 0.27425951 -0.43371947 -0.06602306
+v 0.36140512 -0.24419047 -0.05344848
+v 0.27655358 -0.41980252 -0.04052601
+v 0.22680901 -0.45068061 -0.06285346
+f 7 4 5
+f 11 5 4
+f 13 7 5
+f 13 5 1
+f 14 5 11
+f 14 1 5
+f 15 2 14
+f 16 9 3
+f 16 15 9
+f 17 10 6
+f 17 11 4
+f 18 6 10
+f 18 15 6
+f 19 3 9
+f 20 3 10
+f 20 10 17
+f 20 17 4
+f 20 4 7
+f 21 7 12
+f 22 21 12
+f 22 3 21
+f 23 12 7
+f 23 7 13
+f 24 14 2
+f 24 16 8
+f 24 2 15
+f 24 15 16
+f 25 17 6
+f 26 15 14
+f 26 14 6
+f 26 6 15
+f 27 16 3
+f 27 8 16
+f 27 3 22
+f 28 9 15
+f 28 15 18
+f 28 19 9
+f 28 18 10
+f 29 10 3
+f 29 3 19
+f 29 28 10
+f 29 19 28
+f 30 20 7
+f 30 3 20
+f 30 21 3
+f 30 7 21
+f 31 13 1
+f 31 23 13
+f 32 22 12
+f 32 12 23
+f 32 31 22
+f 32 23 31
+f 33 24 8
+f 33 1 14
+f 33 14 24
+f 34 14 11
+f 34 11 17
+f 34 17 25
+f 34 25 6
+f 34 6 14
+f 35 27 22
+f 35 8 27
+f 35 33 8
+f 35 22 31
+f 35 31 33
+f 36 33 31
+f 36 31 1
+f 36 1 33
\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_9/collision/model_normalized_collision_19.obj b/objects/objaverse/bagel/bagel_9/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a7830b4d0d896ea69a2bd168226f53436c3c90a
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_9/collision/model_normalized_collision_19.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v 0.05935584 -0.46970366 -0.15980559
+v 0.12520411 -0.40954061 -0.21599462
+v 0.12212332 -0.45159022 -0.16270513
+v 0.00675311 -0.14410290 -0.16611637
+v 0.01233519 -0.42237864 -0.20559393
+v 0.12866779 -0.21708721 -0.21754841
+v 0.06548813 -0.44477465 -0.19972159
+v 0.00765921 -0.46726030 -0.15992300
+v 0.13567340 -0.25688362 -0.22282285
+v 0.04161854 -0.14141307 -0.18333761
+v 0.12451421 -0.44614784 -0.17561166
+v 0.10303848 -0.40514073 -0.22708806
+v 0.05028606 -0.46115034 -0.17603806
+v 0.05383968 -0.44784750 -0.19641265
+v 0.10588248 -0.36765215 -0.24033313
+v 0.01518197 -0.37429957 -0.20943523
+v 0.10813689 -0.43220116 -0.19766911
+v 0.06674303 -0.45851789 -0.17748647
+v 0.06931849 -0.40843825 -0.22124641
+v 0.00973739 -0.46105385 -0.16963926
+v 0.12783993 -0.21849820 -0.22266490
+v 0.12290397 -0.36716805 -0.24127452
+v 0.01626137 -0.17575334 -0.17830957
+v 0.10403087 -0.24148476 -0.22334588
+v 0.05333916 -0.14493637 -0.19047640
+v 0.12585336 -0.34346184 -0.23934780
+v 0.01172477 -0.14598780 -0.17032889
+v 0.10547227 -0.35824317 -0.23919450
+v 0.11482270 -0.34500599 -0.23927100
+v 0.03095347 -0.14935922 -0.18074606
+f 1 3 4
+f 8 1 4
+f 8 4 5
+f 9 6 3
+f 10 4 3
+f 10 3 6
+f 11 3 1
+f 11 9 3
+f 11 2 9
+f 12 2 7
+f 13 1 8
+f 14 7 13
+f 16 5 4
+f 16 15 5
+f 17 11 7
+f 17 7 2
+f 17 2 11
+f 18 11 1
+f 18 7 11
+f 18 13 7
+f 18 1 13
+f 19 12 7
+f 19 15 12
+f 19 5 15
+f 19 14 5
+f 19 7 14
+f 20 8 5
+f 20 5 14
+f 20 14 13
+f 20 13 8
+f 21 6 9
+f 22 2 12
+f 22 12 15
+f 25 10 6
+f 25 6 21
+f 25 21 24
+f 25 24 16
+f 25 16 23
+f 26 9 2
+f 26 2 22
+f 26 21 9
+f 27 23 16
+f 27 16 4
+f 27 4 10
+f 27 10 25
+f 28 15 16
+f 28 16 24
+f 29 26 22
+f 29 22 15
+f 29 15 28
+f 29 28 24
+f 29 24 21
+f 29 21 26
+f 30 27 25
+f 30 25 23
+f 30 23 27
\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_9/collision/model_normalized_collision_2.obj b/objects/objaverse/bagel/bagel_9/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9155203e9b0b67138ddeb3863c370bfd596886a9
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_9/collision/model_normalized_collision_2.obj
@@ -0,0 +1,120 @@
+# https://github.com/mikedh/trimesh
+v 0.36914483 -0.15781126 -0.06097477
+v 0.43331536 -0.04671718 -0.06600629
+v 0.19046866 0.03929955 0.02245004
+v 0.00503310 0.03034443 -0.06069908
+v 0.38777548 -0.14756193 -0.06633339
+v 0.43911879 0.00703141 -0.06898594
+v -0.00012445 -0.06540373 0.02767362
+v 0.31819173 -0.10457649 0.01389555
+v 0.04693024 -0.09143743 -0.03699873
+v 0.14368825 0.03786984 -0.01588533
+v 0.42169095 -0.09473036 -0.06855607
+v 0.00353852 -0.01694800 0.01626576
+v 0.23604306 -0.13578268 0.00547575
+v 0.36340974 0.01721682 -0.01533681
+v 0.37393295 -0.13445970 -0.02842339
+v 0.11644397 -0.09014372 -0.04615017
+v 0.00114614 -0.08133678 0.00866269
+v 0.15763441 0.04053711 0.00061537
+v 0.18060742 0.03993894 0.01796722
+v 0.22200880 -0.12123217 0.01292198
+v 0.36754958 0.01977914 -0.01876739
+v 0.32628582 -0.04135784 0.01251797
+v 0.38388935 -0.14517379 -0.05255297
+v 0.38565700 -0.08057235 -0.01499463
+v 0.31443598 -0.13532541 -0.00371047
+v 0.13825468 -0.11224338 0.01011663
+v 0.29103103 -0.11734225 0.01313583
+v 0.34739108 -0.01116024 -0.00187036
+v 0.37560385 -0.14314876 -0.04095372
+v 0.38270298 -0.13600070 -0.04103122
+v 0.41666105 -0.08349276 -0.05344319
+v 0.42362359 -0.05418617 -0.05114404
+v 0.40409011 -0.00958695 -0.02990108
+v 0.35648465 -0.10242335 -0.00302291
+v 0.34711824 -0.11782891 -0.00350509
+v 0.36311952 -0.14637803 -0.03682764
+v 0.39594366 -0.08153815 -0.02694894
+v 0.37818341 0.00638854 -0.02017531
+v 0.35938679 -0.04063858 -0.00239803
+v 0.43013093 0.00734989 -0.06100075
+v 0.37038097 -0.11145633 -0.01538438
+f 8 3 7
+f 9 5 1
+f 10 6 4
+f 11 5 4
+f 11 4 6
+f 11 6 2
+f 12 7 3
+f 12 4 7
+f 13 9 1
+f 16 9 4
+f 16 4 5
+f 16 5 9
+f 17 7 4
+f 17 4 9
+f 17 9 13
+f 18 10 4
+f 18 6 10
+f 19 12 3
+f 19 4 12
+f 19 18 4
+f 20 7 13
+f 21 3 14
+f 21 19 3
+f 21 6 18
+f 21 18 19
+f 22 3 8
+f 23 1 5
+f 23 5 11
+f 24 22 8
+f 25 13 1
+f 26 17 13
+f 26 13 7
+f 26 7 17
+f 27 20 13
+f 27 8 7
+f 27 7 20
+f 27 25 8
+f 27 13 25
+f 28 14 3
+f 28 3 22
+f 29 23 15
+f 29 1 23
+f 30 23 11
+f 30 15 23
+f 31 30 11
+f 31 15 30
+f 32 2 6
+f 32 31 11
+f 32 11 2
+f 33 32 6
+f 33 24 32
+f 34 24 8
+f 35 25 15
+f 35 8 25
+f 35 34 8
+f 36 25 1
+f 36 1 29
+f 36 29 15
+f 36 15 25
+f 37 24 15
+f 37 15 31
+f 37 32 24
+f 37 31 32
+f 38 14 28
+f 38 28 33
+f 38 33 21
+f 38 21 14
+f 39 33 28
+f 39 28 22
+f 39 22 24
+f 39 24 33
+f 40 33 6
+f 40 6 21
+f 40 21 33
+f 41 15 24
+f 41 24 34
+f 41 35 15
+f 41 34 35
\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_9/collision/model_normalized_collision_21.obj b/objects/objaverse/bagel/bagel_9/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ccd262a8996951e6b33ea55a4f7311b4d64e4b9
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_9/collision/model_normalized_collision_21.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v 0.42014004 -0.02188840 -0.24411061
+v 0.44217665 0.09514991 -0.19721618
+v 0.15347732 -0.00488761 -0.20657910
+v 0.26425132 0.23388645 -0.19556932
+v 0.38039020 0.09405181 -0.27149585
+v 0.15936780 0.09795444 -0.19430160
+v 0.41975304 0.09049664 -0.24828208
+v 0.32928903 -0.00698905 -0.27276022
+v 0.33450693 0.22400806 -0.19201211
+v 0.34305683 0.10886730 -0.26816859
+v 0.40642610 0.09102013 -0.25998572
+v 0.37865087 -0.00168726 -0.27182307
+v 0.16408031 -0.00995955 -0.21319575
+v 0.41901577 0.15435684 -0.19312489
+v 0.26720713 0.20188637 -0.21169799
+v 0.36450735 0.10607858 -0.27072330
+v 0.25785903 -0.00863966 -0.25671482
+v 0.41665212 0.10375474 -0.24393484
+v 0.27100601 0.11338921 -0.23937500
+v 0.26691196 0.22824040 -0.20051728
+v 0.32108697 0.03576824 -0.26997123
+v 0.37685883 0.15640644 -0.24682271
+v 0.40322996 0.10758409 -0.25484445
+v 0.30100708 0.19230409 -0.22503254
+v 0.33159838 0.21976480 -0.20925617
+v 0.39942759 0.15246619 -0.23007968
+v 0.36015154 0.20603318 -0.20462997
+v 0.41639906 0.14810418 -0.20407835
+v 0.36087090 0.20757384 -0.19462331
+v 0.40104985 0.15783516 -0.22136741
+v 0.34736195 0.21018687 -0.21131595
+f 1 2 3
+f 6 3 2
+f 7 2 1
+f 9 4 6
+f 11 7 1
+f 12 8 5
+f 12 1 8
+f 12 11 1
+f 12 5 11
+f 13 1 3
+f 13 3 6
+f 14 9 6
+f 14 6 2
+f 16 5 8
+f 17 8 1
+f 17 1 13
+f 17 13 6
+f 18 14 2
+f 18 2 7
+f 19 15 10
+f 19 6 15
+f 19 17 6
+f 19 10 17
+f 20 15 6
+f 20 6 4
+f 21 16 8
+f 21 10 16
+f 21 17 10
+f 21 8 17
+f 22 5 16
+f 22 16 10
+f 23 18 7
+f 23 7 11
+f 23 11 5
+f 23 5 22
+f 24 10 15
+f 24 15 20
+f 24 22 10
+f 25 20 4
+f 25 4 9
+f 25 24 20
+f 25 22 24
+f 26 23 22
+f 26 18 23
+f 27 25 9
+f 27 26 22
+f 28 26 14
+f 28 14 18
+f 28 18 26
+f 29 27 9
+f 29 9 14
+f 29 14 27
+f 30 27 14
+f 30 14 26
+f 30 26 27
+f 31 27 22
+f 31 22 25
+f 31 25 27
\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_9/collision/model_normalized_collision_24.obj b/objects/objaverse/bagel/bagel_9/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f8f18ae58d321a83a11a5393f4365d6981f9542
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_9/collision/model_normalized_collision_24.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v -0.13862927 0.09222152 0.26318196
+v 0.02988715 0.13576650 -0.09751563
+v 0.01503883 0.23807095 0.24139862
+v -0.20623019 0.23443150 0.30461343
+v -0.20031830 0.09713919 -0.02229768
+v 0.02218784 0.23456954 -0.10333031
+v -0.15300586 0.21063861 0.30172263
+v 0.00722321 0.10650592 0.16901350
+v -0.20360808 0.10766203 0.28635025
+v -0.15322389 0.23875667 0.30611305
+v -0.19535185 0.23445713 -0.00417672
+v -0.18296166 0.09601877 -0.03212896
+v -0.02004396 0.20954257 0.25425080
+v 0.01036770 0.14547779 0.19646748
+v -0.20617401 0.11281033 0.28702777
+v -0.10559082 0.15675883 0.27371413
+v -0.20724162 0.20597234 0.30348541
+v -0.18087782 0.23038188 -0.01445741
+v 0.02624847 0.11544062 -0.06602843
+v -0.08942082 0.23805056 0.28586336
+v 0.01118317 0.18168665 0.22522395
+v -0.12003275 0.17852732 0.28395123
+v -0.07367764 0.14337034 0.25554281
+v -0.16531636 0.19958859 -0.02634738
+v -0.19529997 0.18498246 -0.01294008
+v -0.01856023 0.23708701 0.25649522
+v 0.01194962 0.22813936 0.24154022
+v -0.03387903 0.11401228 0.21135709
+v -0.08935968 0.21211639 0.28119275
+v -0.06712752 0.14824771 0.25413515
+v -0.15316301 0.22966272 -0.02694704
+f 6 3 2
+f 9 5 1
+f 10 3 6
+f 11 5 4
+f 11 10 6
+f 11 4 10
+f 12 6 2
+f 12 8 1
+f 12 1 5
+f 15 5 9
+f 16 9 1
+f 17 9 7
+f 17 7 10
+f 17 10 4
+f 17 15 9
+f 17 4 5
+f 17 5 15
+f 18 11 6
+f 19 12 2
+f 19 8 12
+f 19 14 8
+f 19 2 3
+f 19 3 14
+f 20 10 7
+f 20 3 10
+f 21 14 3
+f 21 8 14
+f 22 7 9
+f 22 9 16
+f 23 16 1
+f 23 13 16
+f 24 6 12
+f 24 12 18
+f 25 18 12
+f 25 12 5
+f 25 5 11
+f 25 11 18
+f 26 20 13
+f 26 13 3
+f 26 3 20
+f 27 21 3
+f 27 3 13
+f 27 13 21
+f 28 1 8
+f 28 8 21
+f 28 23 1
+f 28 21 23
+f 29 20 7
+f 29 7 22
+f 29 13 20
+f 29 22 16
+f 29 16 13
+f 30 23 21
+f 30 21 13
+f 30 13 23
+f 31 24 18
+f 31 18 6
+f 31 6 24
\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_9/collision/model_normalized_collision_25.obj b/objects/objaverse/bagel/bagel_9/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4290334106f76f937391d26f52acfbaa24bd4a4
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_9/collision/model_normalized_collision_25.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.29603799 -0.26381368 0.02780373
+v 0.37161820 -0.26565782 -0.05941806
+v 0.36645522 -0.13428023 -0.02328257
+v 0.01448324 -0.13641292 0.07879876
+v 0.00642491 -0.26515152 -0.06046823
+v 0.23721294 -0.22981803 0.06242774
+v 0.35320029 -0.25820006 -0.02813877
+v 0.00642491 -0.26515152 0.07589540
+v 0.00642491 -0.14393940 -0.06046823
+v 0.25115324 -0.26482780 0.06201104
+v 0.15506448 -0.15760644 0.06829056
+v 0.37285572 -0.15240248 -0.05765871
+v 0.29458624 -0.23064936 0.03121156
+v 0.25291893 -0.25897058 0.06051378
+f 7 1 2
+f 7 2 3
+f 7 3 1
+f 8 5 2
+f 9 2 5
+f 9 4 3
+f 9 8 4
+f 9 5 8
+f 10 4 8
+f 10 8 2
+f 10 2 1
+f 11 6 3
+f 11 3 4
+f 11 10 6
+f 11 4 10
+f 12 9 3
+f 12 3 2
+f 12 2 9
+f 13 10 1
+f 13 1 3
+f 14 3 6
+f 14 6 10
+f 14 13 3
+f 14 10 13
\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_9/collision/model_normalized_collision_26.obj b/objects/objaverse/bagel/bagel_9/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57f8500f89a96cbb5b67ee9f5225bde10213d546
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_9/collision/model_normalized_collision_26.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v -0.20923172 -0.19693432 0.21706400
+v -0.08481799 -0.13361147 0.21571430
+v -0.21307477 -0.04420362 0.30254567
+v -0.20472134 0.11852643 0.27853833
+v -0.20569631 0.09848484 0.21225904
+v -0.12082335 0.05713140 0.27007646
+v -0.19911142 -0.13484475 0.27275387
+v -0.18489177 -0.18088713 0.20457281
+v -0.22084782 -0.00757576 0.21225904
+v -0.13760354 -0.01541535 0.27000698
+v -0.19311539 0.09382820 0.30278567
+v -0.08150510 0.09866526 0.21389918
+v -0.22219737 -0.18558599 0.25140104
+v -0.15452054 -0.11846857 0.25619379
+v -0.22387939 -0.00750621 0.30845541
+v -0.19257459 -0.00691479 0.30038706
+v -0.11479914 0.01328858 0.25943496
+v -0.09527621 0.08357375 0.24279118
+v -0.17359909 0.11267275 0.27861351
+v -0.08447514 -0.12869275 0.21273803
+v -0.19561288 -0.16721460 0.25251264
+v -0.22111108 -0.13627770 0.27796116
+v -0.20226808 0.09075478 0.30306140
+v -0.22320536 -0.16733722 0.26016111
+v -0.18192722 0.10833051 0.29044467
+v -0.09571370 0.03182460 0.24315423
+v -0.16824767 0.11400971 0.26856984
+v -0.20038219 -0.17517030 0.24871602
+v -0.22210293 -0.05218537 0.30167184
+v -0.20288325 0.10540290 0.29374875
+f 8 2 1
+f 9 8 1
+f 9 5 8
+f 12 5 4
+f 12 8 5
+f 13 1 2
+f 13 9 1
+f 14 7 2
+f 14 3 7
+f 14 2 10
+f 15 4 5
+f 15 5 9
+f 16 10 6
+f 16 14 10
+f 16 3 14
+f 16 6 11
+f 16 15 3
+f 16 11 15
+f 17 10 2
+f 17 2 6
+f 17 6 10
+f 19 18 12
+f 20 12 2
+f 20 2 8
+f 20 8 12
+f 21 2 7
+f 21 7 13
+f 22 13 7
+f 22 7 3
+f 23 15 11
+f 24 15 9
+f 24 9 13
+f 24 13 22
+f 25 11 6
+f 25 6 18
+f 25 18 19
+f 25 19 4
+f 26 18 6
+f 26 6 2
+f 26 2 12
+f 26 12 18
+f 27 19 12
+f 27 12 4
+f 27 4 19
+f 28 21 13
+f 28 13 2
+f 28 2 21
+f 29 22 3
+f 29 3 15
+f 29 24 22
+f 29 15 24
+f 30 23 11
+f 30 4 15
+f 30 15 23
+f 30 25 4
+f 30 11 25
\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_9/collision/model_normalized_collision_27.obj b/objects/objaverse/bagel/bagel_9/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70f66694dc0dc5efa9acbbd36cd55c3d4b4aba25
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_9/collision/model_normalized_collision_27.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v -0.32690843 -0.00757576 0.09104692
+v -0.28083908 0.09829946 0.01701205
+v -0.27820267 0.23198118 0.04091809
+v -0.39824292 0.23323008 0.09393397
+v -0.43741690 -0.01479039 0.08216277
+v -0.36579092 0.09417452 0.03577558
+v -0.28906245 0.23572157 0.05010956
+v -0.27417943 0.16997530 0.02954901
+v -0.32367506 -0.00638575 0.00632119
+v -0.43522965 -0.00547017 0.09628313
+v -0.35263005 0.23141562 0.05936284
+v -0.40452783 0.09583715 0.06252550
+v -0.35449156 -0.01632902 0.01847627
+v -0.33596862 0.04964797 0.01664059
+v -0.44206616 -0.01362728 0.09458554
+v -0.40653385 0.21708946 0.09803236
+v -0.33758300 0.24265729 0.06114848
+v -0.37820731 0.19984632 0.06461439
+v -0.38121729 -0.01523506 0.02818246
+v -0.32472237 0.04941698 0.01490927
+v -0.31008984 0.23403281 0.04732624
+v -0.42111407 0.14235883 0.09705005
+v -0.40234937 0.18317407 0.07838841
+v -0.37866599 0.23159760 0.07297003
+v -0.38939390 0.07960504 0.04751810
+v -0.37083417 0.04703466 0.02956553
+v -0.40159582 0.21302727 0.08783538
+v -0.41459449 0.14304414 0.08457757
+v -0.38927298 0.21555242 0.07655484
+v -0.34699340 0.03705782 0.01865844
+v -0.39238578 0.23093673 0.08487662
+f 7 1 3
+f 7 4 1
+f 8 1 2
+f 8 2 3
+f 8 3 1
+f 9 2 1
+f 13 9 1
+f 13 1 5
+f 14 3 2
+f 14 6 11
+f 15 5 1
+f 15 1 10
+f 16 10 1
+f 16 1 4
+f 17 7 3
+f 17 4 7
+f 18 11 6
+f 19 9 13
+f 19 13 5
+f 19 5 12
+f 20 14 2
+f 20 2 9
+f 20 9 14
+f 21 14 11
+f 21 3 14
+f 21 17 3
+f 21 11 17
+f 22 15 10
+f 22 10 16
+f 22 5 15
+f 24 17 11
+f 24 4 17
+f 24 11 18
+f 25 18 6
+f 25 23 18
+f 25 12 23
+f 25 19 12
+f 26 25 6
+f 26 19 25
+f 27 16 4
+f 28 22 16
+f 28 27 23
+f 28 16 27
+f 28 5 22
+f 28 23 12
+f 28 12 5
+f 29 24 18
+f 29 18 23
+f 29 23 27
+f 30 26 6
+f 30 6 14
+f 30 14 9
+f 30 9 19
+f 30 19 26
+f 31 27 4
+f 31 4 24
+f 31 29 27
+f 31 24 29
\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_9/collision/model_normalized_collision_28.obj b/objects/objaverse/bagel/bagel_9/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e3bfc6d33bbc2b833ad2729fd4967f9a2c6ebea
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_9/collision/model_normalized_collision_28.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v -0.18169746 -0.01507933 0.29064450
+v -0.21185348 -0.00625160 0.30391075
+v -0.42902203 -0.00754926 0.24001544
+v -0.24710433 0.12084810 0.28228443
+v -0.20226808 0.09075478 0.30306140
+v -0.35389207 0.09853132 0.23773346
+v -0.37928831 -0.00932637 0.28569809
+v -0.22552852 0.07571645 0.31714567
+v -0.20248266 0.11714522 0.27935223
+v -0.30482190 -0.00520301 0.31597386
+v -0.42197814 -0.00946233 0.24988418
+v -0.30361576 0.06989295 0.32073838
+v -0.22733372 0.10444970 0.30389346
+v -0.21102514 0.12763113 0.28262022
+v -0.24147796 -0.00411136 0.31502403
+v -0.37170248 0.04677181 0.29203139
+v -0.31416102 0.08750965 0.28993198
+v -0.23955711 0.10204114 0.30345712
+v -0.33226840 0.10473524 0.24622407
+v -0.21530999 0.12314370 0.28703880
+v -0.42400999 0.01549782 0.23758593
+v -0.32302465 0.05385119 0.31505931
+v -0.34672001 0.05635828 0.30286469
+v -0.41769918 0.01709896 0.24744641
+v -0.32186478 0.06048914 0.31560142
+v -0.36471112 0.05149827 0.29302463
+f 6 1 3
+f 8 2 1
+f 8 1 5
+f 9 5 1
+f 9 1 6
+f 10 7 1
+f 11 3 1
+f 11 1 7
+f 13 8 5
+f 13 12 8
+f 14 9 6
+f 14 13 5
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+f 25 16 22
+f 26 23 17
+f 26 17 6
+f 26 6 16
+f 26 16 23
\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_9/collision/model_normalized_collision_3.obj b/objects/objaverse/bagel/bagel_9/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1f37214fbdcb437fa1cdba977e2e9725c29eed5
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_9/collision/model_normalized_collision_3.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.20159798 -0.46292904 -0.06883143
+v 0.43149844 -0.26094511 -0.21594636
+v 0.44123402 -0.01469590 -0.06667802
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+v 0.40079712 -0.31097025 -0.12038755
+v 0.00765921 -0.46726030 -0.15992300
+v 0.23750797 -0.46118014 -0.15779866
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+v 0.45925085 -0.00632204 -0.10935492
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+v 0.01172477 -0.14598780 -0.17032889
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+v 0.24229489 -0.46524401 -0.12687657
+v 0.41025433 -0.30165502 -0.14817426
+v 0.44508070 -0.02640606 -0.07104547
+v 0.31592888 -0.21091141 -0.31722338
+v 0.01148434 -0.01617637 -0.14112754
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\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_9/collision/model_normalized_collision_30.obj b/objects/objaverse/bagel/bagel_9/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb863bb11314a174b6c4ebb354327b6ae4782c95
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_9/collision/model_normalized_collision_30.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.20569631 0.09848484 0.07589540
+v -0.20031830 0.09713919 -0.02229768
+v -0.20305751 0.23348289 0.00413078
+v -0.28906245 0.23572157 0.05010956
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+f 12 10 9
+f 12 9 8
+f 12 8 5
+f 12 5 10
\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_9/collision/model_normalized_collision_9.obj b/objects/objaverse/bagel/bagel_9/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b90599dd0190c330e1bdc85cf04b0c67b0a2f015
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_9/collision/model_normalized_collision_9.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v -0.20642955 0.10301673 0.29130314
+v -0.20569631 0.09848484 0.07589540
+v -0.18937771 0.26741400 0.30270503
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+f 29 22 9
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+f 29 23 27
\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_9/visual/material.mtl b/objects/objaverse/bagel/bagel_9/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f68742fe8420aadeab267568817d347d5678c9d5
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_9/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 0.00000000
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/objects/objaverse/kiwi/kiwi_6/collision/model_normalized_collision_0.obj b/objects/objaverse/kiwi/kiwi_6/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ec000682a7dc1fa405da1029b7febc0d9aa813a
--- /dev/null
+++ b/objects/objaverse/kiwi/kiwi_6/collision/model_normalized_collision_0.obj
@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
+v -0.22944131 -0.41832350 0.28170129
+v -0.23015083 -0.38890280 0.01409383
+v -0.23216821 -0.00326506 0.31515591
+v -0.41639040 -0.00808225 0.31978902
+v -0.43621185 -0.22778542 0.14540413
+v -0.23585684 -0.40205135 0.31361194
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+v -0.23284384 -0.40927595 0.30911679
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+v -0.22867838 -0.41958197 0.25312954
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+v -0.34239519 -0.34054776 0.31631782
+v -0.28156132 -0.37009143 0.04858736
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+v -0.28594947 -0.38499874 0.31262811
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+v -0.31300392 -0.33850008 0.01401149
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+v -0.40141421 -0.28100411 0.23345816
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+v -0.41342235 -0.23753081 0.03036175
+v -0.38403686 -0.28033166 0.04542385
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\ No newline at end of file
diff --git a/objects/objaverse/kiwi/kiwi_6/collision/model_normalized_collision_10.obj b/objects/objaverse/kiwi/kiwi_6/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..05a5332975a81552cfeed32c5793dde20a11f3e0
--- /dev/null
+++ b/objects/objaverse/kiwi/kiwi_6/collision/model_normalized_collision_10.obj
@@ -0,0 +1,141 @@
+# https://github.com/mikedh/trimesh
+v 0.46627625 0.18676204 0.29075867
+v 0.44833677 0.18247780 0.04475065
+v 0.38488561 0.31261769 0.13460271
+v 0.26083590 0.40618169 0.29898116
+v 0.26540638 0.19456398 0.30029057
+v 0.25945441 0.38673119 0.00084971
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+v 0.34317670 0.35765222 0.29760410
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+v 0.26515156 0.18910832 -0.00510422
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+v 0.34007648 0.34083652 0.04300905
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+f 48 42 47
\ No newline at end of file
diff --git a/objects/objaverse/kiwi/kiwi_6/collision/model_normalized_collision_12.obj b/objects/objaverse/kiwi/kiwi_6/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6f18e6434c615ab1e3b7255449696a821df3af6
--- /dev/null
+++ b/objects/objaverse/kiwi/kiwi_6/collision/model_normalized_collision_12.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.01418286 -0.25840047 -0.26939787
+v 0.00381836 -0.22731069 -0.29027636
+v -0.09848482 -0.00786138 -0.23237696
+v -0.25033305 0.03115032 -0.29493762
+v -0.23535475 -0.23579310 -0.23317759
+v -0.10184499 -0.00687968 -0.32529130
+v 0.00757579 -0.12907351 -0.23237696
+v -0.10626298 -0.22419354 -0.29033142
+v -0.23484847 -0.00786138 -0.23237696
+v -0.16303885 0.03468646 -0.31596714
+v 0.00763701 -0.12885570 -0.32112156
+v -0.22853991 -0.08246797 -0.30373282
+v 0.00855428 -0.18439191 -0.30814230
+v -0.16672266 -0.19137312 -0.29290863
+v -0.22841813 -0.13654073 -0.28863403
+v -0.08343937 -0.14199901 -0.32131589
+v -0.17067938 -0.00891158 -0.32199754
+v -0.00871504 -0.19674368 -0.30626224
+v -0.16679846 -0.22161957 -0.27537263
+v -0.22431036 -0.20506092 -0.26096896
+v -0.20016966 -0.12582158 -0.30247398
+v -0.02257555 -0.12719870 -0.32327546
+v -0.09486605 -0.19734296 -0.30485385
+v -0.15856193 0.02119936 -0.31860205
+v -0.17208810 -0.05285154 -0.32068133
+v -0.22880683 0.01846882 -0.30639401
+v -0.22851438 -0.22359691 -0.24645511
+v -0.16755274 -0.15201389 -0.30504840
+v -0.02318083 -0.14075383 -0.32153634
+v -0.12553253 -0.11130489 -0.32070209
+v -0.12552639 -0.18235759 -0.30412433
+v -0.11111647 -0.12456452 -0.32054420
+f 7 5 1
+f 8 2 1
+f 8 1 5
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+f 9 4 5
+f 9 7 3
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+f 10 4 3
+f 10 3 6
+f 11 7 1
+f 11 6 3
+f 11 3 7
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+f 13 1 2
+f 15 5 4
+f 15 4 12
+f 18 13 2
+f 19 14 8
+f 19 8 5
+f 20 15 14
+f 20 5 15
+f 20 14 19
+f 21 15 12
+f 21 14 15
+f 22 16 6
+f 22 6 11
+f 23 8 14
+f 23 16 18
+f 23 18 2
+f 23 2 8
+f 24 17 10
+f 24 10 6
+f 24 6 17
+f 25 17 6
+f 26 12 4
+f 26 4 10
+f 26 10 17
+f 26 25 12
+f 26 17 25
+f 27 20 19
+f 27 19 5
+f 27 5 20
+f 28 14 21
+f 28 21 12
+f 28 12 25
+f 29 18 16
+f 29 16 22
+f 29 13 18
+f 29 22 11
+f 29 11 13
+f 30 25 6
+f 30 6 16
+f 30 28 25
+f 31 23 14
+f 31 14 28
+f 31 28 16
+f 31 16 23
+f 32 30 16
+f 32 16 28
+f 32 28 30
\ No newline at end of file
diff --git a/objects/objaverse/kiwi/kiwi_6/collision/model_normalized_collision_13.obj b/objects/objaverse/kiwi/kiwi_6/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d26e23ffb92926e5902a0bc073aea5d6e8923b8
--- /dev/null
+++ b/objects/objaverse/kiwi/kiwi_6/collision/model_normalized_collision_13.obj
@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
+v -0.42138018 -0.23671002 0.31755239
+v -0.41150802 -0.23225948 0.01181398
+v -0.41540157 0.12817534 0.32126119
+v -0.44673362 0.12887794 0.32119764
+v -0.48985561 -0.07982666 0.10323166
+v -0.44947752 -0.21248805 0.33040117
+v -0.45307221 0.09514120 0.00170564
+v -0.44382875 -0.22216712 0.32859785
+v -0.49018627 0.04967586 0.31913649
+v -0.45817929 -0.18238150 0.10096256
+v -0.47311661 -0.09700460 0.01260227
+v -0.46171204 0.13942269 0.17069216
+v -0.42843685 -0.22326889 0.05920059
+v -0.48293267 0.08101853 0.31993190
+v -0.49071180 -0.09162902 0.31203572
+v -0.49010965 0.03295311 0.13429006
+v -0.44434788 -0.20837679 0.10467870
+v -0.47384426 -0.13851250 0.08810789
+v -0.44381041 -0.17984869 0.01349150
+v -0.48996935 -0.08462901 0.31897362
+v -0.49115925 -0.00572358 0.08703813
+v -0.47449505 0.07741702 0.08711208
+v -0.48975261 0.04861698 0.17852160
+v -0.44204298 -0.19576262 0.04527489
+v -0.47337064 -0.10953199 0.02940284
+v -0.48954430 -0.09563860 0.13119249
+v -0.47393747 -0.15361371 0.13423327
+v -0.45879833 -0.16747701 0.05880492
+v -0.47630945 -0.13819256 0.31851151
+v -0.49068157 -0.05220415 0.08778964
+v -0.47365970 0.03313121 0.01615630
+v -0.46351744 0.13553211 0.17451575
+v -0.42723664 -0.20893847 0.01412236
+v -0.45866383 -0.15487534 0.02932008
+v -0.47366061 -0.15367745 0.26887594
+v -0.47296056 0.05209546 0.03099812
+v -0.41778400 -0.22443337 0.01516923
+v -0.46060858 -0.18432349 0.32368534
+v -0.46142658 0.07812817 0.01385998
+f 1 2 3
+f 6 3 4
+f 7 3 2
+f 8 1 3
+f 8 3 6
+f 11 7 2
+f 12 4 3
+f 12 3 7
+f 13 2 1
+f 13 1 8
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+f 14 6 4
+f 14 4 12
+f 17 8 6
+f 17 6 10
+f 17 13 8
+f 19 11 2
+f 20 6 9
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+f 21 15 9
+f 21 9 16
+f 22 12 7
+f 23 22 16
+f 23 16 9
+f 23 9 14
+f 24 17 10
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+f 25 18 5
+f 25 5 11
+f 26 5 18
+f 27 10 6
+f 27 26 18
+f 27 15 26
+f 28 27 18
+f 28 10 27
+f 28 24 10
+f 28 19 24
+f 29 20 15
+f 29 6 20
+f 30 15 21
+f 30 26 15
+f 30 5 26
+f 30 21 11
+f 30 11 5
+f 31 7 11
+f 31 11 21
+f 32 23 14
+f 32 14 12
+f 32 12 22
+f 32 22 23
+f 33 24 19
+f 33 19 2
+f 33 13 24
+f 34 25 11
+f 34 11 19
+f 34 19 28
+f 34 28 18
+f 34 18 25
+f 35 27 6
+f 35 29 15
+f 35 15 27
+f 36 16 22
+f 36 31 21
+f 36 21 16
+f 37 33 2
+f 37 2 13
+f 37 13 33
+f 38 35 6
+f 38 6 29
+f 38 29 35
+f 39 36 22
+f 39 22 7
+f 39 7 31
+f 39 31 36
\ No newline at end of file
diff --git a/objects/objaverse/kiwi/kiwi_6/collision/model_normalized_collision_14.obj b/objects/objaverse/kiwi/kiwi_6/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18a07330e521103899df447e29694a44d4cad184
--- /dev/null
+++ b/objects/objaverse/kiwi/kiwi_6/collision/model_normalized_collision_14.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.03540107 -0.43159182 0.01319294
+v 0.24515268 -0.22758984 -0.20814928
+v 0.25000004 -0.23513412 0.01004729
+v -0.23484847 -0.23513412 0.01004729
+v -0.18625001 -0.23507183 -0.26091146
+v 0.24096699 -0.35727364 0.01397758
+v 0.03431509 -0.35401457 -0.17403263
+v -0.23415308 -0.38553520 0.01049416
+v -0.18364546 -0.22661665 -0.26674141
+v -0.15531667 -0.41667481 0.01412451
+v 0.13832774 -0.36563951 -0.10395249
+v -0.23091744 -0.22954366 -0.23983808
+v 0.15508426 -0.22636641 -0.25131084
+v 0.00366668 -0.25177359 -0.27677570
+v 0.15258133 -0.40005116 0.01370359
+v -0.05081793 -0.41274068 -0.05914346
+v 0.04994346 -0.39865350 -0.08853958
+v 0.11885794 -0.33946363 -0.15871105
+v 0.24023867 -0.30593837 -0.11529717
+v -0.24852317 -0.32291937 -0.12461199
+v -0.21477386 -0.22913763 -0.25013176
+v -0.12557346 -0.32355952 -0.20381464
+v -0.07997169 -0.25464152 -0.27456472
+v 0.06290049 -0.29643704 -0.22993938
+v 0.05090385 -0.22749767 -0.28067776
+v -0.06701885 -0.43217927 0.01357324
+v 0.18221127 -0.36577341 -0.05988706
+v 0.06405072 -0.36755900 -0.14516164
+v -0.06294163 -0.35530264 -0.17431468
+v 0.00662492 -0.41404306 -0.05881263
+v 0.07770221 -0.41331701 -0.02918918
+v 0.23953235 -0.27788471 -0.15663341
+v 0.22363767 -0.30966467 -0.12623088
+v -0.18206327 -0.38168424 -0.07357401
+v -0.22383702 -0.29292860 -0.18763805
+v -0.13922520 -0.23528570 -0.27561962
+v 0.06264984 -0.32691078 -0.20109442
+v 0.15243427 -0.23857515 -0.24373830
+v 0.03373169 -0.26911121 -0.25917403
+v -0.09524604 -0.41321365 -0.04660431
+v 0.21019711 -0.36612704 -0.01478510
+v 0.06397414 -0.38341125 -0.11641891
+v 0.09159234 -0.36820656 -0.13010667
+v -0.06653696 -0.42902519 -0.00131940
+v 0.10902854 -0.41561693 0.01246772
+v 0.05002799 -0.41441806 -0.04436059
+v 0.07887484 -0.39836014 -0.07432712
+v 0.24134635 -0.25024282 -0.18823929
+v 0.13588447 -0.35088037 -0.13178624
+v -0.18174851 -0.39772147 -0.02923276
+v -0.22659306 -0.36781568 -0.06018758
+v -0.16535319 -0.35536241 -0.14285202
+v -0.24512151 -0.31734434 -0.13651246
+v -0.22229414 -0.26656010 -0.21580363
+v -0.13955016 -0.22917820 -0.27927263
+v -0.12443605 -0.28192413 -0.24524028
+v 0.09202731 -0.33843449 -0.17349832
+v 0.04550440 -0.23901825 -0.27605953
+v 0.10406961 -0.23812763 -0.26025709
+v -0.10963676 -0.38288180 -0.11627477
+v 0.15173559 -0.39706928 0.00000272
+v 0.23776744 -0.33583342 -0.05807928
+v 0.09135801 -0.38273445 -0.10377246
+v -0.12426220 -0.41219404 -0.02952175
+f 3 2 4
+f 6 3 4
+f 6 2 3
+f 10 6 4
+f 10 4 8
+f 12 4 9
+f 13 9 4
+f 13 4 2
+f 15 6 10
+f 19 2 6
+f 20 8 4
+f 20 4 12
+f 21 12 9
+f 21 9 5
+f 25 9 13
+f 26 15 10
+f 26 1 15
+f 29 7 17
+f 29 22 23
+f 29 23 14
+f 30 29 17
+f 30 16 29
+f 32 2 19
+f 33 32 19
+f 33 18 32
+f 33 27 11
+f 33 19 27
+f 37 7 29
+f 37 28 7
+f 38 13 2
+f 38 37 24
+f 39 24 37
+f 39 37 29
+f 39 29 14
+f 41 6 15
+f 42 17 7
+f 42 7 28
+f 43 28 18
+f 43 42 28
+f 44 16 30
+f 44 40 16
+f 44 26 10
+f 44 30 1
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+f 45 15 1
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+f 46 30 17
+f 46 31 1
+f 46 1 30
+f 47 11 27
+f 47 17 42
+f 47 46 17
+f 47 31 46
+f 48 32 18
+f 48 2 32
+f 48 18 37
+f 48 38 2
+f 48 37 38
+f 49 33 11
+f 49 18 33
+f 49 43 18
+f 49 11 43
+f 50 10 8
+f 51 8 20
+f 51 50 8
+f 51 34 50
+f 52 22 29
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+f 52 51 20
+f 52 34 51
+f 53 20 12
+f 53 52 20
+f 53 35 52
+f 54 12 21
+f 54 21 5
+f 54 22 35
+f 54 53 12
+f 54 35 53
+f 55 36 5
+f 55 5 9
+f 55 9 25
+f 55 25 14
+f 55 14 23
+f 55 23 36
+f 56 36 23
+f 56 23 22
+f 56 5 36
+f 56 54 5
+f 56 22 54
+f 57 37 18
+f 57 18 28
+f 57 28 37
+f 58 39 14
+f 58 14 25
+f 59 38 24
+f 59 24 39
+f 59 13 38
+f 59 39 58
+f 59 58 25
+f 59 25 13
+f 60 29 16
+f 60 16 40
+f 60 52 29
+f 60 40 34
+f 60 34 52
+f 61 41 15
+f 61 27 41
+f 61 15 45
+f 61 47 27
+f 61 45 31
+f 61 31 47
+f 62 41 27
+f 62 27 19
+f 62 19 6
+f 62 6 41
+f 63 43 11
+f 63 42 43
+f 63 47 42
+f 63 11 47
+f 64 44 10
+f 64 40 44
+f 64 10 50
+f 64 50 34
+f 64 34 40
\ No newline at end of file
diff --git a/objects/objaverse/kiwi/kiwi_6/collision/model_normalized_collision_15.obj b/objects/objaverse/kiwi/kiwi_6/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..632645463915bf805032faa24cdb11bdcfb2e4d8
--- /dev/null
+++ b/objects/objaverse/kiwi/kiwi_6/collision/model_normalized_collision_15.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.26077126 -0.00561284 0.30035149
+v 0.26515156 -0.00786138 -0.00510422
+v 0.26083590 0.40618169 0.29898116
+v 0.00644260 0.44836460 0.30622345
+v 0.00757579 -0.00786138 -0.00510422
+v 0.15598715 0.42934356 -0.00252446
+v 0.00788824 -0.00761019 0.31027817
+v 0.25945441 0.38673119 0.00084971
+v 0.13936221 0.44535227 0.29402121
+v 0.00832293 0.43342800 -0.00236750
+v 0.00757579 0.21941136 -0.00510422
+v 0.24597447 0.41321950 0.30023483
+v 0.09578507 0.44558249 0.04307219
+v 0.12557136 0.44486123 0.30230221
+v 0.21098965 0.42950310 0.17727831
+v 0.01023211 0.44447781 0.05750160
+v 0.12610665 0.44545171 0.07223584
+v 0.19825646 0.42993281 0.29896398
+v 0.24289467 0.41179614 0.07317830
+v 0.20972555 0.43034246 0.23932284
+v 0.03898943 0.44500126 0.04254697
+v 0.14078456 0.44468420 0.10060279
+v 0.21233305 0.41252007 0.00346342
+v 0.25207612 0.39909446 0.02744659
+v 0.19813303 0.42801687 0.05738164
+v 0.24165808 0.39743278 0.00076182
+v 0.22672351 0.41204839 0.02778441
+v 0.18810878 0.42807224 0.02726621
+f 1 2 3
+f 7 4 5
+f 7 5 2
+f 7 2 1
+f 8 3 2
+f 8 2 6
+f 11 6 2
+f 11 2 5
+f 11 10 6
+f 11 5 4
+f 11 4 10
+f 12 7 1
+f 12 1 3
+f 12 4 7
+f 13 6 10
+f 14 9 4
+f 14 4 12
+f 16 10 4
+f 17 13 4
+f 17 4 9
+f 17 6 13
+f 18 14 12
+f 18 9 14
+f 19 15 3
+f 20 12 3
+f 20 3 15
+f 20 18 12
+f 20 9 18
+f 21 13 10
+f 21 10 16
+f 21 16 4
+f 21 4 13
+f 22 17 9
+f 22 20 15
+f 22 9 20
+f 24 19 3
+f 24 3 8
+f 25 22 15
+f 25 15 19
+f 26 8 6
+f 26 6 23
+f 26 24 8
+f 27 19 24
+f 27 26 23
+f 27 24 26
+f 28 6 17
+f 28 17 22
+f 28 22 25
+f 28 23 6
+f 28 27 23
+f 28 25 19
+f 28 19 27
\ No newline at end of file
diff --git a/objects/objaverse/kiwi/kiwi_6/collision/model_normalized_collision_17.obj b/objects/objaverse/kiwi/kiwi_6/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90d0f7cedf7be18e9b86f5eb4ecd46932dfc406a
--- /dev/null
+++ b/objects/objaverse/kiwi/kiwi_6/collision/model_normalized_collision_17.obj
@@ -0,0 +1,117 @@
+# https://github.com/mikedh/trimesh
+v -0.23556648 0.18892655 0.31634082
+v -0.23484847 0.18910832 0.01004729
+v -0.22883564 0.38818655 0.02785103
+v -0.23305436 0.39479166 0.31768665
+v -0.44972869 0.18366949 0.32136200
+v -0.44813201 0.18299197 0.26795091
+v -0.31816876 0.35108501 0.12957669
+v -0.40162387 0.26885025 0.31710386
+v -0.27489739 0.38124946 0.19367867
+v -0.42303602 0.18550171 0.01174530
+v -0.42960782 0.22249706 0.22606275
+v -0.25902131 0.38222085 0.07146304
+v -0.31112425 0.35559549 0.31561430
+v -0.23398932 0.38421120 0.01035367
+v -0.43220061 0.18404210 0.05714077
+v -0.44299619 0.19719350 0.27114914
+v -0.43077137 0.22343027 0.31853980
+v -0.38497226 0.28176032 0.11803832
+v -0.28522580 0.36793427 0.08722502
+v -0.27254634 0.38270877 0.30577211
+v -0.42835336 0.21006156 0.11797416
+v -0.44427986 0.19643186 0.32044769
+v -0.39832975 0.26871118 0.17710010
+v -0.37007014 0.28242619 0.01283527
+v -0.31244579 0.33891751 0.01553380
+v -0.25724952 0.38577655 0.31551337
+v -0.29974658 0.36703992 0.23848050
+v -0.41356343 0.24030046 0.11719415
+v -0.35468608 0.31087018 0.05993366
+v -0.29744870 0.35316387 0.03066833
+v -0.29791395 0.36823129 0.26672560
+v -0.39904729 0.25190421 0.05847498
+v -0.41179583 0.22507828 0.04445742
+v -0.36855572 0.29651370 0.07402384
+v -0.32574246 0.34124889 0.07600722
+v -0.27246003 0.36588912 0.01549419
+v -0.42842908 0.19408045 0.05729270
+v -0.39849973 0.23892155 0.01377500
+v -0.38404988 0.26747193 0.02884408
+v -0.41291230 0.21165109 0.01423042
+f 1 2 3
+f 1 3 4
+f 5 1 4
+f 6 2 1
+f 6 1 5
+f 8 5 4
+f 12 9 4
+f 12 4 3
+f 13 8 4
+f 13 7 8
+f 14 3 2
+f 14 2 10
+f 14 12 3
+f 15 10 2
+f 15 2 6
+f 16 6 5
+f 17 8 11
+f 18 8 7
+f 19 7 9
+f 19 9 12
+f 20 4 9
+f 21 15 6
+f 21 6 16
+f 21 16 11
+f 22 5 8
+f 22 8 17
+f 22 16 5
+f 22 17 11
+f 22 11 16
+f 23 11 8
+f 23 8 18
+f 24 14 10
+f 25 14 24
+f 26 20 13
+f 26 13 4
+f 26 4 20
+f 27 9 7
+f 27 7 13
+f 28 21 11
+f 28 11 23
+f 28 23 18
+f 29 18 7
+f 29 25 24
+f 30 19 12
+f 31 20 9
+f 31 9 27
+f 31 27 13
+f 31 13 20
+f 32 28 18
+f 33 21 28
+f 33 28 32
+f 34 29 24
+f 34 18 29
+f 35 29 7
+f 35 25 29
+f 35 30 25
+f 35 7 19
+f 35 19 30
+f 36 30 12
+f 36 12 14
+f 36 14 25
+f 36 25 30
+f 37 15 21
+f 37 21 33
+f 37 10 15
+f 38 33 32
+f 38 24 10
+f 39 32 18
+f 39 18 34
+f 39 34 24
+f 39 38 32
+f 39 24 38
+f 40 37 33
+f 40 10 37
+f 40 38 10
+f 40 33 38
\ No newline at end of file
diff --git a/objects/objaverse/kiwi/kiwi_6/collision/model_normalized_collision_18.obj b/objects/objaverse/kiwi/kiwi_6/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1a146871b4a027567eb70d07bb47647d7d99560
--- /dev/null
+++ b/objects/objaverse/kiwi/kiwi_6/collision/model_normalized_collision_18.obj
@@ -0,0 +1,180 @@
+# https://github.com/mikedh/trimesh
+v 0.25000004 0.20425984 -0.14146787
+v 0.24373787 0.19994587 -0.25336508
+v 0.17049323 0.37379294 -0.13499406
+v -0.15614001 0.35976597 -0.13691718
+v -0.23484847 0.20425984 -0.14146787
+v 0.06596497 0.28026352 -0.26270149
+v 0.24638628 0.33408019 -0.13422903
+v -0.17305654 0.19649616 -0.27979441
+v 0.16933565 0.29317559 -0.23080608
+v 0.05699666 0.35554210 -0.18717554
+v -0.05060995 0.37431626 -0.13382545
+v 0.18481991 0.19700214 -0.28043713
+v -0.23146325 0.33453367 -0.13818769
+v -0.18413540 0.29542458 -0.21461298
+v 0.24320438 0.26423280 -0.21406961
+v 0.19760686 0.33739298 -0.17259974
+v 0.12514998 0.33878729 -0.20279504
+v -0.21261469 0.34432131 -0.13481949
+v 0.01119683 0.36842876 -0.16288237
+v 0.09873871 0.22885720 -0.28917256
+v 0.16658568 0.25237202 -0.26179620
+v -0.23108179 0.20239902 -0.25469573
+v -0.12720876 0.25510429 -0.25909970
+v 0.00123569 0.32407596 -0.21961429
+v 0.22579601 0.34098149 -0.14442634
+v 0.19395971 0.29902701 -0.21366658
+v 0.12567426 0.30827967 -0.23283618
+v 0.09786869 0.35304008 -0.19083623
+v 0.16605815 0.33728004 -0.18866049
+v -0.21351386 0.30902392 -0.18703129
+v 0.12477265 0.20000828 -0.29392588
+v 0.18284420 0.21262180 -0.27494999
+v 0.24290103 0.21012381 -0.24852283
+v 0.18194410 0.26689779 -0.24393841
+v 0.11013550 0.25091652 -0.27694004
+v -0.21484714 0.19952272 -0.26415346
+v 0.03934902 0.22671843 -0.28941802
+v -0.15522570 0.26762963 -0.24491776
+v 0.00288660 0.31331873 -0.22978830
+v -0.16547057 0.32512385 -0.18692672
+v 0.22725033 0.34467235 -0.13519715
+v 0.23685044 0.31128537 -0.17345837
+v 0.13813666 0.27031982 -0.25865378
+v 0.13844304 0.36710105 -0.15898734
+v 0.10921833 0.29655404 -0.24543990
+v 0.16912860 0.36846792 -0.14455213
+v -0.21186919 0.33761571 -0.14865086
+v -0.22549894 0.25305010 -0.23020975
+v 0.12499138 0.21298495 -0.28978824
+v -0.12591585 0.22300337 -0.27541729
+v -0.00550623 0.19985694 -0.29188411
+v 0.02568033 0.25327193 -0.27613039
+v -0.16869297 0.23975061 -0.25956796
+v 0.24191971 0.32804003 -0.14677239
+v -0.22725372 0.32250439 -0.16017118
+v -0.18361593 0.33911970 -0.16003117
+v -0.21167939 0.26855708 -0.22785445
+v -0.22605139 0.22784189 -0.24662694
+v 0.16701452 0.22461120 -0.27389085
+v -0.19859037 0.25248580 -0.24341412
+v -0.19979817 0.22828828 -0.25762569
+f 7 1 2
+f 7 5 1
+f 8 1 5
+f 11 7 3
+f 12 2 1
+f 12 1 8
+f 15 7 2
+f 18 5 7
+f 18 7 11
+f 18 13 5
+f 18 11 4
+f 19 4 11
+f 19 11 3
+f 22 5 13
+f 24 19 10
+f 25 16 3
+f 28 10 19
+f 28 24 10
+f 28 6 24
+f 28 17 27
+f 29 27 17
+f 29 9 27
+f 29 26 9
+f 29 16 26
+f 31 12 8
+f 32 2 12
+f 33 21 15
+f 33 15 2
+f 33 32 21
+f 33 2 32
+f 34 21 9
+f 34 15 21
+f 34 26 15
+f 34 9 26
+f 35 20 6
+f 36 8 5
+f 36 5 22
+f 37 20 31
+f 39 24 6
+f 39 6 23
+f 39 23 38
+f 39 38 14
+f 39 14 24
+f 40 24 14
+f 40 4 19
+f 40 19 24
+f 40 14 30
+f 41 25 3
+f 41 3 7
+f 41 7 25
+f 42 7 15
+f 42 16 25
+f 42 26 16
+f 42 15 26
+f 43 27 9
+f 43 9 21
+f 43 21 35
+f 44 17 28
+f 44 29 17
+f 44 28 19
+f 44 19 3
+f 45 28 27
+f 45 6 28
+f 45 27 43
+f 45 43 35
+f 45 35 6
+f 46 3 16
+f 46 16 29
+f 46 44 3
+f 46 29 44
+f 47 13 18
+f 47 18 4
+f 48 22 13
+f 49 31 20
+f 49 20 35
+f 49 32 12
+f 49 12 31
+f 50 37 8
+f 51 37 31
+f 51 31 8
+f 51 8 37
+f 52 23 6
+f 52 6 20
+f 52 20 37
+f 52 50 23
+f 52 37 50
+f 53 38 23
+f 53 50 8
+f 53 23 50
+f 54 42 25
+f 54 25 7
+f 54 7 42
+f 55 47 30
+f 55 13 47
+f 55 48 13
+f 55 30 48
+f 56 40 30
+f 56 30 47
+f 56 47 4
+f 56 4 40
+f 57 48 30
+f 57 30 14
+f 57 14 38
+f 58 36 22
+f 58 22 48
+f 58 48 57
+f 59 21 32
+f 59 32 49
+f 59 49 35
+f 59 35 21
+f 60 57 38
+f 60 38 53
+f 60 58 57
+f 61 8 36
+f 61 36 58
+f 61 58 60
+f 61 60 53
+f 61 53 8
\ No newline at end of file
diff --git a/objects/objaverse/kiwi/kiwi_6/collision/model_normalized_collision_19.obj b/objects/objaverse/kiwi/kiwi_6/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2e2cace711d085856b8750de189b7bede7a78b2
--- /dev/null
+++ b/objects/objaverse/kiwi/kiwi_6/collision/model_normalized_collision_19.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.35585293 0.08407569 0.31888604
+v -0.35606060 0.08304771 0.01004729
+v -0.35684972 0.19009453 0.32027527
+v -0.44972869 0.18366949 0.32136200
+v -0.48293267 0.08101853 0.31993190
+v -0.40805083 0.21282322 -0.00325560
+v -0.46142658 0.07812817 0.01385998
+v -0.47864228 0.07849664 0.13208688
+v -0.47504804 0.10597758 0.19341110
+v -0.45875472 0.12130467 0.07440662
+v -0.46214215 0.15303849 0.31895622
+v -0.44359347 0.13612296 0.01708042
+v -0.47481651 0.09258660 0.13372622
+v -0.44379487 0.18132302 0.14819783
+v -0.47561348 0.10874865 0.31964301
+v -0.42753207 0.18288141 0.02896652
+v -0.45736156 0.09265271 0.01470875
+v -0.45841354 0.15175109 0.19322493
+v -0.45833787 0.13601647 0.11888574
+v -0.44241238 0.15205364 0.04304737
+v -0.42303602 0.18550171 0.01174530
+v -0.44315100 0.16746091 0.08833920
+f 1 2 3
+f 1 3 4
+f 5 1 4
+f 6 3 2
+f 6 4 3
+f 7 2 1
+f 7 6 2
+f 8 7 1
+f 8 1 5
+f 9 8 5
+f 10 7 8
+f 13 10 8
+f 13 8 9
+f 14 4 6
+f 15 11 9
+f 15 9 5
+f 15 5 4
+f 15 4 11
+f 17 12 6
+f 17 6 7
+f 17 7 10
+f 17 10 12
+f 18 11 4
+f 18 4 14
+f 18 9 11
+f 19 10 13
+f 19 18 14
+f 19 13 9
+f 19 9 18
+f 20 16 12
+f 20 12 10
+f 21 16 6
+f 21 6 12
+f 21 12 16
+f 22 19 14
+f 22 10 19
+f 22 20 10
+f 22 16 20
+f 22 14 6
+f 22 6 16
\ No newline at end of file
diff --git a/objects/objaverse/kiwi/kiwi_6/collision/model_normalized_collision_2.obj b/objects/objaverse/kiwi/kiwi_6/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..692cacd2ea4a2cd96c750cdeadf394aafd657dab
--- /dev/null
+++ b/objects/objaverse/kiwi/kiwi_6/collision/model_normalized_collision_2.obj
@@ -0,0 +1,138 @@
+# https://github.com/mikedh/trimesh
+v 0.43454124 -0.20080203 0.29731947
+v 0.47486059 -0.03492607 0.01430030
+v 0.49043728 0.09545341 0.28275728
+v 0.40152251 0.18859810 0.29545013
+v 0.40758221 -0.20947787 0.00932399
+v 0.42397956 0.20137116 -0.01584784
+v 0.46731385 -0.13363744 0.29695881
+v 0.39905345 -0.20514534 0.29857541
+v 0.47393658 0.10925437 0.05879013
+v 0.46627625 0.18676204 0.29075867
+v 0.40151520 -0.00786138 -0.00510422
+v 0.47283219 -0.00765677 -0.00387972
+v 0.49035208 -0.05252032 0.16419557
+v 0.45858991 -0.15088418 0.13173075
+v 0.44583790 -0.18021830 0.29864384
+v 0.45936257 0.18127658 0.11502987
+v 0.49009142 -0.04883736 0.29059659
+v 0.45987839 -0.15374787 0.29796019
+v 0.45792792 -0.10743527 0.01601013
+v 0.45869851 0.12312487 -0.00105988
+v 0.49016051 0.05095439 0.11795532
+v 0.44486744 -0.19249957 0.25461360
+v 0.47446087 -0.12212097 0.20850724
+v 0.40133834 -0.03911898 0.29756882
+v 0.47434919 0.15267188 0.17885395
+v 0.49076558 0.08016784 0.16336671
+v 0.44315711 -0.16460057 0.05788684
+v 0.47502375 -0.07754850 0.05911814
+v 0.47501300 0.05121964 0.01337752
+v 0.45817594 0.13667521 0.01339486
+v 0.49045403 -0.02217760 0.11896138
+v 0.44256904 -0.19268764 0.28194094
+v 0.47367731 -0.12207754 0.29189374
+v 0.47705873 0.15389340 0.28533758
+v 0.47355157 0.13879599 0.11897911
+v 0.42772249 -0.17869830 0.01545735
+v 0.42776341 -0.19392380 0.05819469
+v 0.45803654 -0.13654320 0.07403730
+v 0.47394963 -0.10612785 0.11680838
+v 0.47414352 0.08048515 0.02926752
+v 0.45789508 0.16787274 0.07311313
+v 0.44414199 0.16633392 -0.00177315
+v 0.48998503 -0.03637568 0.13246921
+v 0.49024884 0.09433625 0.19169833
+v 0.41645585 -0.19662124 0.01356551
+v 0.44296541 -0.18019208 0.11599829
+v 0.44146195 0.18301177 0.01241028
+f 8 5 1
+f 10 6 4
+f 11 4 6
+f 11 8 4
+f 11 5 8
+f 12 11 6
+f 12 5 11
+f 15 8 1
+f 16 6 10
+f 17 10 7
+f 17 3 10
+f 18 10 4
+f 18 7 10
+f 18 4 15
+f 19 12 2
+f 19 5 12
+f 20 12 6
+f 22 1 5
+f 23 22 14
+f 23 13 17
+f 24 15 4
+f 24 4 8
+f 24 8 15
+f 25 16 10
+f 26 17 13
+f 26 3 17
+f 26 21 9
+f 28 19 2
+f 29 12 20
+f 29 21 12
+f 30 9 20
+f 31 2 12
+f 31 12 21
+f 31 28 2
+f 31 26 13
+f 31 21 26
+f 32 15 1
+f 32 1 22
+f 32 22 18
+f 32 18 15
+f 33 7 18
+f 33 18 22
+f 33 22 23
+f 33 23 17
+f 33 17 7
+f 34 25 10
+f 34 10 3
+f 35 16 25
+f 35 26 9
+f 36 5 19
+f 36 19 27
+f 37 22 5
+f 37 36 27
+f 38 27 19
+f 38 19 28
+f 38 14 27
+f 39 28 13
+f 39 13 23
+f 39 38 28
+f 39 23 14
+f 39 14 38
+f 40 29 20
+f 40 20 9
+f 40 9 21
+f 40 21 29
+f 41 9 30
+f 41 35 9
+f 41 16 35
+f 42 30 20
+f 42 20 6
+f 43 31 13
+f 43 13 28
+f 43 28 31
+f 44 25 34
+f 44 35 25
+f 44 26 35
+f 44 34 3
+f 44 3 26
+f 45 37 5
+f 45 5 36
+f 45 36 37
+f 46 37 27
+f 46 27 14
+f 46 14 22
+f 46 22 37
+f 47 41 30
+f 47 30 42
+f 47 16 41
+f 47 42 6
+f 47 6 16
\ No newline at end of file
diff --git a/objects/objaverse/kiwi/kiwi_6/collision/model_normalized_collision_21.obj b/objects/objaverse/kiwi/kiwi_6/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92c36bd62bbdf2e8a76e175ddfdb8df1b3e41f4f
--- /dev/null
+++ b/objects/objaverse/kiwi/kiwi_6/collision/model_normalized_collision_21.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.40551710 -0.00737580 0.29588255
+v 0.40143237 -0.00777301 0.29661410
+v 0.39946430 0.30463285 0.25082863
+v 0.26855789 0.29712511 0.30105427
+v 0.38587157 0.29543513 0.29454165
+v 0.26165764 -0.01348984 0.29787823
+v 0.40152251 0.18859810 0.29545013
+v 0.35556288 0.29586210 0.29726526
+v 0.26077126 -0.00561284 0.30035149
+v 0.26443931 0.29594268 0.30154050
+v 0.40279789 0.19574671 0.29398790
+v 0.37358571 0.26424276 0.29644554
+v 0.37150030 -0.00755596 0.29757619
+v 0.38609638 0.00543576 0.29718038
+f 6 1 2
+f 6 3 1
+f 7 2 1
+f 8 5 3
+f 8 3 4
+f 8 2 7
+f 10 4 3
+f 10 3 6
+f 10 6 9
+f 10 8 4
+f 10 2 8
+f 11 7 1
+f 11 1 3
+f 11 3 5
+f 11 5 7
+f 12 8 7
+f 12 7 5
+f 12 5 8
+f 13 9 6
+f 13 6 2
+f 13 10 9
+f 14 13 2
+f 14 2 10
+f 14 10 13
\ No newline at end of file
diff --git a/objects/objaverse/kiwi/kiwi_6/collision/model_normalized_collision_22.obj b/objects/objaverse/kiwi/kiwi_6/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..719126dd7b997080e924a1871ed5bfb982a0dcba
--- /dev/null
+++ b/objects/objaverse/kiwi/kiwi_6/collision/model_normalized_collision_22.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.40551710 -0.00737580 0.29588255
+v 0.40151520 -0.00786138 -0.00510422
+v 0.42397956 0.20137116 -0.01584784
+v 0.26540638 0.19456398 0.30029057
+v 0.26165764 -0.01348984 0.29787823
+v 0.26515156 0.18910832 -0.00510422
+v 0.40279789 0.19574671 0.29398790
+v 0.26515156 -0.00786138 -0.00510422
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 4 3
+f 6 5 4
+f 7 1 3
+f 7 3 4
+f 7 4 1
+f 8 6 3
+f 8 3 2
+f 8 2 5
+f 8 5 6
\ No newline at end of file
diff --git a/objects/objaverse/kiwi/kiwi_6/collision/model_normalized_collision_24.obj b/objects/objaverse/kiwi/kiwi_6/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f8f15b38e982889b2eb6162a9b1350d55db05b6
--- /dev/null
+++ b/objects/objaverse/kiwi/kiwi_6/collision/model_normalized_collision_24.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00841405 -0.14067298 0.31231803
+v 0.00757579 -0.14422503 0.17671397
+v 0.00757579 0.21941136 0.17671397
+v -0.22751376 0.21409119 0.31489074
+v -0.23344667 -0.14789464 0.31428005
+v 0.00636721 0.21828927 0.30353625
+v -0.23484847 0.21941136 0.17671397
+v -0.23484847 -0.14422503 0.17671397
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 1 3
+f 6 4 1
+f 7 3 2
+f 7 5 4
+f 7 6 3
+f 7 4 6
+f 8 7 2
+f 8 2 5
+f 8 5 7
\ No newline at end of file
diff --git a/objects/objaverse/kiwi/kiwi_6/collision/model_normalized_collision_26.obj b/objects/objaverse/kiwi/kiwi_6/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b281b71b7fed63c932053900be2b10bafbfb9d77
--- /dev/null
+++ b/objects/objaverse/kiwi/kiwi_6/collision/model_normalized_collision_26.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.39905345 -0.20514534 0.29857541
+v 0.40758221 -0.20947787 0.00932399
+v 0.40143237 -0.00777301 0.29661410
+v 0.26077126 -0.00561284 0.30035149
+v 0.26515156 -0.20483109 0.01004729
+v 0.26385077 -0.20485141 0.30587606
+v 0.40133834 -0.03911898 0.29756882
+v 0.40151520 -0.00786138 0.01004729
+v 0.26515156 -0.00786138 0.01004729
+v 0.38662855 -0.00737669 0.29699579
+f 6 4 5
+f 6 5 2
+f 6 2 1
+f 7 1 2
+f 7 2 3
+f 7 6 1
+f 7 3 4
+f 7 4 6
+f 8 3 2
+f 9 8 2
+f 9 2 5
+f 9 5 4
+f 9 4 8
+f 10 8 4
+f 10 4 3
+f 10 3 8
\ No newline at end of file
diff --git a/objects/objaverse/kiwi/kiwi_6/collision/model_normalized_collision_27.obj b/objects/objaverse/kiwi/kiwi_6/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b34a59a7c443edb950f1bb9caa4187acce0f8a9
--- /dev/null
+++ b/objects/objaverse/kiwi/kiwi_6/collision/model_normalized_collision_27.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.26515156 -0.25028564 0.17671397
+v 0.26515156 -0.25028564 0.01004729
+v 0.26515156 -0.00786138 0.17671397
+v -0.23484847 -0.00786138 0.17671397
+v -0.23484847 -0.25028564 0.01004729
+v -0.23484847 -0.00786138 0.01004729
+v -0.23484847 -0.25028564 0.17671397
+v 0.26515156 -0.00786138 0.01004729
+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/kiwi/kiwi_6/collision/model_normalized_collision_28.obj b/objects/objaverse/kiwi/kiwi_6/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79ea44d531b096fdd7aa6133815dd3ae30b9f1b6
--- /dev/null
+++ b/objects/objaverse/kiwi/kiwi_6/collision/model_normalized_collision_28.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.15122689 -0.14068861 0.30596606
+v 0.14393943 -0.14422503 0.17671397
+v 0.14661432 0.00268078 0.30088267
+v 0.00930368 -0.01118384 0.30998247
+v 0.00841405 -0.14067298 0.31231803
+v 0.00757579 -0.00786138 0.17671397
+v 0.14393943 -0.00786138 0.17671397
+v 0.00757579 -0.14422503 0.17671397
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 6 4 3
+f 6 5 4
+f 7 1 2
+f 7 3 1
+f 7 6 3
+f 7 2 6
+f 8 6 2
+f 8 2 5
+f 8 5 6
\ No newline at end of file
diff --git a/objects/objaverse/kiwi/kiwi_6/collision/model_normalized_collision_3.obj b/objects/objaverse/kiwi/kiwi_6/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bbcac7b16f996685dd7eba994eba436cd13ebe6d
--- /dev/null
+++ b/objects/objaverse/kiwi/kiwi_6/collision/model_normalized_collision_3.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v 0.08333337 -0.00786138 -0.23237696
+v 0.20276805 0.08013740 -0.31482053
+v 0.21829826 0.21458742 -0.25813767
+v -0.24431526 0.20940140 -0.24382464
+v -0.25298566 -0.00507268 -0.30105573
+v 0.02617196 0.17038216 -0.30476147
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\ No newline at end of file
diff --git a/objects/objaverse/kiwi/kiwi_6/collision/model_normalized_collision_30.obj b/objects/objaverse/kiwi/kiwi_6/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e0972a8245a8f8d59349c7bc4911400232c171a
--- /dev/null
+++ b/objects/objaverse/kiwi/kiwi_6/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.26500152 -0.25077334 0.30544258
+v 0.26515156 -0.25028564 0.17671397
+v 0.26515156 -0.00786138 0.17671397
+v 0.14198097 -0.00756765 0.30426236
+v 0.14393943 -0.25028564 0.17671397
+v 0.26077126 -0.00561284 0.30035149
+v 0.14390174 -0.25029135 0.31112363
+v 0.14393943 -0.00786138 0.17671397
+f 1 2 3
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+f 6 1 3
+f 7 5 1
+f 7 4 5
+f 7 6 4
+f 7 1 6
+f 8 5 4
+f 8 3 5
+f 8 6 3
+f 8 4 6
\ No newline at end of file
diff --git a/objects/objaverse/kiwi/kiwi_6/collision/model_normalized_collision_8.obj b/objects/objaverse/kiwi/kiwi_6/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dae8b7d402d8ad5b127f523662a2a606231adfa4
--- /dev/null
+++ b/objects/objaverse/kiwi/kiwi_6/collision/model_normalized_collision_8.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.23415308 -0.38553520 0.01049416
+v -0.22746946 -0.29898333 -0.17702636
+v -0.22809764 -0.37200594 -0.04606702
+v -0.23398932 0.38421120 0.01035367
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+v -0.39842673 0.16936196 -0.08594305
+v -0.24027959 -0.36654275 -0.04462832
+v -0.41778400 -0.22443337 0.01516923
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+v -0.25678584 0.37259842 0.01279924
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+v -0.22767362 -0.23973932 -0.23496115
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+v -0.33890203 0.29600745 -0.06312667
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+v -0.32768276 -0.29079061 -0.07497940
+v -0.22828089 -0.34536159 -0.10640687
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+v -0.34374144 -0.31197485 0.01528354
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+v -0.28718423 0.35041523 -0.01545632
+v -0.24201542 0.35344839 -0.09162001
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+v -0.29609202 -0.29353339 -0.11578577
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+v -0.25023419 0.35480715 -0.07568277
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+f 64 38 15
+f 64 15 24
\ No newline at end of file
diff --git a/objects/objaverse/squash/.DS_Store b/objects/objaverse/squash/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..c504b626a0f6b63f72296cafe378d92bc9674087
Binary files /dev/null and b/objects/objaverse/squash/.DS_Store differ
diff --git a/objects/objaverse/squash/squash_0/collision/model_normalized_collision_7.obj b/objects/objaverse/squash/squash_0/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db5ad5f7b2a4c1d10df03c2e1e18de12d5c796fd
--- /dev/null
+++ b/objects/objaverse/squash/squash_0/collision/model_normalized_collision_7.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v -0.02739648 0.08968200 0.40700501
+v 0.03227866 0.14772009 0.35874899
+v -0.16075145 0.23233577 0.42431062
+v -0.31924753 0.24953214 0.26083471
+v -0.09316722 0.09848483 0.26165646
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+f 36 21 4
+f 36 4 29
+f 36 29 13
+f 36 13 21
\ No newline at end of file