diff --git a/objects/objaverse/bagel/bagel_2/collision/model_normalized_collision_0.obj b/objects/objaverse/bagel/bagel_2/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07f5ad86917f4947617393cf30e3d16f2da4206a
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_2/collision/model_normalized_collision_0.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v -0.08061446 -0.26588378 0.10498825
+v -0.01959776 -0.26534032 -0.20778923
+v 0.00615234 -0.10975733 -0.17299017
+v -0.34742961 -0.13922018 0.10134868
+v -0.34157310 -0.25829394 -0.16305497
+v -0.08331545 -0.14699067 0.08421689
+v -0.09852880 -0.26773783 0.10768055
+v -0.34511863 -0.14134318 -0.20715085
+v -0.08301303 -0.16608053 0.08988524
+v -0.19069940 -0.14182263 0.12314240
+v -0.16920740 -0.26354023 -0.20778155
+v -0.33852235 -0.25366878 -0.00582146
+v -0.09896033 -0.14171872 -0.20927083
+v -0.40242301 -0.14129928 -0.00211786
+v -0.13214168 -0.14500850 0.10532272
+v -0.30506693 -0.14067893 0.12936155
+v -0.26839071 -0.23819029 -0.20852361
+v -0.01913821 -0.14613436 -0.20240747
+v -0.35155449 -0.15500461 -0.20371719
+v -0.39782044 -0.13832380 0.01376418
+v -0.39847559 -0.15260851 -0.00065532
+v -0.16430498 -0.26035822 0.10735961
+v -0.29685271 -0.25294321 0.03082182
+v -0.28401790 -0.25388268 -0.19238712
+v -0.33308033 -0.17593019 -0.20945753
+v -0.08145245 -0.26461541 -0.20792397
+v -0.03687632 -0.20394071 -0.20869607
+v -0.37671422 -0.13949029 0.07308333
+v -0.34410285 -0.14754411 0.09760531
+v -0.20635061 -0.25463828 0.09036162
+v -0.34090389 -0.23885328 -0.17696224
+v -0.03647791 -0.23275656 -0.20866819
+v -0.37240955 -0.15177794 0.06842868
+v -0.35635680 -0.17332994 0.06311945
+v -0.30108150 -0.14574322 0.12760381
+v -0.39572262 -0.15421094 0.00563948
+f 1 2 3
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+f 10 7 1
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+f 12 5 7
+f 13 8 3
+f 15 6 3
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+f 15 9 6
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+f 25 8 13
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+f 26 11 17
+f 26 2 7
+f 26 7 11
+f 27 18 2
+f 27 13 18
+f 28 4 3
+f 28 3 20
+f 28 20 21
+f 29 16 4
+f 30 23 22
+f 30 29 23
+f 31 24 5
+f 31 17 24
+f 31 25 17
+f 31 5 19
+f 31 19 25
+f 32 26 17
+f 32 17 25
+f 32 25 13
+f 32 13 27
+f 32 27 2
+f 32 2 26
+f 33 29 4
+f 33 4 28
+f 34 12 23
+f 34 23 29
+f 34 33 12
+f 34 29 33
+f 35 30 22
+f 35 22 16
+f 35 16 29
+f 35 29 30
+f 36 33 28
+f 36 28 21
+f 36 21 12
+f 36 12 33
\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_2/collision/model_normalized_collision_1.obj b/objects/objaverse/bagel/bagel_2/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3ab25ce7c35f26203aef5e79c5527f8a7f4d073
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_2/collision/model_normalized_collision_1.obj
@@ -0,0 +1,156 @@
+# https://github.com/mikedh/trimesh
+v 0.00920032 -0.48894125 -0.09341970
+v 0.34123659 -0.22766292 -0.10426216
+v 0.28917648 -0.33307601 -0.03439977
+v -0.17130334 -0.26515154 -0.04282970
+v -0.15143954 -0.26620419 -0.21089047
+v 0.31400264 -0.26546950 -0.04322098
+v 0.01075346 -0.46615041 -0.04025703
+v 0.18637514 -0.38085622 -0.17783783
+v -0.15653937 -0.42986715 -0.15361774
+v 0.01028352 -0.21959342 -0.20524760
+v 0.30987371 -0.27534619 -0.03844007
+v 0.13172695 -0.21969700 -0.10343576
+v 0.27624970 -0.36798876 -0.04009159
+v -0.17084383 -0.26480219 -0.20728170
+v -0.16255167 -0.41871344 -0.05130360
+v 0.00630361 -0.45025472 -0.19326749
+v 0.29109124 -0.21311056 -0.18461986
+v 0.01051483 -0.21969700 -0.11858727
+v 0.01043108 -0.48980808 -0.14238756
+v 0.25322188 -0.36599108 -0.10838059
+v -0.16472723 -0.42938010 -0.07868626
+v -0.05677631 -0.48892612 -0.08090467
+v 0.09907822 -0.33754509 -0.20891765
+v -0.06533750 -0.42602171 -0.20624265
+v 0.32179356 -0.21469600 -0.16213072
+v 0.00735350 -0.47629139 -0.16782511
+v 0.27113346 -0.36917956 -0.04981023
+v -0.16387904 -0.37723995 -0.19092597
+v -0.01169358 -0.49047066 -0.08273394
+v -0.12872389 -0.44345424 -0.05080617
+v -0.11420532 -0.47518415 -0.13018550
+v 0.11436688 -0.26915408 -0.20880275
+v 0.21048022 -0.30807994 -0.19290764
+v -0.00580342 -0.42516567 -0.20705278
+v -0.15134356 -0.30758434 -0.20699698
+v 0.22662708 -0.36441270 -0.15225118
+v 0.22423391 -0.32934236 -0.17716675
+v -0.08954746 -0.45185193 -0.19298897
+v -0.07518610 -0.49049850 -0.14326262
+v -0.11537173 -0.47403413 -0.10540029
+v 0.05600924 -0.25070762 -0.20898183
+v 0.12948515 -0.30980848 -0.20777880
+v 0.14249185 -0.37659921 -0.19098235
+v -0.06222197 -0.48696295 -0.15877896
+v -0.11265955 -0.46271238 -0.16981700
+v -0.07320910 -0.48964573 -0.10664244
+v -0.02352017 -0.49096679 -0.15171345
+v 0.23247510 -0.21488854 -0.19511805
+v -0.12466462 -0.46265366 -0.14714550
+v -0.12664060 -0.43791128 -0.17873756
+v -0.10267051 -0.47380112 -0.15550709
+v -0.09001962 -0.47263508 -0.17029087
+v -0.10402367 -0.46080442 -0.18073464
+f 7 3 4
+f 11 3 2
+f 11 2 6
+f 11 6 4
+f 11 4 3
+f 12 6 2
+f 12 4 6
+f 13 7 1
+f 13 3 7
+f 13 2 3
+f 14 10 5
+f 14 4 10
+f 15 7 4
+f 18 10 4
+f 18 4 12
+f 18 17 10
+f 18 12 17
+f 19 13 1
+f 20 2 13
+f 20 19 8
+f 21 15 4
+f 21 4 14
+f 25 17 12
+f 25 12 2
+f 25 2 20
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+f 26 8 19
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+f 27 13 19
+f 27 19 20
+f 28 21 14
+f 28 9 21
+f 29 1 7
+f 29 7 22
+f 29 19 1
+f 30 22 7
+f 30 7 15
+f 30 15 21
+f 31 21 9
+f 32 23 5
+f 34 24 5
+f 34 5 23
+f 35 14 5
+f 35 5 24
+f 35 28 14
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+f 36 20 8
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+f 37 8 33
+f 37 36 8
+f 37 25 36
+f 38 34 16
+f 38 24 34
+f 38 28 24
+f 40 30 21
+f 40 21 31
+f 40 22 30
+f 40 31 39
+f 41 32 5
+f 41 5 10
+f 42 23 32
+f 42 33 23
+f 42 17 33
+f 43 33 8
+f 43 23 33
+f 43 34 23
+f 43 8 16
+f 43 16 34
+f 44 38 16
+f 44 16 26
+f 46 39 29
+f 46 29 22
+f 46 40 39
+f 46 22 40
+f 47 19 29
+f 47 29 39
+f 47 39 44
+f 47 44 26
+f 47 26 19
+f 48 41 10
+f 48 10 17
+f 48 32 41
+f 48 42 32
+f 48 17 42
+f 49 45 31
+f 49 31 9
+f 49 9 45
+f 50 45 9
+f 50 9 28
+f 51 39 31
+f 51 31 45
+f 52 44 39
+f 52 51 45
+f 52 39 51
+f 52 38 44
+f 53 50 28
+f 53 28 38
+f 53 45 50
+f 53 52 45
+f 53 38 52
\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_2/collision/model_normalized_collision_10.obj b/objects/objaverse/bagel/bagel_2/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eca47a40dd021709e97cf26b9ba5b6fb5250892c
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_2/collision/model_normalized_collision_10.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v 0.01773217 0.23146549 0.16014826
+v 0.01051483 0.23484843 -0.08828424
+v 0.01156689 0.49160618 -0.02296626
+v -0.07689429 0.47431579 0.08445172
+v -0.18645485 0.23484843 0.13898847
+v 0.00882806 0.45243156 0.10409149
+v 0.01040401 0.47160430 -0.08611363
+v -0.18645485 0.23484843 -0.08828424
+v 0.01592634 0.35688407 0.16359179
+v 0.00970458 0.49156033 0.03899949
+v -0.19221008 0.44456631 -0.05358611
+v -0.20243200 0.41765634 -0.08898753
+v -0.20110134 0.37053939 0.16206544
+v -0.15095176 0.47456068 0.00041223
+v -0.00904077 0.47442121 0.08202755
+v 0.00992987 0.47719545 0.06993611
+v -0.07845057 0.47489067 -0.07548542
+v -0.20863572 0.42664429 0.06876520
+v -0.12208761 0.45858629 0.09558756
+v -0.03389437 0.49088231 -0.01114057
+v -0.02392970 0.48971096 0.02965804
+v -0.16650437 0.44391809 -0.07639800
+v -0.10359277 0.47415150 -0.06724613
+v -0.00524962 0.47469833 -0.08143602
+v -0.19159412 0.44701802 0.05496097
+v -0.16550295 0.45804908 0.05549372
+v -0.19249553 0.43291347 -0.07648928
+v -0.14954565 0.47458641 -0.01037335
+v -0.17934763 0.43479846 0.10467986
+v -0.16421199 0.44218120 0.10318228
+f 7 1 2
+f 7 3 1
+f 8 2 1
+f 8 1 5
+f 9 1 3
+f 12 7 2
+f 12 2 8
+f 13 5 1
+f 13 1 9
+f 13 9 6
+f 15 10 4
+f 15 4 6
+f 16 9 3
+f 16 3 10
+f 16 6 9
+f 16 15 6
+f 16 10 15
+f 17 7 12
+f 18 11 12
+f 18 12 8
+f 18 8 5
+f 18 5 13
+f 19 13 6
+f 19 6 4
+f 20 10 3
+f 20 3 17
+f 21 14 4
+f 21 4 10
+f 21 20 14
+f 21 10 20
+f 22 17 12
+f 23 20 17
+f 23 22 11
+f 23 17 22
+f 24 17 3
+f 24 3 7
+f 24 7 17
+f 25 14 11
+f 25 11 18
+f 26 19 4
+f 26 4 14
+f 26 14 25
+f 27 22 12
+f 27 12 11
+f 27 11 22
+f 28 23 11
+f 28 11 14
+f 28 14 20
+f 28 20 23
+f 29 25 18
+f 29 18 13
+f 30 29 13
+f 30 13 19
+f 30 19 26
+f 30 26 25
+f 30 25 29
\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_2/collision/model_normalized_collision_11.obj b/objects/objaverse/bagel/bagel_2/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e59690d80ca803bdafd7feef9abdc244f920b21
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_2/collision/model_normalized_collision_11.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.19975006 0.23357063 0.21353965
+v -0.18642509 0.23504350 -0.20780500
+v -0.18512677 0.23768381 0.21502868
+v -0.18586611 0.44612698 0.06262438
+v -0.38867064 0.22625260 0.04372594
+v -0.17934763 0.43479846 0.10467986
+v -0.23788629 0.22997781 -0.20877245
+v -0.18076720 0.38899993 -0.16835486
+v -0.23215082 0.32840511 0.18571535
+v -0.30477819 0.36388525 0.05583815
+v -0.30074765 0.22879296 0.18275931
+v -0.18349301 0.27801838 0.21477664
+v -0.18352474 0.42360705 -0.09269785
+v -0.18296949 0.36312156 -0.19697863
+v -0.24992679 0.41356062 0.05785693
+v -0.36513068 0.23874975 -0.12878886
+v -0.37415138 0.22754860 0.11229061
+v -0.17963175 0.42000336 0.14473436
+v -0.27127579 0.23080934 0.19846033
+v -0.18696756 0.29540448 -0.20827613
+v -0.24556988 0.40147231 -0.06219804
+v -0.38009931 0.25641309 -0.03745606
+v -0.27773178 0.32683812 -0.16329539
+v -0.37199949 0.22730107 -0.12866905
+v -0.36459074 0.27263435 0.07790504
+v -0.31150685 0.25168400 0.16596416
+v -0.18470646 0.31791639 0.19978214
+v -0.27704320 0.35702716 0.11165276
+v -0.22809069 0.30829642 0.19657091
+v -0.18725850 0.24993215 -0.20862959
+v -0.27698607 0.24751399 -0.20775109
+v -0.26384978 0.40038382 -0.00932706
+v -0.19475903 0.43727289 -0.06785175
+v -0.23484832 0.36867792 -0.15231961
+v -0.32589649 0.29901390 -0.12171165
+v -0.32678004 0.22806843 -0.19667804
+v -0.38380881 0.22924212 -0.06941890
+v -0.36787420 0.25442946 0.09753899
+v -0.37942355 0.25715153 -0.00110396
+v -0.24422186 0.31624437 0.18479611
+v -0.18373555 0.40825186 0.15249644
+v -0.18946548 0.41495320 0.14342394
+v -0.29441446 0.36821421 0.07075118
+v -0.19687651 0.27638553 0.21182166
+v -0.20014163 0.31851182 0.19709196
+v -0.27890489 0.23419049 -0.20881985
+v -0.21442927 0.29245309 -0.20661020
+v -0.25040160 0.41386102 0.03529529
+v -0.30514544 0.36157564 0.01118743
+v -0.22006279 0.42914900 -0.03983569
+v -0.19109499 0.38573930 -0.16571396
+v -0.22162640 0.35440334 -0.17895640
+v -0.20491245 0.43225196 -0.06421370
+v -0.35423181 0.23578391 -0.15406591
+v -0.36913351 0.26838836 -0.04984979
+v -0.27413394 0.38795691 -0.01979593
+v -0.29317841 0.29424639 -0.18010049
+v -0.22109277 0.34135795 -0.19216957
+v -0.33454741 0.25222422 0.14217362
+v -0.19032348 0.40767939 0.15082433
+v -0.26080393 0.40002625 0.06865066
+v -0.35175438 0.28293565 0.09474980
+v -0.21352836 0.34116501 0.18318176
+v -0.22366711 0.42846005 0.05500695
+f 1 2 3
+f 7 2 1
+f 11 7 1
+f 11 5 7
+f 12 3 2
+f 12 2 8
+f 12 1 3
+f 13 4 6
+f 13 6 8
+f 14 8 2
+f 15 6 4
+f 17 5 11
+f 18 12 8
+f 18 8 6
+f 18 6 15
+f 19 11 1
+f 19 1 12
+f 20 14 2
+f 24 22 16
+f 26 17 11
+f 27 12 18
+f 29 11 19
+f 29 12 27
+f 30 20 2
+f 30 2 7
+f 33 13 8
+f 33 4 13
+f 34 23 21
+f 35 21 23
+f 36 7 5
+f 36 5 24
+f 37 24 5
+f 37 5 22
+f 37 22 24
+f 38 25 5
+f 38 5 17
+f 39 22 5
+f 39 5 25
+f 39 25 10
+f 39 10 22
+f 40 26 11
+f 40 9 28
+f 40 29 9
+f 40 11 29
+f 41 27 18
+f 42 18 15
+f 44 29 19
+f 44 19 12
+f 44 12 29
+f 45 29 27
+f 46 30 7
+f 46 20 30
+f 46 31 20
+f 46 36 31
+f 46 7 36
+f 47 31 14
+f 47 14 20
+f 47 20 31
+f 48 32 10
+f 48 10 15
+f 49 22 10
+f 49 10 32
+f 50 21 32
+f 50 32 48
+f 50 4 33
+f 51 8 14
+f 51 34 33
+f 51 33 8
+f 52 23 34
+f 52 51 14
+f 52 34 51
+f 53 34 21
+f 53 33 34
+f 53 50 33
+f 53 21 50
+f 54 16 35
+f 54 36 24
+f 54 24 16
+f 55 35 16
+f 55 16 22
+f 55 49 35
+f 55 22 49
+f 56 32 21
+f 56 21 35
+f 56 49 32
+f 56 35 49
+f 57 36 54
+f 57 54 35
+f 57 35 23
+f 58 14 31
+f 58 31 36
+f 58 36 57
+f 58 52 14
+f 58 57 23
+f 58 23 52
+f 59 17 26
+f 59 40 28
+f 59 26 40
+f 60 42 28
+f 60 28 9
+f 60 9 41
+f 60 41 18
+f 60 18 42
+f 61 15 10
+f 61 10 43
+f 61 42 15
+f 61 43 28
+f 61 28 42
+f 62 28 43
+f 62 59 28
+f 62 38 17
+f 62 17 59
+f 62 25 38
+f 62 43 10
+f 62 10 25
+f 63 9 29
+f 63 29 45
+f 63 41 9
+f 63 45 27
+f 63 27 41
+f 64 48 15
+f 64 15 4
+f 64 50 48
+f 64 4 50
\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_2/collision/model_normalized_collision_12.obj b/objects/objaverse/bagel/bagel_2/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..735538bc1ab9f017f1fde10beecdb5ffe185cdea
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_2/collision/model_normalized_collision_12.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.01173556 -0.26524232 -0.20701091
+v 0.12950921 -0.22564866 -0.18850819
+v -0.01336397 -0.07893175 -0.15173096
+v 0.11116488 -0.00309050 -0.17040915
+v 0.13765192 -0.01016348 -0.19661959
+v 0.13582666 -0.21326744 -0.16853361
+v 0.11065902 -0.22517745 -0.19943758
+v -0.02430602 -0.12088001 -0.19818297
+v 0.09826484 -0.01164374 -0.14870729
+v 0.13532732 -0.15222517 -0.19567000
+v -0.02588292 -0.25953812 -0.20662231
+v -0.02650368 -0.08889662 -0.18381719
+v 0.10123175 -0.00938296 -0.15686865
+v -0.01959776 -0.26534032 -0.20778923
+v 0.12920335 -0.01118927 -0.19263531
+v 0.00670385 -0.26470271 -0.20563361
+f 6 1 2
+f 7 2 1
+f 7 1 5
+f 9 3 6
+f 9 6 5
+f 9 5 4
+f 10 6 2
+f 10 5 6
+f 10 7 5
+f 10 2 7
+f 11 6 3
+f 12 3 4
+f 12 5 8
+f 12 11 3
+f 12 8 11
+f 13 9 4
+f 13 4 3
+f 13 3 9
+f 14 6 11
+f 14 5 1
+f 14 11 8
+f 14 8 5
+f 15 12 4
+f 15 4 5
+f 15 5 12
+f 16 14 1
+f 16 1 6
+f 16 6 14
\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_2/collision/model_normalized_collision_13.obj b/objects/objaverse/bagel/bagel_2/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4236604ca36044465ee9eda4922e98a41f77a279
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_2/collision/model_normalized_collision_13.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.17320555 -0.45055409 -0.04752896
+v 0.21207186 -0.41933144 -0.02399351
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+v -0.06204205 -0.44207222 -0.00630724
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+v -0.11027803 -0.37965896 0.05359615
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+v -0.16255167 -0.41871344 -0.05130360
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+v -0.15944379 -0.38408877 0.01839272
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+f 23 11 19
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+f 25 21 14
+f 26 25 14
+f 26 14 4
+f 26 4 25
\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_2/collision/model_normalized_collision_14.obj b/objects/objaverse/bagel/bagel_2/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc4df539fd98c884bcbf2b88d0049e049696b72d
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_2/collision/model_normalized_collision_14.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.11426247 -0.47612697 -0.08946379
+v 0.18721961 -0.43672460 -0.14197625
+v 0.21207186 -0.41933144 -0.02399351
+v 0.01051483 -0.34090911 -0.11858727
+v 0.00767654 -0.44054111 -0.19861127
+v 0.19066746 -0.38413118 -0.17477674
+v 0.01041301 -0.44473824 -0.01402682
+v 0.18771811 -0.44728397 -0.04949178
+v 0.00735350 -0.47629139 -0.16782511
+v 0.07112089 -0.34090911 -0.11858727
+v 0.02426203 -0.32965447 -0.20354937
+v 0.18715990 -0.41043186 -0.16262748
+v 0.01051483 -0.38636366 -0.04282970
+v 0.18519708 -0.44604901 -0.12594974
+v 0.12919841 -0.46028127 -0.04773002
+v 0.01977082 -0.46081353 -0.18116731
+v 0.00890209 -0.47489509 -0.06318182
+v 0.09804999 -0.38099806 -0.19855717
+v 0.00954757 -0.38616436 -0.20669478
+v 0.00612527 -0.46426943 -0.18264817
+v 0.15970160 -0.45903481 -0.07751176
+v 0.07726676 -0.47768567 -0.13911695
+v 0.07091965 -0.44373549 -0.01529324
+v 0.06533544 -0.47347732 -0.06646384
+v 0.17484699 -0.38135163 -0.18051879
+v 0.07491497 -0.35929589 -0.20069883
+v 0.00963918 -0.44964964 -0.02071063
+v 0.11290756 -0.47624301 -0.11447617
+v 0.01898303 -0.47479526 -0.16550770
+v 0.00985760 -0.46414030 -0.03726015
+v 0.09723247 -0.47524133 -0.08074220
+v 0.06902046 -0.44885939 -0.02192151
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+f 19 18 5
+f 20 13 4
+f 20 9 17
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+f 22 16 2
+f 22 17 9
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+f 26 19 11
+f 26 18 19
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+f 29 20 22
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+f 30 17 24
+f 30 27 17
+f 30 23 7
+f 30 7 27
+f 31 24 17
+f 31 17 1
+f 31 1 15
+f 31 15 24
+f 32 30 15
+f 32 15 23
+f 32 23 30
\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_2/collision/model_normalized_collision_15.obj b/objects/objaverse/bagel/bagel_2/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6dd83a4adbf9afe1cba7406dcb56e2df4081d2a4
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_2/collision/model_normalized_collision_15.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v 0.34796010 -0.26760184 0.02049279
+v 0.39153872 -0.13717804 -0.11322736
+v 0.39782825 -0.14196623 -0.00776034
+v 0.18708510 -0.14069190 0.12465883
+v 0.12950921 -0.22564866 -0.18850819
+v 0.29040087 -0.13105899 0.10577903
+v 0.38402538 -0.16214437 -0.08600754
+v 0.31816455 -0.20380988 -0.17855879
+v 0.13200171 -0.26240046 0.10209085
+v 0.13578769 -0.14069717 -0.19931233
+v 0.29547826 -0.20068246 0.10177200
+v 0.38735447 -0.14878471 -0.11047355
+v 0.30987371 -0.27534619 -0.03844007
+v 0.27888647 -0.21073862 -0.19308391
+v 0.34979059 -0.14414301 -0.19485647
+v 0.14180729 -0.14920372 0.09493132
+v 0.31439982 -0.25925828 0.06503723
+v 0.23438949 -0.14094715 0.13261192
+v 0.34103609 -0.22486047 -0.11065344
+v 0.13172695 -0.26515154 -0.10343576
+v 0.27766279 -0.26193982 0.09272818
+v 0.20367091 -0.21321360 -0.19147299
+v 0.33279457 -0.21696696 -0.14243364
+v 0.35038557 -0.15541385 -0.19344936
+v 0.35864104 -0.20818526 -0.09620332
+v 0.31963693 -0.27411771 -0.03062807
+v 0.30168505 -0.27143878 -0.05225213
+v 0.29640080 -0.22388326 0.09498877
+v 0.23069758 -0.19539850 0.12405784
+v 0.33749518 -0.16184840 -0.19426419
+v 0.35907296 -0.14348449 -0.18511733
+v 0.35723502 -0.15244295 -0.18576743
+v 0.34106509 -0.20820208 -0.13852894
+v 0.33419895 -0.23190325 -0.11018091
+v 0.29912504 -0.25660270 0.07928552
+v 0.27638405 -0.23049232 0.10777219
+v 0.27976785 -0.20875302 0.10883750
+v 0.26476492 -0.24339835 0.10546199
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+f 7 3 1
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+f 12 3 7
+f 12 7 1
+f 15 10 2
+f 16 10 9
+f 16 9 4
+f 16 4 10
+f 17 1 3
+f 17 3 11
+f 18 11 6
+f 18 6 4
+f 18 4 9
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+f 20 9 5
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+f 21 1 17
+f 22 14 5
+f 22 5 10
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+f 24 8 14
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+f 29 18 9
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+f 30 10 15
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+f 32 2 12
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+f 32 23 24
+f 32 31 2
+f 32 24 31
+f 33 25 19
+f 33 19 23
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+f 33 23 32
+f 34 19 1
+f 34 1 26
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+f 35 21 17
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+f 36 28 11
+f 36 35 28
+f 36 21 35
+f 36 18 29
+f 37 36 11
+f 37 11 18
+f 37 18 36
+f 38 36 29
+f 38 29 9
+f 38 9 21
+f 38 21 36
\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_2/collision/model_normalized_collision_16.obj b/objects/objaverse/bagel/bagel_2/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27cea6cf6953a4f385f9850055ab6727ee9e2d05
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_2/collision/model_normalized_collision_16.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v 0.20748452 0.23484843 -0.08828424
+v 0.20845675 0.23576548 -0.19541973
+v 0.20502825 0.42517588 -0.08644885
+v -0.07879054 0.46954602 -0.08129016
+v -0.18611182 0.23628236 -0.20794561
+v -0.00797485 0.38841637 -0.19344096
+v 0.06738866 0.46286732 -0.08251223
+v -0.18645485 0.23484843 -0.08828424
+v 0.20564767 0.34548321 -0.17651890
+v -0.17714074 0.37143096 -0.19340817
+v -0.11125003 0.32477811 -0.20889197
+v 0.18754640 0.43181377 -0.08491814
+v -0.18157365 0.43617797 -0.07995766
+v 0.04830145 0.45884701 -0.10615646
+v 0.20740418 0.29226440 -0.19271224
+v -0.12182380 0.39914781 -0.18437527
+v -0.10023002 0.26269033 -0.20733095
+v -0.13672612 0.38771422 -0.19410115
+v -0.17109154 0.32506466 -0.20719567
+v -0.18812347 0.27911376 -0.20927171
+v 0.01311290 0.46142196 -0.10381624
+v 0.17032914 0.42910689 -0.10771587
+v 0.10895499 0.36009215 -0.19057767
+v -0.02159001 0.39942389 -0.18334470
+v -0.17860666 0.39796124 -0.15505332
+v 0.18595802 0.42941181 -0.09630270
+v 0.15745260 0.41437943 -0.13700170
+v -0.13260672 0.41241610 -0.15579689
+v 0.14094048 0.42906523 -0.12269868
+v 0.08195601 0.38672389 -0.17950230
+v 0.20263168 0.41750760 -0.11187596
+v 0.06745837 0.37618929 -0.18950555
+v 0.20291954 0.37252548 -0.16185661
+v 0.15819243 0.40300801 -0.14821929
+v 0.20166158 0.39979411 -0.13597910
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+f 13 7 4
+f 13 1 7
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+f 17 2 5
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+f 18 16 6
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+f 25 16 18
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+f 26 7 12
+f 26 12 3
+f 27 6 14
+f 28 25 4
+f 28 4 16
+f 28 16 25
+f 29 27 14
+f 29 14 22
+f 30 6 27
+f 31 22 26
+f 31 26 3
+f 31 3 9
+f 31 29 22
+f 31 27 29
+f 32 23 6
+f 32 6 30
+f 33 9 23
+f 33 32 30
+f 33 23 32
+f 33 31 9
+f 34 33 30
+f 34 30 27
+f 35 27 31
+f 35 31 33
+f 35 34 27
+f 35 33 34
\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_2/collision/model_normalized_collision_17.obj b/objects/objaverse/bagel/bagel_2/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28a26a41539bf1b7bc1e1b0034d09e9e8c09634a
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_2/collision/model_normalized_collision_17.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v 0.38863682 -0.00430363 0.05079070
+v 0.42854324 -0.00794865 -0.01501219
+v 0.38929379 0.09792363 0.05648080
+v 0.11468651 0.10488497 0.11258180
+v 0.14687846 -0.00757580 -0.01252667
+v 0.34715987 0.06325794 0.12198028
+v 0.37324524 0.05791106 0.09607476
+v 0.26572147 -0.00826433 0.12293605
+v 0.14687846 0.09848480 -0.01252667
+v 0.26316236 0.10108058 0.14104711
+v 0.38477544 0.02005389 0.06822011
+v 0.38535451 0.07704747 0.07254608
+v 0.35194212 -0.00283372 0.09127546
+v 0.15840452 -0.00705054 0.09306938
+v 0.40589503 0.09846946 -0.01386038
+v 0.42050932 0.04465487 -0.01667164
+v 0.09160466 0.10296074 0.07485693
+v 0.34664235 0.09740815 0.12375809
+v 0.24745022 0.02708951 0.13737512
+v 0.42310118 -0.00696436 -0.00418924
+v 0.33874327 0.04737927 0.12053733
+v 0.36327621 0.01533701 0.09478539
+v 0.40385098 0.10221464 -0.00691043
+v 0.09763177 0.10595020 0.08756415
+v 0.11380919 0.05917097 0.07253370
+v 0.37169146 0.09652528 0.09722046
+v 0.16846323 0.09836365 0.13956988
+v 0.20061429 0.00168957 0.11951905
+v 0.36431375 -0.00185350 0.08309106
+v 0.11603072 0.06457383 0.08370158
+v 0.17188813 0.07461716 0.13686798
+v 0.19678101 0.04929015 0.13619400
+v 0.22982978 0.02758978 0.13471839
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+f 19 6 10
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+f 20 1 2
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+f 21 6 19
+f 22 1 11
+f 22 11 7
+f 22 7 6
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+f 22 6 21
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+f 23 3 16
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+f 24 14 4
+f 24 4 10
+f 24 10 23
+f 24 23 9
+f 24 9 17
+f 25 17 5
+f 25 5 14
+f 26 12 3
+f 26 23 18
+f 26 3 23
+f 26 18 7
+f 26 7 12
+f 27 19 10
+f 27 10 4
+f 28 14 8
+f 28 8 19
+f 29 22 13
+f 29 13 1
+f 29 1 22
+f 30 24 17
+f 30 14 24
+f 30 25 14
+f 30 17 25
+f 31 27 4
+f 31 4 14
+f 31 14 28
+f 32 31 28
+f 32 19 27
+f 32 27 31
+f 33 32 28
+f 33 28 19
+f 33 19 32
\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_2/collision/model_normalized_collision_18.obj b/objects/objaverse/bagel/bagel_2/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14952daa80a6119cf91ba42f0052a9552ecf022a
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_2/collision/model_normalized_collision_18.obj
@@ -0,0 +1,183 @@
+# https://github.com/mikedh/trimesh
+v 0.00166257 -0.15176702 0.05201914
+v 0.06288337 -0.13854860 -0.17331963
+v -0.04921061 -0.00821997 0.00913440
+v -0.34599955 -0.00229032 0.16974467
+v -0.40990939 -0.14220466 -0.12648559
+v -0.19289192 -0.00182098 0.15277203
+v 0.06573684 -0.12278314 -0.04995963
+v 0.01843551 -0.14930486 -0.19934854
+v -0.31201619 -0.13681202 0.12709792
+v -0.37612350 -0.00515935 -0.20842198
+v -0.12396009 -0.01182947 0.11041922
+v 0.04721859 -0.15237686 -0.00146562
+v 0.06834374 -0.10540557 -0.13674717
+v -0.14382087 -0.14649762 0.10969402
+v -0.39608380 -0.10639784 0.06995539
+v -0.34511863 -0.14134318 -0.20715085
+v -0.14620563 -0.00728126 -0.19429558
+v -0.05032812 0.00359132 -0.08579706
+v -0.09648143 -0.01109949 0.08079000
+v 0.05328496 -0.14960154 -0.17471472
+v -0.23942303 -0.07774764 0.16778977
+v -0.33784874 -0.06413312 0.15523062
+v -0.38156916 -0.13481592 0.07021705
+v -0.43087234 -0.00473207 0.03834087
+v -0.08070264 -0.11394399 -0.20872916
+v -0.36779026 -0.13375281 -0.19504271
+v 0.01560449 -0.13664774 -0.19434389
+v -0.02487431 -0.14987821 0.06783221
+v -0.26413565 -0.00532545 0.18432767
+v -0.24681575 -0.13303621 0.13621393
+v -0.36780211 -0.03190352 0.14008684
+v -0.31497372 -0.07442431 0.16715060
+v -0.41065409 -0.13517750 -0.01831564
+v -0.34330430 -0.13607456 0.10572980
+v -0.38377884 -0.12083419 0.08065691
+v -0.42804983 -0.00735612 -0.13519322
+v -0.08234182 -0.13940092 -0.20689863
+v -0.16113347 -0.02908596 -0.20710079
+v -0.36155698 -0.09800977 -0.20693961
+v -0.30364090 -0.00460624 0.18560669
+v -0.22472770 -0.00533453 0.16890078
+v -0.19069940 -0.14182263 0.12314240
+v -0.37389102 -0.00320349 0.14331747
+v -0.25846775 -0.12956568 0.13790252
+v -0.39447359 -0.11900581 0.05812105
+v -0.42612114 -0.09336405 -0.01306370
+v -0.35670024 -0.12205440 0.10406403
+v -0.40169334 -0.00828581 -0.18675376
+v -0.14655221 -0.04167617 -0.20714004
+v -0.20381479 -0.00952016 -0.20747043
+v -0.30271136 -0.01790599 0.18257450
+v -0.26672391 -0.02011072 0.18202882
+v -0.41042009 -0.07837545 0.05770996
+v -0.42489927 -0.06293814 -0.12661775
+v -0.42541703 -0.07779609 0.01323641
+v -0.40085748 -0.04448991 -0.17560635
+v -0.37471286 -0.03563653 -0.20683060
+v -0.39493411 -0.03444048 0.09728518
+v -0.42523206 -0.09517251 -0.04145447
+v -0.42560155 -0.04810873 -0.13565465
+v -0.42650344 -0.03416348 0.03885429
+v -0.42647232 -0.06310799 0.02225245
+f 11 6 1
+f 12 2 7
+f 12 1 5
+f 12 5 8
+f 13 7 2
+f 13 3 7
+f 14 5 1
+f 16 8 5
+f 17 13 2
+f 18 4 6
+f 18 17 10
+f 18 6 3
+f 18 3 13
+f 18 13 17
+f 19 3 6
+f 19 6 11
+f 19 11 1
+f 19 1 12
+f 19 12 7
+f 19 7 3
+f 20 12 8
+f 20 8 2
+f 20 2 12
+f 24 18 10
+f 24 4 18
+f 25 16 10
+f 26 16 5
+f 27 17 2
+f 27 2 8
+f 27 8 17
+f 28 21 14
+f 28 14 1
+f 28 1 6
+f 31 22 4
+f 32 4 22
+f 33 5 23
+f 34 23 5
+f 34 9 32
+f 34 14 9
+f 34 5 14
+f 35 15 23
+f 35 31 15
+f 35 22 31
+f 35 23 34
+f 36 24 10
+f 37 25 8
+f 37 8 16
+f 37 16 25
+f 38 17 8
+f 39 10 16
+f 39 16 26
+f 40 29 6
+f 40 6 4
+f 40 4 32
+f 41 28 6
+f 41 6 29
+f 41 29 21
+f 41 21 28
+f 42 30 9
+f 42 9 14
+f 42 14 21
+f 42 21 30
+f 43 15 31
+f 43 31 4
+f 43 4 24
+f 44 30 21
+f 44 21 32
+f 44 32 9
+f 44 9 30
+f 45 33 23
+f 45 23 15
+f 46 5 33
+f 46 24 36
+f 47 34 32
+f 47 32 22
+f 47 35 34
+f 47 22 35
+f 48 36 10
+f 49 38 8
+f 49 8 25
+f 49 25 38
+f 50 38 25
+f 50 25 10
+f 50 10 17
+f 50 17 38
+f 51 40 32
+f 51 32 21
+f 52 21 29
+f 52 29 40
+f 52 51 21
+f 52 40 51
+f 53 15 43
+f 55 45 15
+f 55 15 53
+f 55 46 33
+f 55 33 45
+f 56 48 26
+f 56 26 5
+f 57 39 26
+f 57 26 48
+f 57 48 10
+f 57 10 39
+f 58 53 43
+f 58 43 24
+f 58 24 53
+f 59 54 5
+f 59 5 46
+f 60 5 54
+f 60 56 5
+f 60 48 56
+f 60 36 48
+f 60 46 36
+f 60 59 46
+f 60 54 59
+f 61 53 24
+f 62 24 46
+f 62 46 55
+f 62 61 24
+f 62 55 53
+f 62 53 61
\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_2/collision/model_normalized_collision_19.obj b/objects/objaverse/bagel/bagel_2/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91d211948532082ca39b0575f85598b43c897469
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_2/collision/model_normalized_collision_19.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v -0.16486345 -0.42355011 -0.06305728
+v -0.16271941 -0.42309773 -0.15465413
+v -0.17084383 -0.26480219 -0.20728170
+v -0.33164995 -0.25945608 -0.00301517
+v -0.34145020 -0.29210588 -0.13041028
+v -0.18852383 -0.27529396 0.08786122
+v -0.16555873 -0.36437240 0.04130270
+v -0.18910544 -0.41594522 -0.12493289
+v -0.32169034 -0.29615070 -0.04068756
+v -0.30291180 -0.25794057 -0.18194607
+v -0.25703297 -0.25790558 0.05194109
+v -0.16430556 -0.36788026 -0.19423574
+v -0.20647010 -0.38757485 -0.16319486
+v -0.37247999 -0.25604337 -0.09332822
+v -0.29048933 -0.29666739 0.00619448
+v -0.18994028 -0.41577261 -0.09314099
+v -0.24312266 -0.25855910 -0.19811396
+v -0.35142857 -0.26972137 -0.14923729
+v -0.16605314 -0.39176783 -0.18262880
+v -0.33654316 -0.29360571 -0.09489597
+v -0.32462828 -0.26846138 -0.00424528
+v -0.29086053 -0.28455641 0.01815534
+v -0.18806093 -0.38883554 -0.00746287
+v -0.33999993 -0.28155848 -0.14807375
+v -0.17607994 -0.39110832 -0.17848244
+v -0.35736274 -0.25838345 -0.15123839
+v -0.37264574 -0.25679353 -0.12886744
+v -0.36548266 -0.26609097 -0.09742937
+v -0.30045528 -0.25913222 0.02333495
+v -0.18990062 -0.35319186 0.03439524
+v -0.16707472 -0.39133054 0.00593914
+v -0.20382733 -0.39754023 -0.06506387
+v -0.17688958 -0.36608238 -0.19024394
+v -0.36541780 -0.26814788 -0.12767036
+v -0.28164046 -0.29602637 0.01559935
+v -0.17669972 -0.38987296 0.00183099
+v -0.17616881 -0.41631081 -0.06443459
+f 7 1 2
+f 7 3 6
+f 8 2 1
+f 11 6 3
+f 12 7 2
+f 12 3 7
+f 13 8 5
+f 13 2 8
+f 14 9 4
+f 14 4 11
+f 16 8 1
+f 16 5 8
+f 17 11 3
+f 17 14 11
+f 17 10 14
+f 17 12 10
+f 17 3 12
+f 19 12 2
+f 20 16 9
+f 20 5 16
+f 21 15 4
+f 21 4 9
+f 21 9 15
+f 22 4 15
+f 22 6 11
+f 23 15 9
+f 24 18 13
+f 24 13 5
+f 24 5 18
+f 25 18 10
+f 25 13 18
+f 25 19 2
+f 25 2 13
+f 26 10 18
+f 27 26 18
+f 27 14 10
+f 27 10 26
+f 28 5 20
+f 28 20 9
+f 28 9 14
+f 29 22 11
+f 29 11 4
+f 29 4 22
+f 30 7 6
+f 30 6 22
+f 31 1 7
+f 32 23 9
+f 32 9 16
+f 33 25 10
+f 33 10 12
+f 33 12 19
+f 33 19 25
+f 34 27 18
+f 34 18 5
+f 34 5 28
+f 34 28 14
+f 34 14 27
+f 35 30 22
+f 35 22 15
+f 35 15 23
+f 35 23 30
+f 36 30 23
+f 36 7 30
+f 36 31 7
+f 36 23 1
+f 36 1 31
+f 37 32 16
+f 37 16 1
+f 37 1 23
+f 37 23 32
\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_2/collision/model_normalized_collision_2.obj b/objects/objaverse/bagel/bagel_2/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22f20a68397edf3c841d5d7cc0d5ddd19aa9a81a
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_2/collision/model_normalized_collision_2.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v 0.00735471 0.22309785 0.16008215
+v 0.14652070 0.35576009 0.13792479
+v -0.18253982 0.28702970 0.21292618
+v -0.15069304 0.44770472 0.10382087
+v -0.18645485 0.23484843 0.13898847
+v -0.00857613 0.41792049 0.15321435
+v -0.09966625 0.23780331 0.19899679
+v 0.14481224 0.36894981 0.13367237
+v -0.21498005 0.38913438 0.13423964
+v -0.02251179 0.33975036 0.18368530
+v 0.01773217 0.23146549 0.16014826
+v -0.18512677 0.23768381 0.21502868
+v 0.00882806 0.45243156 0.10409149
+v 0.08300157 0.36571328 0.15318079
+v -0.17934763 0.43479846 0.10467986
+v -0.14790659 0.40491706 0.16617982
+v -0.09840079 0.40308638 0.16813050
+v 0.14290300 0.35210785 0.14003863
+v 0.00306307 0.22787123 0.16384849
+v -0.03515447 0.21982672 0.16871130
+v -0.14193300 0.29053554 0.21326091
+v 0.05174533 0.42529976 0.13501480
+v 0.14036798 0.36450672 0.13745675
+v -0.17963175 0.42000336 0.14473436
+v -0.04176222 0.39465636 0.16736696
+v -0.12130612 0.44442645 0.13093934
+v -0.15795849 0.23722320 0.21325634
+v -0.06651572 0.44566564 0.12569947
+v 0.12984526 0.38394100 0.13219625
+v 0.06846317 0.37673146 0.15226110
+v -0.18373555 0.40825186 0.15249644
+v -0.16664131 0.41772016 0.15161040
+v -0.15021409 0.44328910 0.11525606
+v 0.00742001 0.44821910 0.11217126
+v 0.12524002 0.37727429 0.13682433
+v -0.15496755 0.42892936 0.14189699
+v -0.00757191 0.42619852 0.14337870
+f 8 2 1
+f 8 1 5
+f 11 1 2
+f 12 9 5
+f 12 3 9
+f 13 8 5
+f 15 5 9
+f 15 13 5
+f 15 4 13
+f 18 14 10
+f 18 11 2
+f 18 7 11
+f 19 11 7
+f 19 7 1
+f 19 1 11
+f 20 12 5
+f 20 5 1
+f 20 1 7
+f 21 3 12
+f 21 17 16
+f 21 16 3
+f 21 18 10
+f 21 7 18
+f 23 2 8
+f 23 18 2
+f 23 14 18
+f 24 15 9
+f 24 4 15
+f 25 10 6
+f 25 6 17
+f 25 21 10
+f 25 17 21
+f 26 17 6
+f 26 16 17
+f 26 13 4
+f 27 20 7
+f 27 12 20
+f 27 21 12
+f 27 7 21
+f 28 26 6
+f 28 13 26
+f 29 8 13
+f 29 13 22
+f 29 23 8
+f 30 22 6
+f 30 6 10
+f 30 10 14
+f 31 24 9
+f 31 9 3
+f 31 3 16
+f 32 16 26
+f 32 31 16
+f 32 24 31
+f 33 26 4
+f 33 4 24
+f 34 22 13
+f 34 13 28
+f 35 14 23
+f 35 23 29
+f 35 30 14
+f 35 29 22
+f 35 22 30
+f 36 32 26
+f 36 24 32
+f 36 33 24
+f 36 26 33
+f 37 34 28
+f 37 28 6
+f 37 6 22
+f 37 22 34
\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_2/collision/model_normalized_collision_20.obj b/objects/objaverse/bagel/bagel_2/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21dad11013a4f24e02c1a38f62db65c370eb79da
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_2/collision/model_normalized_collision_20.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.07546283 0.15892904 -0.15827325
+v 0.09326683 0.22646408 -0.17680217
+v 0.08487818 0.19261840 -0.15844399
+v -0.22533646 0.23325927 -0.20458403
+v -0.17253889 0.15767246 -0.20938996
+v -0.22050945 0.16516823 -0.20627275
+v 0.06717632 0.23698167 -0.19505957
+v -0.08664115 0.15644561 -0.17204617
+v -0.21643735 0.23482847 -0.20692094
+v 0.08535542 0.23785074 -0.19049074
+v -0.21425566 0.15598570 -0.20844164
+v -0.12731929 0.23861780 -0.20872631
+v 0.06491722 0.22817142 -0.19257157
+v -0.17089573 0.23630474 -0.20877480
+f 1 3 4
+f 3 2 4
+f 6 1 4
+f 8 5 3
+f 8 3 1
+f 10 4 2
+f 10 2 3
+f 10 9 4
+f 11 5 8
+f 11 6 4
+f 11 4 9
+f 11 8 1
+f 11 1 6
+f 12 7 5
+f 12 10 7
+f 12 9 10
+f 13 10 3
+f 13 3 5
+f 13 5 7
+f 13 7 10
+f 14 11 9
+f 14 5 11
+f 14 12 5
+f 14 9 12
\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_2/collision/model_normalized_collision_21.obj b/objects/objaverse/bagel/bagel_2/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..221ecb608719bbe38237fd5be59b42af1c2d5208
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_2/collision/model_normalized_collision_21.obj
@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
+v 0.34664235 0.09740815 0.12375809
+v 0.42146256 0.09141762 -0.17548406
+v 0.37145775 0.22777439 0.01385585
+v 0.25270317 0.23359619 0.14867807
+v 0.25360910 0.09549886 -0.19740538
+v 0.34269271 0.23242447 0.08664098
+v 0.42552299 0.09808649 -0.05830923
+v 0.24936795 0.10080701 0.14582491
+v 0.31301840 0.23446423 -0.20009839
+v 0.31982767 0.15362683 0.13797941
+v 0.38929379 0.09792363 0.05648080
+v 0.38467301 0.21281210 -0.10216959
+v 0.25208081 0.16040147 -0.19864592
+v 0.39900955 0.10005780 -0.19704343
+v 0.27127698 0.23224680 0.14266657
+v 0.35885441 0.12592363 0.10952849
+v 0.32380645 0.09861204 0.13671903
+v 0.38403102 0.14085845 0.05614843
+v 0.40228126 0.16750481 -0.14284967
+v 0.38584896 0.21359017 -0.05811703
+v 0.37270379 0.22583123 -0.15378827
+v 0.25293906 0.23484843 -0.10343576
+v 0.31818053 0.22904439 0.11115412
+v 0.33020232 0.18498533 0.11953338
+v 0.36123953 0.09803858 0.11004849
+v 0.40195211 0.15328848 -0.01567741
+v 0.36852691 0.19724817 0.05604680
+v 0.37138741 0.13941151 0.08603366
+v 0.41590111 0.12072992 -0.14367362
+v 0.41753346 0.12455510 -0.04941128
+v 0.37857358 0.16687627 -0.19109418
+v 0.38532288 0.19856448 -0.15529800
+v 0.34108389 0.18097094 0.11023867
+v 0.32725781 0.21188116 0.11069172
+v 0.35684523 0.22848912 0.05484582
+v 0.35705236 0.16808138 0.09675502
+v 0.35657876 0.19576248 0.08210308
+v 0.38616174 0.20354729 -0.01475735
+v 0.33152782 0.22703909 -0.19349922
+v 0.40490930 0.11554095 -0.18557760
+v 0.38489392 0.16600918 -0.18413863
+v 0.37412000 0.21056975 -0.16513957
+f 5 2 1
+f 8 5 1
+f 9 6 3
+f 9 4 6
+f 11 1 2
+f 11 2 7
+f 13 5 8
+f 13 9 5
+f 14 2 5
+f 14 5 9
+f 15 6 4
+f 15 4 10
+f 16 10 1
+f 17 8 1
+f 17 1 10
+f 17 10 4
+f 17 4 8
+f 18 11 7
+f 20 19 12
+f 21 9 3
+f 21 20 12
+f 21 3 20
+f 21 12 19
+f 22 13 8
+f 22 8 4
+f 22 4 9
+f 22 9 13
+f 23 6 15
+f 24 10 16
+f 24 23 15
+f 24 15 10
+f 25 16 1
+f 25 1 11
+f 27 26 3
+f 27 18 26
+f 28 11 18
+f 28 25 11
+f 28 16 25
+f 28 18 27
+f 29 19 7
+f 29 7 2
+f 29 2 19
+f 30 7 19
+f 30 19 20
+f 30 26 18
+f 30 18 7
+f 31 14 9
+f 32 21 19
+f 32 19 2
+f 33 24 16
+f 33 6 24
+f 34 24 6
+f 34 6 23
+f 34 23 24
+f 35 27 3
+f 35 3 6
+f 35 6 27
+f 36 16 28
+f 36 33 16
+f 36 6 33
+f 37 28 27
+f 37 27 6
+f 37 36 28
+f 37 6 36
+f 38 30 20
+f 38 20 3
+f 38 3 26
+f 38 26 30
+f 39 31 9
+f 39 9 21
+f 40 2 14
+f 40 14 31
+f 41 40 31
+f 41 32 2
+f 41 2 40
+f 42 39 21
+f 42 31 39
+f 42 41 31
+f 42 21 32
+f 42 32 41
\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_2/collision/model_normalized_collision_22.obj b/objects/objaverse/bagel/bagel_2/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52bc97c3ea70a87207099085a804583b2bfd1653
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_2/collision/model_normalized_collision_22.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v -0.38786694 -0.00843874 0.11173315
+v -0.38105140 -0.00751660 -0.20559935
+v -0.37621305 0.10940057 -0.19955828
+v -0.37814323 0.23207502 0.10511489
+v -0.44337713 0.10728884 -0.00920209
+v -0.44195424 -0.00494426 0.01502909
+v -0.44192697 0.02829098 -0.11012550
+v -0.37778224 0.23214638 -0.08512745
+v -0.42804983 -0.00735612 -0.13519322
+v -0.40002608 0.18371036 0.11089347
+v -0.44188143 0.01169694 -0.11158713
+v -0.41437359 0.19510212 -0.03336731
+v -0.41031442 0.06506293 -0.16796302
+v -0.42597988 0.05641571 0.06814221
+v -0.44174009 0.00246570 -0.09918431
+v -0.39651404 0.22670809 -0.03876881
+v -0.40967853 0.19511295 0.03988492
+v -0.41283620 0.13683896 -0.15081175
+v -0.39640657 0.09426563 -0.18315398
+v -0.41109274 -0.00686537 -0.17155867
+v -0.39710385 -0.00607576 0.09813090
+v -0.44095448 0.10722333 0.02719399
+v -0.38215891 0.22763036 0.10192654
+v -0.39599294 0.22234558 0.02759826
+v -0.42658806 0.17057799 -0.02288737
+v -0.37737252 0.15750959 -0.18874315
+v -0.39705260 0.15754159 -0.16980387
+v -0.39074616 -0.00729428 -0.19860218
+v -0.42596926 0.07793309 0.06768669
+v -0.44168518 0.02252629 0.02204156
+v -0.42443738 0.16966388 0.01403611
+v -0.40937968 0.14966633 -0.14508069
+v -0.38342314 0.10808381 -0.19391164
+f 1 2 3
+f 1 3 4
+f 8 4 3
+f 9 2 1
+f 9 1 6
+f 10 1 4
+f 11 6 5
+f 11 5 7
+f 13 11 7
+f 14 1 10
+f 15 11 9
+f 15 9 6
+f 15 6 11
+f 16 4 8
+f 18 7 5
+f 18 13 7
+f 19 13 18
+f 20 9 11
+f 20 11 13
+f 21 14 6
+f 21 6 1
+f 21 1 14
+f 23 17 10
+f 23 10 4
+f 24 16 12
+f 24 12 17
+f 24 17 23
+f 24 23 4
+f 24 4 16
+f 25 17 12
+f 25 18 5
+f 26 8 3
+f 27 16 8
+f 27 8 26
+f 27 19 18
+f 28 3 2
+f 28 2 9
+f 28 9 20
+f 28 20 13
+f 28 13 19
+f 29 22 14
+f 29 14 10
+f 29 10 22
+f 30 22 5
+f 30 5 6
+f 30 6 14
+f 30 14 22
+f 31 22 10
+f 31 10 17
+f 31 17 25
+f 31 25 5
+f 31 5 22
+f 32 25 12
+f 32 18 25
+f 32 27 18
+f 32 12 16
+f 32 16 27
+f 33 27 26
+f 33 26 3
+f 33 19 27
+f 33 28 19
+f 33 3 28
\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_2/collision/model_normalized_collision_23.obj b/objects/objaverse/bagel/bagel_2/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d8f62f546b16339e87a33587ce0cd0404106079
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_2/collision/model_normalized_collision_23.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.13200171 -0.26240046 0.10209085
+v 0.13582666 -0.21326744 -0.16853361
+v 0.13460065 -0.14617361 0.08912703
+v -0.08331545 -0.14699067 0.08421689
+v -0.07549508 -0.26737951 -0.20720907
+v -0.06827129 -0.15082883 -0.20118428
+v -0.08061446 -0.26588378 0.10498825
+v 0.13690588 -0.16318065 0.09760301
+v 0.13172695 -0.26515154 -0.11858727
+v 0.11418690 -0.16616269 -0.17423993
+v -0.08417057 -0.19293807 0.09606298
+v 0.00670385 -0.26470271 -0.20563361
+f 6 4 3
+f 6 5 4
+f 8 1 2
+f 8 2 3
+f 8 7 1
+f 8 3 4
+f 9 2 1
+f 9 7 5
+f 9 1 7
+f 10 6 3
+f 10 3 2
+f 11 4 5
+f 11 5 7
+f 11 8 4
+f 11 7 8
+f 12 9 5
+f 12 2 9
+f 12 10 2
+f 12 5 6
+f 12 6 10
\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_2/collision/model_normalized_collision_24.obj b/objects/objaverse/bagel/bagel_2/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..887ecf59ce470b1a99bd806743ea3c043ccc4c60
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_2/collision/model_normalized_collision_24.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.43462122 -0.01089647 -0.03118863
+v 0.44800127 -0.00328245 -0.11420665
+v 0.42552299 0.09808649 -0.05830923
+v 0.25293906 0.09848480 -0.01252667
+v 0.25519571 -0.00438183 -0.19939077
+v 0.40589503 0.09846946 -0.01386038
+v 0.44658257 0.01813719 -0.07702049
+v 0.37284260 -0.00561106 -0.20373205
+v 0.25293906 -0.00757580 -0.01252667
+v 0.25360910 0.09549886 -0.19740538
+v 0.42050932 0.04465487 -0.01667164
+v 0.44602696 -0.00624688 -0.07778889
+v 0.43299158 0.07814886 -0.15139138
+v 0.40666667 0.09591792 -0.19214866
+v 0.42854324 -0.00794865 -0.01501219
+v 0.43749160 -0.00743331 -0.14429947
+v 0.44723478 0.03748640 -0.13159592
+v 0.42553548 0.09447696 -0.14920535
+v 0.40961319 0.04251567 -0.19166110
+v 0.44687539 0.03144501 -0.09288534
+v 0.44747063 0.00888996 -0.12790285
+f 6 3 4
+f 8 1 5
+f 9 5 1
+f 9 6 4
+f 10 8 5
+f 10 9 4
+f 10 5 9
+f 11 3 6
+f 11 7 3
+f 12 7 1
+f 12 2 7
+f 14 10 4
+f 14 4 3
+f 14 8 10
+f 15 1 7
+f 15 7 11
+f 15 9 1
+f 15 11 6
+f 15 6 9
+f 16 2 12
+f 16 12 1
+f 16 1 8
+f 17 13 3
+f 18 14 3
+f 18 3 13
+f 18 13 14
+f 19 16 8
+f 19 8 14
+f 19 17 16
+f 19 14 13
+f 19 13 17
+f 20 7 2
+f 20 2 17
+f 20 17 3
+f 20 3 7
+f 21 17 2
+f 21 2 16
+f 21 16 17
\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_2/collision/model_normalized_collision_25.obj b/objects/objaverse/bagel/bagel_2/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13348ff8472b7919c6623e15712302a386c44ef9
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_2/collision/model_normalized_collision_25.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.36261809 -0.14598018 -0.15055414
+v 0.43749160 -0.00743331 -0.14429947
+v 0.37477135 -0.13438934 -0.14156632
+v 0.42300443 0.10014148 -0.14909474
+v 0.35976378 -0.00658862 -0.20421808
+v 0.40833801 -0.07853152 -0.14050595
+v 0.37299979 0.03932979 -0.19884492
+v 0.35907296 -0.14348449 -0.18511733
+v 0.35835284 -0.01601416 -0.20142302
+v 0.41130258 0.09408096 -0.18860102
+v 0.40893290 -0.04112673 -0.17688025
+v 0.35241837 -0.09587325 -0.19851872
+v 0.43313163 0.06455446 -0.17113260
+v 0.39826908 0.03591807 -0.19579150
+v 0.35476225 -0.14398684 -0.19024883
+v 0.41989766 0.09087282 -0.17992888
+v 0.43299158 0.07814886 -0.15139138
+v 0.43203944 0.02479668 -0.16713107
+v 0.37388719 0.03541357 -0.19943663
+v 0.39611197 -0.01895580 -0.19263108
+v 0.42553548 0.09447696 -0.14920535
+v 0.43270465 0.07692470 -0.16035548
+v 0.43298339 -0.00518692 -0.15446718
+v 0.41752204 0.01300531 -0.17978397
+f 1 3 4
+f 6 2 4
+f 6 4 3
+f 7 1 4
+f 8 6 3
+f 8 3 1
+f 9 7 5
+f 9 1 7
+f 10 7 4
+f 11 2 6
+f 11 6 8
+f 12 1 9
+f 12 9 5
+f 14 10 13
+f 15 8 1
+f 15 1 12
+f 15 11 8
+f 16 13 10
+f 16 10 4
+f 17 2 13
+f 18 13 2
+f 19 14 5
+f 19 5 7
+f 19 7 10
+f 19 10 14
+f 20 12 5
+f 20 5 14
+f 20 15 12
+f 20 11 15
+f 21 17 4
+f 21 4 2
+f 21 2 17
+f 22 16 4
+f 22 4 17
+f 22 17 13
+f 22 13 16
+f 23 18 2
+f 23 2 11
+f 23 11 18
+f 24 18 11
+f 24 11 20
+f 24 13 18
+f 24 20 14
+f 24 14 13
\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_2/collision/model_normalized_collision_26.obj b/objects/objaverse/bagel/bagel_2/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d598afa930dc782e0f394eff3b1dd80b0d812cd8
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_2/collision/model_normalized_collision_26.obj
@@ -0,0 +1,177 @@
+# https://github.com/mikedh/trimesh
+v 0.31818053 0.22904439 0.11115412
+v 0.36661100 0.22990952 -0.15845492
+v 0.31543888 0.36122399 -0.03634669
+v 0.20197308 0.43540039 0.01157338
+v 0.20845675 0.23576548 -0.19541973
+v 0.25447834 0.36826273 0.07158323
+v 0.37786388 0.22830400 -0.00328022
+v 0.20927274 0.23451931 0.15521091
+v 0.24097252 0.38540446 -0.13663843
+v 0.32828429 0.31737768 0.02365889
+v 0.22445923 0.43249931 -0.00771313
+v 0.37712538 0.22917312 -0.10100328
+v 0.19959329 0.39177985 0.09429801
+v 0.31354849 0.34655106 -0.12225632
+v 0.31678146 0.25344963 -0.19202040
+v 0.20263168 0.41750760 -0.11187596
+v 0.29422274 0.30293197 0.09616315
+v 0.28402370 0.36957389 0.02393627
+v 0.34269271 0.23242447 0.08664098
+v 0.20147363 0.34887732 0.12732132
+v 0.19967747 0.41964259 0.06063860
+v 0.32576206 0.33384441 -0.11256366
+v 0.22995204 0.43196556 -0.03726418
+v 0.32200114 0.23271248 -0.19732717
+v 0.20554610 0.33386159 -0.18196248
+v 0.31486459 0.28546975 -0.17928124
+v 0.24427288 0.34199003 0.10910347
+v 0.31329447 0.35973340 -0.02072787
+v 0.29488615 0.31431365 0.08386006
+v 0.33419952 0.23151118 0.09853895
+v 0.35668064 0.25366545 0.02750055
+v 0.27127698 0.23224680 0.14266657
+v 0.20027750 0.43380987 -0.06456140
+v 0.20991802 0.40085411 0.07999706
+v 0.20989247 0.41419853 0.05586517
+v 0.35802375 0.25572256 -0.14321455
+v 0.28875110 0.36726627 -0.12585184
+v 0.20422909 0.36367282 -0.16709445
+v 0.20740418 0.29226440 -0.19271224
+v 0.26336401 0.29098853 -0.19092087
+v 0.28440693 0.30081618 0.10956535
+v 0.29412699 0.35987931 0.02175643
+v 0.30276736 0.36941840 -0.02202207
+v 0.34135556 0.23668930 0.08548093
+v 0.21846400 0.26243630 0.15289023
+v 0.19952428 0.40614380 0.08247738
+v 0.21626698 0.41280707 -0.11086848
+v 0.28822732 0.33090670 -0.16090124
+v 0.23178491 0.36127569 -0.16365431
+v 0.30386658 0.29545417 -0.17948464
+v 0.25635717 0.27222557 0.13710049
+v 0.28033007 0.34124292 0.06969508
+v 0.20727121 0.26371167 0.15394400
+v 0.23090804 0.23598542 0.15281163
+v 0.22888233 0.41251819 -0.09787943
+v 0.23063201 0.33323095 -0.17990165
+v 0.23114856 0.30152075 0.13554535
+v 0.26952915 0.24236145 0.14009350
+v 0.23410413 0.24867161 0.15105319
+v 0.25732381 0.39879111 -0.09511096
+f 5 2 1
+f 7 1 2
+f 8 5 1
+f 10 7 3
+f 12 7 2
+f 12 3 7
+f 20 13 5
+f 21 11 4
+f 22 2 14
+f 22 14 3
+f 22 3 12
+f 23 11 3
+f 23 4 11
+f 24 2 5
+f 26 14 2
+f 26 24 15
+f 26 2 24
+f 27 13 20
+f 28 10 3
+f 30 1 7
+f 30 7 19
+f 31 19 7
+f 31 7 10
+f 32 8 1
+f 33 5 13
+f 33 21 4
+f 33 23 16
+f 33 4 23
+f 34 27 6
+f 35 18 11
+f 35 11 21
+f 35 21 34
+f 35 34 6
+f 35 6 18
+f 36 22 12
+f 36 12 2
+f 36 2 22
+f 37 23 3
+f 37 3 14
+f 37 14 26
+f 38 33 16
+f 38 25 5
+f 38 5 33
+f 39 24 5
+f 39 5 25
+f 40 15 24
+f 40 39 25
+f 40 24 39
+f 41 6 27
+f 41 29 6
+f 41 17 29
+f 41 27 20
+f 41 32 1
+f 41 30 17
+f 41 1 30
+f 42 28 18
+f 42 10 28
+f 42 29 10
+f 43 28 3
+f 43 3 11
+f 43 11 18
+f 43 18 28
+f 44 10 29
+f 44 31 10
+f 44 19 31
+f 44 29 17
+f 44 30 19
+f 44 17 30
+f 46 33 13
+f 46 21 33
+f 46 34 21
+f 46 13 27
+f 46 27 34
+f 47 37 9
+f 47 9 16
+f 48 37 26
+f 48 9 37
+f 49 38 16
+f 49 16 9
+f 49 9 48
+f 50 26 15
+f 50 15 40
+f 50 49 48
+f 50 48 26
+f 51 45 32
+f 52 42 18
+f 52 18 6
+f 52 6 29
+f 52 29 42
+f 53 45 20
+f 53 8 45
+f 53 20 5
+f 53 5 8
+f 54 45 8
+f 54 8 32
+f 55 47 16
+f 55 16 23
+f 55 37 47
+f 56 40 25
+f 56 25 38
+f 56 38 49
+f 56 50 40
+f 56 49 50
+f 57 51 41
+f 57 41 20
+f 57 20 45
+f 57 45 51
+f 58 51 32
+f 58 32 41
+f 58 41 51
+f 59 54 32
+f 59 32 45
+f 59 45 54
+f 60 55 23
+f 60 23 37
+f 60 37 55
\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_2/collision/model_normalized_collision_27.obj b/objects/objaverse/bagel/bagel_2/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..712f62e30542fd90d4d6fe13fc965e3d4ef55626
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_2/collision/model_normalized_collision_27.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v 0.18771811 -0.44728397 -0.04949178
+v 0.27113346 -0.36917956 -0.04981023
+v 0.27086210 -0.37635705 0.01015333
+v 0.18848207 -0.36751953 0.05585731
+v 0.18770396 -0.36851206 -0.18163643
+v 0.25915009 -0.36175999 0.04076557
+v 0.19394021 -0.44622338 -0.09699429
+v 0.18555076 -0.45071896 -0.10109791
+v 0.27669766 -0.36755276 0.01248416
+v 0.24540548 -0.39765470 0.00696621
+v 0.22662708 -0.36441270 -0.15225118
+v 0.26725319 -0.37890214 -0.04926307
+v 0.18659310 -0.37774117 0.05078047
+v 0.19682580 -0.44381045 -0.05084268
+v 0.25322188 -0.36599108 -0.10838059
+v 0.24207779 -0.37125959 0.04626775
+v 0.24629587 -0.36261724 0.05168179
+v 0.19474651 -0.43263112 -0.14029228
+v 0.18752539 -0.43063145 -0.02255961
+v 0.18637514 -0.38085622 -0.17783783
+v 0.25056396 -0.37562332 -0.10513687
+v 0.23878884 -0.39901984 -0.10046245
+v 0.18980103 -0.40073171 0.02340832
+v 0.18721961 -0.43672460 -0.14197625
+v 0.21235628 -0.39060434 -0.16193661
+v 0.23243495 -0.38175513 0.03702059
+v 0.20019031 -0.38008857 -0.17334185
+v 0.19969598 -0.40664832 -0.16082919
+v 0.22052363 -0.39308767 -0.15188766
+v 0.20256105 -0.40011468 0.02040464
+v 0.19892780 -0.36755925 -0.17741173
+v 0.18715990 -0.41043186 -0.16262748
+v 0.22005161 -0.40202199 -0.14056006
+f 9 6 3
+f 11 5 4
+f 12 3 7
+f 12 9 3
+f 12 2 9
+f 13 4 5
+f 14 8 7
+f 14 1 8
+f 14 10 1
+f 14 7 3
+f 14 3 10
+f 15 9 2
+f 15 6 9
+f 15 11 6
+f 16 10 3
+f 16 3 6
+f 17 11 4
+f 17 6 11
+f 17 16 6
+f 17 4 13
+f 17 13 16
+f 18 7 8
+f 19 13 8
+f 19 8 1
+f 19 1 10
+f 20 13 5
+f 20 8 13
+f 21 15 2
+f 21 2 12
+f 22 12 7
+f 22 7 18
+f 22 21 12
+f 23 13 19
+f 24 18 8
+f 24 8 20
+f 26 16 13
+f 26 13 23
+f 26 10 16
+f 27 20 5
+f 28 18 24
+f 28 27 25
+f 28 20 27
+f 29 25 11
+f 29 11 15
+f 29 15 21
+f 29 21 22
+f 29 28 25
+f 29 18 28
+f 30 26 23
+f 30 23 19
+f 30 19 10
+f 30 10 26
+f 31 27 5
+f 31 5 11
+f 31 11 25
+f 31 25 27
+f 32 28 24
+f 32 24 20
+f 32 20 28
+f 33 29 22
+f 33 22 18
+f 33 18 29
\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_2/collision/model_normalized_collision_28.obj b/objects/objaverse/bagel/bagel_2/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b74019f90863c600e1d4f541483700aeaafda86
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_2/collision/model_normalized_collision_28.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.14174212 -0.00789487 0.12210989
+v -0.11407586 0.05083965 0.11299919
+v -0.23289002 0.10095917 0.19910085
+v -0.35693035 0.11416402 0.16971846
+v -0.34959204 -0.02261501 0.15642338
+v -0.10649739 0.09511323 0.12950353
+v -0.25135214 -0.00297738 0.18170584
+v -0.31793312 0.06880797 0.19681452
+v -0.13591083 0.10399302 0.17136020
+v -0.12350241 0.09314976 0.15857202
+v -0.14718166 -0.00840878 0.12456576
+v -0.31712558 0.09543200 0.19845904
+v -0.27912446 0.05562799 0.19775786
+v -0.31622213 -0.00417953 0.18105080
+v -0.17909184 0.10430095 0.18308166
+v -0.19289192 -0.00182098 0.15277203
+v -0.23508055 0.08445910 0.19765972
+v -0.12965529 0.09597097 0.16419484
+v -0.12394814 0.09823131 0.16113625
+v -0.30444108 0.05699996 0.19832952
+v -0.24790651 0.07171424 0.19730269
+f 5 2 1
+f 5 4 2
+f 6 2 4
+f 8 4 5
+f 9 6 4
+f 10 1 2
+f 10 2 6
+f 11 7 5
+f 11 5 1
+f 12 3 4
+f 12 4 8
+f 14 8 5
+f 14 5 7
+f 15 9 4
+f 15 4 3
+f 15 3 9
+f 16 9 7
+f 16 1 9
+f 16 11 1
+f 16 7 11
+f 17 9 3
+f 17 7 9
+f 18 9 1
+f 18 1 10
+f 19 10 6
+f 19 6 9
+f 19 18 10
+f 19 9 18
+f 20 12 8
+f 20 8 14
+f 20 14 7
+f 20 7 13
+f 20 13 3
+f 20 3 12
+f 21 13 7
+f 21 7 17
+f 21 17 3
+f 21 3 13
\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_2/collision/model_normalized_collision_29.obj b/objects/objaverse/bagel/bagel_2/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..469f1202f2727635e4aac1f9dde4b607f859ebc3
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_2/collision/model_normalized_collision_29.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v -0.34383246 -0.25959448 -0.03162819
+v -0.34529814 -0.24166894 -0.17092875
+v -0.35122249 -0.14376912 -0.20426193
+v -0.40242301 -0.14129928 -0.00211786
+v -0.39742206 -0.21643130 -0.11110583
+v -0.37952923 -0.15978337 0.02070714
+v -0.34482527 -0.17032964 -0.20162719
+v -0.36830584 -0.25435353 -0.14137579
+v -0.39644403 -0.21393453 -0.08382670
+v -0.41408953 -0.14012061 -0.11502299
+v -0.34829137 -0.23120235 -0.00099920
+v -0.34778381 -0.26162416 -0.15745084
+v -0.36744687 -0.24439402 -0.15060934
+v -0.36680070 -0.25364860 -0.07854793
+v -0.37314876 -0.13638261 -0.18467565
+v -0.41122012 -0.16623170 -0.07700473
+v -0.39847559 -0.15260851 -0.00065532
+v -0.35286976 -0.23903715 -0.16588370
+v -0.35736274 -0.25838345 -0.15123839
+v -0.38016308 -0.23064180 -0.13873787
+v -0.38204235 -0.23634468 -0.08475229
+v -0.41291296 -0.13570831 -0.05918713
+v -0.35292146 -0.16631451 -0.19668896
+v -0.41138453 -0.16971775 -0.09959403
+v -0.36630223 -0.20814233 -0.00530840
+v -0.38038498 -0.24194627 -0.12762317
+v -0.39413338 -0.18163397 -0.13703423
+v -0.35449990 -0.22679669 -0.00584366
+v -0.41097065 -0.15503794 -0.06486799
+v -0.35817499 -0.14268765 -0.19867246
+v -0.41085355 -0.15591157 -0.11381072
+v -0.40206364 -0.14341661 -0.13686504
+f 6 3 4
+f 7 1 2
+f 11 3 6
+f 11 7 3
+f 11 1 7
+f 12 2 1
+f 14 12 1
+f 15 4 3
+f 16 5 9
+f 17 6 4
+f 17 16 9
+f 17 4 16
+f 18 7 2
+f 18 2 13
+f 19 8 13
+f 19 14 8
+f 19 12 14
+f 19 13 2
+f 19 2 12
+f 20 13 8
+f 20 15 13
+f 21 14 1
+f 21 9 5
+f 22 15 10
+f 22 4 15
+f 22 10 16
+f 23 3 7
+f 23 13 15
+f 23 18 13
+f 23 7 18
+f 24 16 10
+f 24 5 16
+f 25 11 6
+f 25 6 17
+f 25 17 9
+f 26 20 8
+f 26 5 20
+f 26 21 5
+f 26 8 14
+f 26 14 21
+f 27 20 5
+f 27 15 20
+f 28 21 1
+f 28 9 21
+f 28 25 9
+f 28 1 11
+f 28 11 25
+f 29 22 16
+f 29 16 4
+f 29 4 22
+f 30 23 15
+f 30 15 3
+f 30 3 23
+f 31 24 10
+f 31 5 24
+f 31 27 5
+f 31 10 27
+f 32 27 10
+f 32 10 15
+f 32 15 27
\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_2/collision/model_normalized_collision_3.obj b/objects/objaverse/bagel/bagel_2/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12cf91694708430240108468f30e81d5ba8e5b5a
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_2/collision/model_normalized_collision_3.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v 0.20927274 0.23451931 0.15521091
+v 0.21175926 0.37421097 -0.15801257
+v 0.19766903 0.41733927 0.06955024
+v 0.00970458 0.49156033 0.03899949
+v 0.01051483 0.23484843 0.00262484
+v 0.16745782 0.45984273 -0.04887508
+v 0.01197000 0.43409022 0.12785394
+v 0.20085404 0.44539123 -0.00468863
+v 0.20748452 0.23484843 0.00262484
+v 0.01040401 0.47160430 -0.08611363
+v 0.19208152 0.33627569 0.13753114
+v 0.07862504 0.47616771 0.06787635
+v 0.00865991 0.23677522 0.16473120
+v 0.20718328 0.27537578 0.15187734
+v 0.20035070 0.42742792 -0.08418791
+v 0.12710930 0.38076120 -0.16744711
+v 0.11881922 0.41547016 -0.14395799
+v 0.06457687 0.49372210 -0.01982480
+v 0.08955875 0.43100159 0.12485843
+v 0.00992987 0.47719545 0.06993611
+v 0.12529011 0.45664393 0.07040087
+v 0.00410581 0.33900338 0.17098647
+v 0.19682491 0.35719508 0.12357284
+v 0.20735853 0.40085303 -0.13305760
+v 0.19898922 0.44168229 -0.05061291
+v 0.01051483 0.35606054 -0.08828424
+v 0.15522702 0.45919216 -0.05881998
+v 0.01156689 0.49160618 -0.02296626
+v 0.03882993 0.48920187 0.04282296
+v 0.06530834 0.48936088 0.01574451
+v 0.17071809 0.45899164 -0.03302660
+v 0.06615164 0.44665284 0.11330430
+v 0.18162635 0.42689640 0.06867382
+v 0.13880824 0.45834956 0.04497982
+v 0.13782771 0.44381687 0.08254089
+v 0.00865541 0.47639370 -0.06989260
+v 0.00742001 0.44821910 0.11217126
+v 0.02428133 0.26535367 0.16745149
+v 0.09823045 0.35469673 0.15180210
+v 0.16545499 0.41825868 0.09298295
+v 0.05363861 0.48936302 -0.03433980
+v 0.00959319 0.26660175 0.16802423
+v 0.16541762 0.42887156 0.08116052
+v 0.02955445 0.48958849 -0.03151481
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+f 9 1 5
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+f 14 1 2
+f 14 2 8
+f 14 8 3
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+f 17 2 16
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+f 22 1 14
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+f 23 14 3
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+f 25 6 8
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+f 26 10 16
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+f 27 17 10
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+f 28 4 18
+f 29 18 4
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+f 31 30 8
+f 31 18 30
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+f 32 12 20
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+f 33 8 21
+f 34 21 8
+f 34 8 12
+f 34 12 21
+f 35 33 21
+f 35 3 33
+f 35 21 12
+f 35 12 19
+f 36 26 22
+f 36 10 26
+f 36 28 10
+f 36 4 28
+f 37 20 4
+f 37 36 22
+f 37 4 36
+f 37 22 7
+f 37 32 20
+f 37 7 32
+f 38 13 1
+f 38 1 22
+f 39 22 14
+f 39 14 11
+f 39 11 19
+f 39 19 22
+f 40 23 3
+f 40 19 23
+f 40 35 19
+f 41 27 10
+f 41 18 27
+f 41 28 18
+f 42 38 22
+f 42 22 13
+f 42 13 38
+f 43 40 3
+f 43 3 35
+f 43 35 40
+f 44 41 10
+f 44 10 28
+f 44 28 41
\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_2/collision/model_normalized_collision_30.obj b/objects/objaverse/bagel/bagel_2/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe11b18b49fc84431e4d6317b82f5d623c857726
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_2/collision/model_normalized_collision_30.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.09763177 0.10595020 0.08756415
+v 0.09770378 0.09360431 -0.08530629
+v 0.09326683 0.22646408 -0.17680217
+v 0.08517171 0.23553518 0.14296727
+v 0.00935726 0.14663071 0.05884151
+v 0.06067993 0.11120831 0.04050109
+v 0.00949520 0.15697213 0.08759206
+v 0.00808610 0.18501609 -0.15468915
+v 0.01051321 0.14163466 -0.06785726
+v 0.03928778 0.20122112 0.12458481
+v 0.01423049 0.21580276 -0.18395886
+v 0.00646481 0.17403863 -0.14242925
+v 0.05562896 0.11007316 -0.03567496
+v 0.08551562 0.17112126 -0.14598740
+v 0.09344933 0.13721073 -0.11950671
+v 0.09189162 0.15669606 -0.13336386
+v 0.07600256 0.17115955 -0.14701837
+f 1 2 3
+f 1 3 4
+f 6 2 1
+f 6 1 5
+f 7 5 1
+f 10 7 1
+f 10 1 4
+f 11 2 8
+f 11 4 3
+f 11 10 4
+f 11 8 7
+f 11 7 10
+f 12 5 7
+f 12 7 8
+f 12 9 5
+f 12 8 2
+f 12 2 9
+f 13 6 5
+f 13 5 9
+f 13 9 2
+f 13 2 6
+f 14 11 3
+f 15 3 2
+f 16 15 14
+f 16 14 3
+f 16 3 15
+f 17 15 2
+f 17 2 11
+f 17 11 14
+f 17 14 15
\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_2/collision/model_normalized_collision_31.obj b/objects/objaverse/bagel/bagel_2/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38a65f29d51b8dcc3a2750cc49592e1513bf5ede
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_2/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.20748452 0.23484843 0.00262484
+v 0.23859302 0.40131500 -0.11127751
+v 0.20748452 0.23484843 -0.08828424
+v 0.24152653 0.39884787 0.02706026
+v 0.01051483 0.35606054 0.00262484
+v 0.01051483 0.23484843 0.00262484
+v 0.01051483 0.35606054 -0.08828424
+v 0.01051483 0.23484843 -0.08828424
+f 1 3 4
+f 3 2 4
+f 5 4 2
+f 6 1 4
+f 6 4 5
+f 6 3 1
+f 7 6 5
+f 7 5 2
+f 8 7 2
+f 8 2 3
+f 8 3 6
+f 8 6 7
\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_2/collision/model_normalized_collision_4.obj b/objects/objaverse/bagel/bagel_2/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..080de6f198bbbbcd838a5ffa5391db15dd814982
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_2/collision/model_normalized_collision_4.obj
@@ -0,0 +1,135 @@
+# https://github.com/mikedh/trimesh
+v 0.30246317 -0.20182219 0.07840951
+v 0.43298339 -0.00518692 -0.15446718
+v 0.36431375 -0.00185350 0.08309106
+v 0.15840452 -0.00705054 0.09306938
+v 0.13578769 -0.14069717 -0.19931233
+v 0.13765192 -0.01016348 -0.19661959
+v 0.23269566 -0.12828604 0.13835602
+v 0.41730439 -0.12144006 -0.03329972
+v 0.35976378 -0.00658862 -0.20421808
+v 0.21401239 -0.00462665 0.12514992
+v 0.14180729 -0.14920372 0.09493132
+v 0.29071399 -0.12782397 0.11166469
+v 0.43462122 -0.01089647 -0.03118863
+v 0.38798049 -0.13951893 0.00531296
+v 0.34979059 -0.14414301 -0.19485647
+v 0.26572147 -0.00826433 0.12293605
+v 0.14597316 -0.00878215 0.08136183
+v 0.24063126 -0.19036558 0.11101263
+v 0.18610998 -0.07798041 0.13676055
+v 0.23734801 -0.18895193 0.12257045
+v 0.33384521 -0.10078924 0.08251692
+v 0.28104970 -0.11699462 0.11939612
+v 0.43315445 -0.06379055 -0.04865407
+v 0.38863682 -0.00430363 0.05079070
+v 0.40311939 -0.13986408 -0.02056661
+v 0.42229427 -0.00592243 -0.17142027
+v 0.41726393 -0.11576483 -0.08085005
+v 0.30649197 -0.00484272 0.11107774
+v 0.19069085 -0.04065818 0.12959585
+v 0.17959172 -0.06911825 0.12947776
+v 0.23467177 -0.04051028 0.13428066
+v 0.18708510 -0.14069190 0.12465883
+v 0.31601308 -0.10619256 0.09672882
+v 0.43264726 -0.04789576 -0.03565441
+v 0.41819918 -0.04973379 -0.00671617
+v 0.38749348 -0.06115291 0.03424524
+v 0.40389982 -0.13295000 -0.08182006
+v 0.41788128 -0.04269305 -0.16838168
+v 0.42931841 -0.06414715 -0.11058329
+v 0.20302074 -0.04605084 0.13652604
+v 0.18621024 -0.07135694 0.13581927
+v 0.27268428 -0.03025411 0.12330723
+v 0.20196345 -0.12114192 0.13405808
+v 0.40361045 -0.07400054 0.00687572
+v 0.38835213 -0.13295940 -0.12405011
+v 0.42995299 -0.01654865 -0.15503580
+f 9 6 3
+f 9 3 2
+f 9 5 6
+f 10 6 4
+f 10 3 6
+f 11 6 5
+f 15 1 5
+f 15 5 9
+f 17 4 6
+f 17 6 11
+f 18 11 5
+f 18 5 1
+f 20 1 12
+f 20 18 1
+f 20 11 18
+f 21 14 3
+f 21 1 14
+f 22 12 3
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+f 22 7 20
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+f 24 13 2
+f 24 2 3
+f 25 14 1
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+f 26 15 9
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+f 27 23 8
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+f 28 7 22
+f 29 10 4
+f 30 17 11
+f 30 11 19
+f 30 4 17
+f 31 16 10
+f 32 19 11
+f 32 11 20
+f 33 12 1
+f 33 1 21
+f 33 21 3
+f 33 3 12
+f 34 23 13
+f 34 8 23
+f 35 8 34
+f 35 34 13
+f 35 13 24
+f 36 24 3
+f 36 3 14
+f 37 25 1
+f 37 1 15
+f 37 27 8
+f 37 8 25
+f 38 26 2
+f 38 15 26
+f 39 2 23
+f 39 23 27
+f 39 27 38
+f 40 10 29
+f 40 31 10
+f 40 19 7
+f 40 7 31
+f 41 29 4
+f 41 4 30
+f 41 30 19
+f 41 40 29
+f 41 19 40
+f 42 28 16
+f 42 16 31
+f 42 31 7
+f 42 7 28
+f 43 32 20
+f 43 20 7
+f 43 7 19
+f 43 19 32
+f 44 14 8
+f 44 8 35
+f 44 36 14
+f 44 35 24
+f 44 24 36
+f 45 37 15
+f 45 27 37
+f 45 38 27
+f 45 15 38
+f 46 39 38
+f 46 38 2
+f 46 2 39
\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_2/collision/model_normalized_collision_5.obj b/objects/objaverse/bagel/bagel_2/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f5582be77319011dc87bce8a0645cd8dcf5cc82
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_2/collision/model_normalized_collision_5.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.25293906 -0.00757580 -0.01252667
+v 0.36230946 0.25598103 -0.10794630
+v 0.25293906 0.23484843 -0.01252667
+v 0.08627240 0.23484843 -0.01252667
+v 0.13765192 -0.01016348 -0.19661959
+v 0.25519571 -0.00438183 -0.19939077
+v 0.07712012 0.09182838 -0.01374849
+v 0.08535542 0.23785074 -0.19049074
+v 0.14687846 -0.00757580 -0.01252667
+v 0.31301840 0.23446423 -0.20009839
+v 0.08126506 0.22802270 -0.18528704
+v 0.09826484 -0.01164374 -0.14870729
+v 0.19617229 0.23676352 -0.19450562
+v 0.31155140 0.14916753 -0.19180007
+v 0.10123175 -0.00938296 -0.15686865
+f 1 2 3
+f 1 3 4
+f 3 2 4
+f 6 2 1
+f 6 1 5
+f 8 4 2
+f 9 1 4
+f 9 4 7
+f 10 6 5
+f 10 5 8
+f 11 7 4
+f 11 4 8
+f 11 8 5
+f 12 9 7
+f 12 5 1
+f 12 1 9
+f 12 7 11
+f 13 10 8
+f 13 8 2
+f 13 2 10
+f 14 10 2
+f 14 2 6
+f 14 6 10
+f 15 12 11
+f 15 11 5
+f 15 5 12
\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_2/collision/model_normalized_collision_6.obj b/objects/objaverse/bagel/bagel_2/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5c20178e1c1203c090a0ac4ab088113f9ee072b
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_2/collision/model_normalized_collision_6.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.12396009 -0.01182947 0.11041922
+v 0.01423049 0.21580276 -0.18395886
+v 0.00865991 0.23677522 0.16473120
+v -0.32570097 0.22822788 0.16915255
+v -0.37612350 -0.00515935 -0.20842198
+v -0.30310143 0.23048071 -0.20665158
+v -0.31807843 0.01092988 0.18446437
+v -0.04921061 -0.00821997 0.00913440
+v -0.23788629 0.22997781 -0.20877245
+v -0.17303562 0.23825180 0.21523595
+v -0.39524118 0.18327812 -0.13003889
+v -0.21981050 0.09878005 0.19692995
+v -0.39282093 -0.00670397 0.10495446
+v 0.01020766 0.14355993 0.04330960
+v 0.00816701 0.17080912 0.11636032
+v -0.09056328 -0.01537895 -0.15516589
+v -0.18991895 0.02862680 -0.20681387
+v -0.34262727 0.16996808 -0.20747187
+v -0.37415138 0.22754860 0.11229061
+v -0.09966625 0.23780331 0.19899679
+v -0.31712558 0.09543200 0.19845904
+v -0.32068375 -0.00695043 0.17869035
+v -0.14758473 0.11917193 0.18036380
+v -0.39941416 0.15640720 -0.16139618
+v 0.00711443 0.14653244 -0.07894764
+v 0.00715558 0.21257730 0.15522069
+v -0.10739360 -0.01178826 0.09396155
+v 0.00949520 0.15697213 0.08759206
+v -0.23425223 -0.01123654 -0.20832730
+v -0.14325591 0.14159820 -0.20788500
+v -0.14620563 -0.00728126 -0.19429558
+v -0.18512677 0.23768381 0.21502868
+v -0.36728830 0.22478647 -0.14067779
+v -0.39485605 0.18427614 0.12709629
+v -0.17187839 0.22244522 0.21247406
+v -0.36952499 0.04119255 0.16810001
+v -0.39862250 0.01139657 0.10386737
+v -0.36800558 0.17104634 -0.19380263
+v -0.06296398 -0.01538864 -0.11746205
+v -0.16139122 0.08571768 -0.20717461
+v -0.11899735 -0.00909380 -0.17893626
+v -0.28212104 0.21377753 0.19910463
+v -0.38010842 0.20763752 -0.13750571
+v -0.38392865 0.20757994 0.12471947
+v -0.36312504 0.18033931 0.16397165
+v -0.34599322 0.04186522 0.18129001
+v -0.36486627 0.00227488 0.15533961
+v -0.38002495 0.04153432 0.15720813
+v -0.35953523 0.12544208 -0.20687941
+v -0.37481769 0.03600326 -0.20673408
+v -0.32809885 0.19998611 -0.20599450
+v -0.32678004 0.22806843 -0.19667804
+v -0.38441215 0.19330504 -0.16331301
+v 0.00646481 0.17403863 -0.14242925
+v -0.05032812 0.00359132 -0.08579706
+v -0.27127579 0.23080934 0.19846033
+v -0.36591948 0.19145331 0.15607277
+v -0.31391863 0.21489837 0.18194661
+v -0.29853133 0.18627075 0.19654567
+v -0.36955786 0.07781592 0.16975605
+v -0.33027331 0.00998835 0.18109863
+v -0.34599955 -0.00229032 0.16974467
+v -0.39548734 0.01623562 0.11923347
+v -0.38330902 0.01293706 0.14141446
+f 9 6 3
+f 9 3 2
+f 14 2 3
+f 16 1 13
+f 18 9 5
+f 18 6 9
+f 20 3 6
+f 20 6 10
+f 21 12 10
+f 21 7 12
+f 22 12 7
+f 22 1 12
+f 22 13 1
+f 23 12 1
+f 23 20 12
+f 23 3 20
+f 25 14 8
+f 25 2 14
+f 26 15 3
+f 26 23 1
+f 26 3 23
+f 27 8 15
+f 27 26 1
+f 27 15 26
+f 28 14 3
+f 28 3 15
+f 28 15 8
+f 28 8 14
+f 29 16 13
+f 29 13 5
+f 29 5 9
+f 30 9 2
+f 30 29 9
+f 31 29 17
+f 31 16 29
+f 32 19 4
+f 32 10 6
+f 32 6 19
+f 32 21 10
+f 33 19 6
+f 34 11 24
+f 35 20 10
+f 35 10 12
+f 35 12 20
+f 37 24 5
+f 37 5 13
+f 37 34 24
+f 39 16 2
+f 39 8 27
+f 39 27 1
+f 39 1 16
+f 40 30 2
+f 40 17 29
+f 40 29 30
+f 40 31 17
+f 40 2 31
+f 41 31 2
+f 41 2 16
+f 41 16 31
+f 42 21 32
+f 43 11 19
+f 43 19 33
+f 44 19 11
+f 44 11 34
+f 44 4 19
+f 49 38 18
+f 49 18 5
+f 50 5 24
+f 50 24 38
+f 50 49 5
+f 50 38 49
+f 51 6 18
+f 51 18 38
+f 52 33 6
+f 52 51 38
+f 52 6 51
+f 53 38 24
+f 53 52 38
+f 53 33 52
+f 53 43 33
+f 53 24 11
+f 53 11 43
+f 54 39 2
+f 54 2 25
+f 54 25 39
+f 55 39 25
+f 55 25 8
+f 55 8 39
+f 56 42 32
+f 56 32 4
+f 57 44 34
+f 57 34 45
+f 57 45 4
+f 57 4 44
+f 58 45 42
+f 58 4 45
+f 58 56 4
+f 58 42 56
+f 59 45 21
+f 59 21 42
+f 59 42 45
+f 60 21 45
+f 60 46 21
+f 60 36 46
+f 60 48 36
+f 60 45 34
+f 60 34 48
+f 61 7 21
+f 61 21 46
+f 61 22 7
+f 62 47 13
+f 62 13 22
+f 62 22 61
+f 62 36 47
+f 62 61 46
+f 62 46 36
+f 63 48 34
+f 63 34 37
+f 63 37 13
+f 64 47 36
+f 64 36 48
+f 64 48 63
+f 64 63 13
+f 64 13 47
\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_2/collision/model_normalized_collision_7.obj b/objects/objaverse/bagel/bagel_2/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..364a69a28ebfe05a7b6510825a3b18d6d905ba4a
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_2/collision/model_normalized_collision_7.obj
@@ -0,0 +1,138 @@
+# https://github.com/mikedh/trimesh
+v 0.21207186 -0.41933144 -0.02399351
+v 0.34099830 -0.28817903 -0.00614842
+v 0.27612880 -0.27134314 0.09072464
+v -0.19452828 -0.25792801 0.09469963
+v -0.17130334 -0.26515154 -0.04282970
+v -0.07977395 -0.37450747 0.06097199
+v 0.25718906 -0.35758987 0.04828599
+v 0.32191415 -0.25886253 -0.03692266
+v -0.08217532 -0.30506107 0.10799688
+v -0.17930260 -0.40081071 -0.03973205
+v 0.28309833 -0.36020380 0.00927149
+v 0.34141158 -0.28737418 0.01714342
+v 0.18659310 -0.37774117 0.05078047
+v 0.27967973 -0.36373776 -0.03582337
+v 0.27766279 -0.26193982 0.09272818
+v -0.14708727 -0.31339199 0.09149420
+v -0.13369693 -0.37683277 0.04945656
+v -0.24877223 -0.26689881 0.05065803
+v 0.26873306 -0.33452182 0.05971233
+v 0.34796010 -0.26760184 0.02049279
+v 0.29549793 -0.34547359 0.00016984
+v 0.26601234 -0.35799587 0.03595171
+v 0.09910199 -0.37276456 0.06086317
+v 0.23547458 -0.28808816 0.09015576
+v 0.32757005 -0.29838525 -0.01568817
+v -0.16430498 -0.26035822 0.10735961
+v -0.11843088 -0.32748175 0.09240178
+v -0.23664261 -0.26058184 0.06278860
+v -0.24237667 -0.29136516 0.04026628
+v 0.28570130 -0.28354850 0.07844646
+v 0.25733560 -0.34460683 0.06213165
+v 0.34409046 -0.26456081 0.00653037
+v -0.08084213 -0.26797533 0.10536908
+v -0.14818909 -0.28622543 0.10502337
+v -0.20311073 -0.31829894 0.06262496
+v 0.18416790 -0.36391033 0.05929763
+v 0.33293743 -0.26775958 -0.02018841
+v -0.16178225 -0.27396516 0.10380157
+v -0.12406768 -0.30259245 0.10546493
+v -0.23262731 -0.27035291 0.06242564
+v -0.19645502 -0.32726147 0.06075872
+v 0.34096307 -0.28106515 -0.00532922
+v -0.20719303 -0.28550051 0.07508716
+v -0.19172902 -0.34139213 0.05209713
+v -0.15948239 -0.37050322 0.03599869
+v -0.20646294 -0.33339544 0.04341221
+v -0.20423064 -0.32917688 0.05265794
+f 8 5 4
+f 11 7 1
+f 13 6 1
+f 13 1 7
+f 14 1 10
+f 14 10 5
+f 14 5 8
+f 14 11 1
+f 15 8 4
+f 17 10 1
+f 17 1 6
+f 19 7 12
+f 20 12 2
+f 21 12 11
+f 21 2 12
+f 21 14 2
+f 21 11 14
+f 22 12 7
+f 22 7 11
+f 22 11 12
+f 23 9 6
+f 23 6 13
+f 24 15 9
+f 24 3 15
+f 25 14 8
+f 25 8 2
+f 25 2 14
+f 26 15 4
+f 27 6 9
+f 27 17 6
+f 27 16 17
+f 28 4 5
+f 28 5 18
+f 29 18 5
+f 29 5 10
+f 30 19 12
+f 30 12 20
+f 30 20 15
+f 30 15 3
+f 31 13 7
+f 31 7 19
+f 31 3 24
+f 31 30 3
+f 31 19 30
+f 32 20 2
+f 32 8 15
+f 32 15 20
+f 33 26 9
+f 33 9 15
+f 33 15 26
+f 35 18 29
+f 35 34 4
+f 35 16 34
+f 36 23 13
+f 36 13 31
+f 36 9 23
+f 36 31 24
+f 36 24 9
+f 37 2 8
+f 37 8 32
+f 38 34 26
+f 38 26 4
+f 38 4 34
+f 39 34 16
+f 39 16 27
+f 39 27 9
+f 39 9 26
+f 39 26 34
+f 40 28 18
+f 40 18 35
+f 40 4 28
+f 41 17 16
+f 41 16 35
+f 42 37 32
+f 42 32 2
+f 42 2 37
+f 43 40 35
+f 43 35 4
+f 43 4 40
+f 44 17 41
+f 45 44 10
+f 45 10 17
+f 45 17 44
+f 46 29 10
+f 46 10 44
+f 47 44 41
+f 47 41 35
+f 47 46 44
+f 47 35 29
+f 47 29 46
\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_2/collision/model_normalized_collision_8.obj b/objects/objaverse/bagel/bagel_2/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00ef8a0f51f84ec2c86b97439be6d4d9e1a24621
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_2/collision/model_normalized_collision_8.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.13460065 -0.14617361 0.08912703
+v 0.11418690 -0.16616269 -0.17423993
+v 0.12577680 0.09825609 -0.15151481
+v 0.07705652 0.10459102 0.05913661
+v 0.05394027 -0.14835019 -0.02957911
+v 0.14813645 0.03821685 0.09213668
+v 0.09916247 -0.14947349 0.04194371
+v 0.05646020 -0.13967517 -0.14963844
+v 0.12646182 0.08318333 0.09863788
+v 0.15200637 -0.00887613 0.08774151
+v 0.12563527 -0.14704414 0.08373208
+v 0.11453965 -0.14564193 0.06875582
+v 0.06247720 0.10312117 -0.02498172
+v 0.09160466 0.10296074 0.07485693
+v 0.06315342 0.10386805 0.03195658
+v 0.12338451 0.09967497 -0.14606018
+v 0.10307415 0.09722469 -0.10986401
+f 7 5 2
+f 8 3 2
+f 8 2 5
+f 9 6 3
+f 9 1 6
+f 10 6 1
+f 10 1 2
+f 10 2 3
+f 10 3 6
+f 11 7 2
+f 11 2 1
+f 11 1 9
+f 12 4 5
+f 12 5 7
+f 12 11 4
+f 12 7 11
+f 13 8 5
+f 14 11 9
+f 14 4 11
+f 15 13 5
+f 15 5 4
+f 15 4 13
+f 16 13 4
+f 16 4 14
+f 16 14 9
+f 16 9 3
+f 17 16 3
+f 17 3 8
+f 17 8 13
+f 17 13 16
\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_2/collision/model_normalized_collision_9.obj b/objects/objaverse/bagel/bagel_2/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c17b752f38baa19140ed6cf24ce9e75cd157b0e0
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_2/collision/model_normalized_collision_9.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.24936795 0.10080701 0.14582491
+v 0.25293906 0.09848480 -0.01252667
+v 0.25293906 0.23484843 -0.01252667
+v 0.00865991 0.23677522 0.16473120
+v 0.07712012 0.09182838 -0.01374849
+v 0.25270317 0.23359619 0.14867807
+v 0.12598885 0.10573369 0.12191916
+v 0.08627240 0.23484843 -0.01252667
+v 0.23090804 0.23598542 0.15281163
+v 0.19492155 0.09919371 0.15080209
+v 0.00816701 0.17080912 0.11636032
+v 0.23298490 0.10391285 0.15207026
+v 0.10218394 0.10819200 0.09819894
+v 0.01038762 0.15960055 0.09332430
+v 0.00715558 0.21257730 0.15522069
+f 5 2 1
+f 5 3 2
+f 6 1 2
+f 6 2 3
+f 8 4 3
+f 8 3 5
+f 9 6 3
+f 9 3 4
+f 10 7 5
+f 10 5 1
+f 12 1 6
+f 12 6 9
+f 12 10 1
+f 12 9 4
+f 12 4 10
+f 13 5 7
+f 13 7 11
+f 14 8 5
+f 14 13 11
+f 14 5 13
+f 14 4 8
+f 15 10 4
+f 15 14 11
+f 15 4 14
+f 15 11 7
+f 15 7 10
\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_2/model.xml b/objects/objaverse/bagel/bagel_2/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..26d41101c60fb51e7d6ba0fc9a9a974c057b2173
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_2/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="bagel_6">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="Bagel" texture="image0" specular="0.5" shininess="0.0"/>
+  </asset>
+  <worldbody>
+    <body>
+      <body name="object">
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_0_vis" conaffinity="0" contype="0" group="1" material="Bagel"/>
+        <geom solimp="0.998 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="0.0002774484 0.00016531860000000068 -0.025306856400000004" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.0002774484 0.00016531860000000068 0.025828314000000005" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.05376015240000001 0.059246652000000004 0.0002607288000000008" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/bagel/bagel_2/visual/material.mtl b/objects/objaverse/bagel/bagel_2/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f68742fe8420aadeab267568817d347d5678c9d5
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_2/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 0.00000000
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_3/collision/model_normalized_collision_1.obj b/objects/objaverse/bagel/bagel_3/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8187de1250c661825a62c029cb432f85ef6b302
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_3/collision/model_normalized_collision_1.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.20136893 -0.26511980 0.13346966
+v -0.20093258 -0.26494459 -0.12445357
+v -0.21230135 0.10920628 0.05715232
+v -0.35221132 0.09875649 0.12377718
+v -0.40993679 -0.16782342 0.04766475
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\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_3/collision/model_normalized_collision_11.obj b/objects/objaverse/bagel/bagel_3/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27f0f77de01cb01002c0ca53d0f32a4e63de24b9
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_3/collision/model_normalized_collision_11.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v 0.20891116 0.23425760 0.12209438
+v 0.20796932 0.23484848 0.00610286
+v 0.13473442 0.44071545 0.02352652
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+v -0.18597008 0.23484848 0.00610286
+v -0.07824243 0.42199650 0.12458985
+v 0.23079046 0.38392423 0.02089472
+v 0.00981361 0.47321072 0.07720291
+v -0.18857265 0.23732427 0.14463974
+v -0.16689823 0.43942564 0.08992506
+v 0.11892593 0.41699935 0.08273890
+v 0.00888043 0.36847844 0.14047135
+v -0.07816668 0.45034741 0.10326581
+v -0.18181082 0.36331461 0.13830075
+v 0.05257575 0.46472381 0.07343660
+v 0.20354373 0.34615055 0.08142225
+v 0.00864937 0.32798025 0.14037140
+v 0.03773675 0.43437146 0.10943556
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+v -0.13811962 0.37928556 0.13897620
+v -0.18371738 0.42818628 0.09265713
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+v -0.00574557 0.42246886 0.12406048
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+v -0.16389404 0.43099186 0.09988964
+v -0.15020567 0.40428144 0.12376429
+v -0.02051575 0.38276810 0.14017314
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+v 0.09487453 0.36718767 0.12303480
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+f 37 15 8
+f 37 8 32
\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_3/collision/model_normalized_collision_12.obj b/objects/objaverse/bagel/bagel_3/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22f85bb1ad77f899aaa095e59acaa50763d19345
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_3/collision/model_normalized_collision_12.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.43474486 -0.00759219 0.00616684
+v 0.42273708 -0.00615049 -0.05038732
+v 0.42101983 0.09522660 0.00378879
+v 0.23827235 0.09848485 0.00610286
+v 0.17144864 0.00008595 -0.07779272
+v 0.41882149 0.09301188 -0.03207099
+v 0.20182753 -0.00966457 -0.11821887
+v 0.23827235 -0.00757576 0.00610286
+v 0.24028194 0.09789286 -0.12265087
+v 0.33728530 -0.00786746 -0.12843839
+v 0.16356668 0.09091737 -0.07842028
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+v 0.22884945 -0.00870818 -0.13206466
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+v 0.29806957 0.08164459 -0.12850405
+v 0.41593985 0.08037310 -0.04843640
+v 0.33764679 0.02066219 -0.12660858
+v 0.27045943 0.08180821 -0.12865753
+v 0.32485557 0.04983563 -0.12710515
+f 1 3 4
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+f 16 6 2
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+f 17 12 2
+f 17 2 10
+f 18 15 13
+f 18 13 9
+f 18 9 15
+f 19 15 12
+f 19 12 17
+f 19 17 10
+f 19 10 15
\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_3/collision/model_normalized_collision_13.obj b/objects/objaverse/bagel/bagel_3/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fbe325b62d4ea2b99b358b8f167f888ef712cf54
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_3/collision/model_normalized_collision_13.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.30387551 -0.25900213 0.11548948
+v 0.39117614 -0.16834068 0.01168380
+v 0.33918998 -0.14283858 0.12605538
+v 0.17431756 -0.08510398 0.04065733
+v 0.13221174 -0.26515152 0.00610286
+v 0.18042373 -0.08538519 0.04730412
+v 0.32931714 -0.24268773 0.09897296
+v 0.15447682 -0.08509342 0.00411007
+v 0.13847843 -0.27122356 0.12795044
+v 0.33722394 -0.17126780 0.12189332
+v 0.34349465 -0.26410820 0.00542526
+v 0.28839206 -0.25930348 0.12629695
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+v 0.14093186 -0.25950767 0.12316303
+v 0.14907772 -0.10346653 0.00141066
+v 0.33190991 -0.21474351 0.10990255
+v 0.32988296 -0.25648610 0.08779064
+v 0.31580685 -0.24294916 0.11290356
+v 0.16470545 -0.08675917 0.02747382
+f 6 3 2
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+f 8 4 6
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+f 12 9 1
+f 12 3 9
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+f 13 3 6
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+f 15 9 8
+f 15 5 9
+f 15 11 5
+f 15 8 2
+f 15 2 11
+f 16 7 2
+f 16 2 10
+f 17 11 2
+f 17 2 7
+f 17 7 1
+f 17 1 11
+f 18 12 1
+f 18 10 12
+f 18 16 10
+f 18 1 7
+f 18 7 16
+f 19 14 4
+f 19 4 8
+f 19 8 9
+f 19 9 14
\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_3/collision/model_normalized_collision_14.obj b/objects/objaverse/bagel/bagel_3/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6eece4b8960d817ce46ef791646da1de970389d3
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_3/collision/model_normalized_collision_14.obj
@@ -0,0 +1,147 @@
+# https://github.com/mikedh/trimesh
+v 0.30447695 -0.27584246 -0.07516091
+v 0.40840497 -0.09470069 -0.04908343
+v 0.29887841 -0.00757576 -0.06965472
+v 0.36237384 0.16851300 -0.08393525
+v 0.30710877 -0.14077512 -0.14209671
+v 0.39644738 0.15573426 -0.05109600
+v 0.34560614 -0.24308344 -0.04886174
+v 0.36536755 0.05057940 -0.11205286
+v 0.29020891 -0.24226174 -0.11800292
+v 0.29863804 -0.00737941 -0.13770754
+v 0.37798468 -0.18165370 -0.04668968
+v 0.38793622 -0.09382193 -0.08684961
+v 0.40190879 0.09506514 -0.07332702
+v 0.29103834 -0.26078154 -0.10697448
+v 0.34021505 0.15667361 -0.10578778
+v 0.30991535 -0.06816662 -0.14200411
+v 0.29531139 -0.06835230 -0.14499398
+v 0.42206231 0.05090035 -0.04799928
+v 0.35956804 -0.09617059 -0.11402550
+v 0.38759052 -0.12290507 -0.07418588
+v 0.39122783 0.13790819 -0.07038442
+v 0.41703413 -0.02169310 -0.06000811
+v 0.32526948 -0.25538619 -0.07492934
+v 0.33980326 0.11091151 -0.11548882
+v 0.37776540 0.09347873 -0.09797262
+v 0.29094266 -0.20198810 -0.13502680
+v 0.29373015 -0.14214010 -0.14668497
+v 0.42144985 -0.02290982 -0.04930570
+v 0.40380265 0.12307096 -0.05907622
+v 0.40178517 -0.06492265 -0.07501892
+v 0.34410823 -0.15280171 -0.11452838
+v 0.39102714 0.15514838 -0.06167075
+v 0.41599916 0.05082190 -0.06059116
+v 0.33101525 -0.25857464 -0.05994265
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+v 0.40298669 -0.09353642 -0.06156825
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+v 0.35749814 -0.15208555 -0.10084042
+v 0.30145364 -0.23847225 -0.11281679
+v 0.34124767 -0.24003918 -0.06228676
+v 0.34869405 0.15576122 -0.10044782
+v 0.35554615 -0.18104596 -0.08739644
+v 0.30300700 -0.25394759 -0.10061067
+v 0.34097575 -0.24805932 -0.05305930
+v 0.37148043 -0.18090758 -0.06143362
+v 0.32609966 -0.23977036 -0.08674777
+f 6 4 3
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+f 49 35 11
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+f 50 43 31
+f 50 31 46
+f 50 47 43
+f 50 23 47
+f 50 46 44
+f 50 44 23
\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_3/collision/model_normalized_collision_16.obj b/objects/objaverse/bagel/bagel_3/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1d4f9191b519c7c04d76ed1dbda93bbc898f00c
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_3/collision/model_normalized_collision_16.obj
@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
+v 0.11584961 -0.47308664 -0.03723676
+v 0.21852549 -0.41232718 -0.03709053
+v 0.21271296 -0.41909397 -0.03331269
+v 0.02003012 -0.23653543 -0.08500998
+v 0.19207223 -0.26340173 -0.14748007
+v 0.19281780 -0.26515152 -0.06965472
+v 0.14212620 -0.46499981 -0.03364782
+v 0.01336121 -0.39345028 -0.11472982
+v 0.08210115 -0.22640123 -0.07910863
+v 0.01216028 -0.48080178 -0.04831070
+v 0.18139964 -0.42923545 -0.05691914
+v 0.01298105 -0.30207202 -0.11612168
+v 0.15058537 -0.26472128 -0.14553929
+v 0.08339047 -0.44721405 -0.08484855
+v 0.19445743 -0.42857965 -0.04401471
+v 0.18773470 -0.33533516 -0.12662313
+v 0.12565665 -0.45836380 -0.05705282
+v 0.01118351 -0.26746604 -0.10325122
+v 0.08692300 -0.36744829 -0.12822332
+v 0.07694616 -0.35768564 -0.12868036
+v 0.01262598 -0.46460464 -0.07010114
+v 0.05453051 -0.47431744 -0.05791141
+v 0.21503778 -0.40871691 -0.04757835
+v 0.19678029 -0.43302161 -0.03305446
+v 0.14052866 -0.46003906 -0.04469439
+v 0.15310276 -0.40426671 -0.09806572
+v 0.00863620 -0.47567909 -0.05653671
+v 0.15054295 -0.29255042 -0.14291902
+v 0.19012470 -0.29157983 -0.14189303
+v 0.02715503 -0.40866974 -0.11134378
+v 0.05492991 -0.48031884 -0.04761945
+v 0.08317382 -0.45992503 -0.07110529
+v 0.20951973 -0.41558459 -0.04428448
+v 0.18487938 -0.36002307 -0.11399238
+v 0.10088997 -0.41028090 -0.10864164
+v 0.12618382 -0.41984279 -0.09685840
+v 0.01267185 -0.42160333 -0.10179782
+v 0.11539236 -0.36435248 -0.12715489
+v 0.17883610 -0.41818605 -0.06967134
+v 0.14276996 -0.38941723 -0.11097878
+v 0.03022574 -0.44868705 -0.08415349
+v 0.16998117 -0.37489760 -0.11070357
+f 6 3 2
+f 6 2 5
+f 9 3 6
+f 9 7 3
+f 9 4 7
+f 9 6 5
+f 10 7 4
+f 10 1 7
+f 13 9 5
+f 13 4 9
+f 18 13 12
+f 18 4 13
+f 18 12 8
+f 20 8 12
+f 20 12 13
+f 20 19 8
+f 22 21 14
+f 23 15 11
+f 23 5 2
+f 24 15 2
+f 24 2 3
+f 24 3 7
+f 24 7 15
+f 25 15 7
+f 25 11 15
+f 25 17 11
+f 25 7 1
+f 25 1 17
+f 27 10 4
+f 27 4 18
+f 27 18 8
+f 27 22 10
+f 27 21 22
+f 28 13 5
+f 28 20 13
+f 28 19 20
+f 29 23 16
+f 29 5 23
+f 29 28 5
+f 29 19 28
+f 30 8 19
+f 31 22 1
+f 31 1 10
+f 31 10 22
+f 32 17 1
+f 32 1 22
+f 32 22 14
+f 32 14 17
+f 33 23 2
+f 33 2 15
+f 33 15 23
+f 34 16 23
+f 35 30 19
+f 35 14 30
+f 36 17 14
+f 36 14 35
+f 36 11 17
+f 37 27 8
+f 37 21 27
+f 37 8 30
+f 38 29 16
+f 38 19 29
+f 38 35 19
+f 39 34 23
+f 39 23 11
+f 39 26 34
+f 39 36 26
+f 39 11 36
+f 40 36 35
+f 40 26 36
+f 40 38 16
+f 40 35 38
+f 41 37 30
+f 41 30 14
+f 41 14 21
+f 41 21 37
+f 42 40 16
+f 42 16 34
+f 42 34 26
+f 42 26 40
\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_3/collision/model_normalized_collision_17.obj b/objects/objaverse/bagel/bagel_3/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..374bfa586b9f731f6f863f0ea2b341ce3072eefd
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_3/collision/model_normalized_collision_17.obj
@@ -0,0 +1,174 @@
+# https://github.com/mikedh/trimesh
+v 0.34897825 0.22798247 0.07537789
+v 0.36328096 0.22731717 -0.04743235
+v 0.31254454 0.31221606 0.00380548
+v 0.20191891 0.40560132 0.01603646
+v 0.20509419 0.23550054 -0.13587158
+v 0.20108436 0.39142506 -0.07750264
+v 0.27109754 0.32473246 0.06745022
+v 0.35742390 0.25354660 0.02963112
+v 0.20891116 0.23425760 0.12209438
+v 0.26744230 0.35500343 -0.04587801
+v 0.19947540 0.40722399 -0.05083314
+v 0.23986619 0.31791586 -0.11166310
+v 0.26712564 0.35410903 0.02944398
+v 0.36641899 0.22978175 0.04638896
+v 0.35861060 0.25097073 -0.02419488
+v 0.34331706 0.26502996 0.04381910
+v 0.23429651 0.23319741 -0.12681543
+v 0.33314512 0.22853343 -0.08741884
+v 0.29477463 0.23138661 0.12011496
+v 0.20354373 0.34615055 0.08142225
+v 0.20199108 0.34838668 -0.11627561
+v 0.22312887 0.38700516 -0.06018189
+v 0.24098619 0.38429958 0.00304823
+v 0.24157402 0.36836857 0.03965869
+v 0.31164778 0.31293462 -0.02201818
+v 0.34144711 0.26752708 -0.04456936
+v 0.31290030 0.27998186 0.06874476
+v 0.36049744 0.23944608 0.04560813
+v 0.28143834 0.34045719 0.02988407
+v 0.21808973 0.30691061 -0.12734215
+v 0.20152555 0.39020594 0.04317659
+v 0.27574778 0.27180561 0.10857586
+v 0.25240900 0.34114666 -0.08614015
+v 0.23997203 0.38316672 -0.03587439
+v 0.21219654 0.39992409 0.01521426
+v 0.35717951 0.24061990 -0.04576918
+v 0.29700328 0.32696961 -0.03278046
+v 0.34302763 0.24156621 0.07235298
+v 0.27669917 0.23168773 -0.11563886
+v 0.30383363 0.25648376 -0.09620917
+v 0.21440410 0.34220283 -0.11345645
+v 0.20361059 0.30918443 -0.13088787
+v 0.21304850 0.38541931 0.04072530
+v 0.21589175 0.34487614 0.07859398
+v 0.28355573 0.29821971 0.08187280
+v 0.20794381 0.28960631 0.10908668
+v 0.21268784 0.38565450 -0.07414551
+v 0.29850029 0.31069254 -0.05936249
+v 0.21269995 0.39956783 -0.04789288
+v 0.34658169 0.22835163 -0.07449175
+v 0.29073365 0.25629603 0.11071797
+v 0.22952055 0.29118549 -0.12582297
+v 0.27227342 0.25986710 -0.11242643
+v 0.29962198 0.28390001 -0.08304767
+v 0.27172717 0.31030989 0.08133418
+v 0.23412622 0.31229023 0.09533905
+v 0.22240187 0.28756473 0.10942003
+v 0.34274379 0.23837734 -0.07179704
+v 0.32779612 0.24293906 -0.08458051
+f 14 1 2
+f 15 14 2
+f 15 8 14
+f 17 9 5
+f 18 2 1
+f 18 1 9
+f 18 9 17
+f 19 9 1
+f 20 11 5
+f 20 5 9
+f 21 11 6
+f 21 5 11
+f 22 6 11
+f 23 11 4
+f 24 7 13
+f 24 13 23
+f 25 3 8
+f 25 8 15
+f 25 23 3
+f 26 25 15
+f 28 14 8
+f 28 8 16
+f 29 13 7
+f 29 27 16
+f 29 7 27
+f 29 23 13
+f 29 3 23
+f 29 16 8
+f 29 8 3
+f 31 4 11
+f 31 11 20
+f 33 22 10
+f 34 10 22
+f 35 24 23
+f 35 23 4
+f 36 26 15
+f 36 15 2
+f 37 25 26
+f 37 10 34
+f 37 34 23
+f 37 23 25
+f 38 16 27
+f 38 28 16
+f 38 1 14
+f 38 14 28
+f 39 17 5
+f 39 18 17
+f 40 30 12
+f 41 30 21
+f 41 12 30
+f 41 33 12
+f 41 21 6
+f 41 6 33
+f 42 5 21
+f 42 21 30
+f 43 4 31
+f 43 35 4
+f 43 24 35
+f 43 31 7
+f 43 7 24
+f 44 31 20
+f 45 27 7
+f 45 38 27
+f 46 20 9
+f 47 33 6
+f 47 6 22
+f 47 22 33
+f 48 33 10
+f 48 37 26
+f 48 10 37
+f 49 34 22
+f 49 22 11
+f 49 11 23
+f 49 23 34
+f 50 36 2
+f 50 2 18
+f 51 32 19
+f 51 19 1
+f 51 1 38
+f 51 38 45
+f 52 39 5
+f 52 42 30
+f 52 5 42
+f 53 40 18
+f 53 18 39
+f 53 39 52
+f 53 52 30
+f 53 30 40
+f 54 40 12
+f 54 12 33
+f 54 33 48
+f 55 7 31
+f 55 31 44
+f 55 44 32
+f 55 45 7
+f 55 51 45
+f 55 32 51
+f 56 44 20
+f 56 32 44
+f 57 46 9
+f 57 9 19
+f 57 19 32
+f 57 32 56
+f 57 56 20
+f 57 20 46
+f 58 26 36
+f 58 36 50
+f 58 54 48
+f 58 48 26
+f 59 18 40
+f 59 40 54
+f 59 54 58
+f 59 58 50
+f 59 50 18
\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_3/collision/model_normalized_collision_19.obj b/objects/objaverse/bagel/bagel_3/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7854d3347de53051d36d7e39ad45311c75613b9c
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_3/collision/model_normalized_collision_19.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.02084782 -0.26943850 -0.10318995
+v -0.01000718 -0.23676397 -0.08594786
+v -0.26860460 -0.30222250 -0.08206838
+v -0.16922330 -0.10926393 -0.08174043
+v -0.20672979 -0.14946287 -0.12920685
+v -0.08728753 -0.15499438 -0.05144696
+v -0.01544187 -0.21015720 -0.05910978
+v -0.01770880 -0.25256762 -0.09857966
+v -0.10762945 -0.16043100 -0.08593349
+v -0.20093258 -0.26494459 -0.12445357
+v -0.24657614 -0.21969697 -0.05450320
+v -0.19817155 -0.15018445 -0.12579036
+v -0.02129011 -0.22283465 -0.08103437
+v -0.06899178 -0.26696985 -0.11521865
+v -0.25869983 -0.23807988 -0.12407610
+v -0.04392024 -0.22778375 -0.09704143
+v -0.09041786 -0.16170832 -0.07119966
+v -0.20267594 -0.23394396 -0.13043520
+v -0.07058559 -0.25277672 -0.11347139
+v -0.26016313 -0.27995308 -0.10544745
+v -0.18854146 -0.23264352 -0.12896835
+f 7 1 2
+f 7 3 1
+f 7 4 6
+f 8 2 1
+f 8 1 5
+f 11 4 5
+f 11 6 4
+f 11 7 6
+f 11 3 7
+f 12 8 5
+f 12 9 2
+f 12 5 4
+f 12 4 9
+f 13 7 2
+f 13 2 9
+f 13 9 4
+f 14 1 3
+f 14 3 10
+f 15 11 5
+f 15 3 11
+f 16 12 2
+f 16 2 8
+f 16 8 12
+f 17 13 4
+f 17 4 7
+f 17 7 13
+f 18 14 10
+f 18 15 5
+f 18 10 15
+f 19 14 5
+f 19 5 1
+f 19 1 14
+f 20 15 10
+f 20 10 3
+f 20 3 15
+f 21 18 5
+f 21 5 14
+f 21 14 18
\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_3/collision/model_normalized_collision_2.obj b/objects/objaverse/bagel/bagel_3/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba5defc44176c29f89800d9a536b041f8dc36734
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_3/collision/model_normalized_collision_2.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.23163001 -0.00765368 0.09054691
+v 0.23912782 0.03744251 -0.12741498
+v 0.23079046 0.23693629 0.12046643
+v 0.01097799 0.23689692 0.08060841
+v 0.16546666 -0.00798405 -0.07640400
+v 0.23429651 0.23319741 -0.12681543
+v 0.13530376 0.23680005 0.10362418
+v 0.23827235 -0.00757576 -0.05450320
+v 0.16496311 -0.00854305 0.01427538
+v 0.23600851 0.18930530 -0.12840254
+v 0.04378152 0.24299295 -0.13238355
+v 0.10587652 0.24138300 0.09626123
+v 0.19494748 -0.00992184 -0.11256102
+v 0.17957410 -0.00597884 0.03970732
+v 0.01735548 0.19286155 -0.01072398
+v 0.22421137 0.17509211 -0.12930179
+v 0.01268613 0.24011914 -0.12362337
+v 0.18574606 -0.00946300 -0.10491729
+v 0.20567239 -0.00483717 0.06811344
+v 0.00905173 0.22208189 0.05620675
+v 0.01774700 0.20712713 -0.08937803
+v 0.01438096 0.20684046 0.02825381
+v 0.01050340 0.23223452 0.07351517
+v 0.01460888 0.23172798 -0.11728895
+v 0.01966361 0.19335122 -0.05085966
+f 7 1 3
+f 7 4 1
+f 8 2 3
+f 8 3 1
+f 10 6 3
+f 10 3 2
+f 11 3 6
+f 12 7 3
+f 12 4 7
+f 12 11 4
+f 12 3 11
+f 13 2 8
+f 13 11 2
+f 13 8 1
+f 13 1 9
+f 14 9 1
+f 14 4 9
+f 15 5 9
+f 16 10 2
+f 16 2 11
+f 16 11 6
+f 16 6 10
+f 17 11 13
+f 17 4 11
+f 18 13 9
+f 18 9 5
+f 18 17 13
+f 19 14 1
+f 19 1 4
+f 19 4 14
+f 20 17 15
+f 20 4 17
+f 21 15 17
+f 22 20 15
+f 22 15 9
+f 22 9 20
+f 23 20 9
+f 23 9 4
+f 23 4 20
+f 24 21 17
+f 24 5 21
+f 24 18 5
+f 24 17 18
+f 25 21 5
+f 25 5 15
+f 25 15 21
\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_3/collision/model_normalized_collision_20.obj b/objects/objaverse/bagel/bagel_3/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99100c7b1d9cad550038a0a97ee4b9d2eb94cb11
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_3/collision/model_normalized_collision_20.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.20108260 0.05301447 0.02131338
+v -0.08016346 0.23764016 -0.11160239
+v -0.07922950 0.23328355 0.09879264
+v -0.18896063 0.22377766 0.13748290
+v -0.20112527 0.23520487 -0.12565200
+v -0.20792465 0.13972226 0.08745257
+v -0.08926127 0.19162278 -0.06114051
+v -0.20802270 0.05723612 -0.07822503
+v -0.11152773 0.24108931 -0.11828576
+v -0.08617456 0.19441874 0.04687933
+v -0.20767938 0.11707122 -0.10464391
+v -0.18756832 0.05892900 -0.04773656
+v -0.08712508 0.20686276 0.07327713
+v -0.20516125 0.16228865 -0.11505444
+v -0.19620674 0.05405401 0.01562228
+v -0.20053679 0.06033908 -0.07148195
+v -0.08523788 0.22113802 -0.09828056
+v -0.18966394 0.05756338 0.00032031
+f 5 4 3
+f 6 1 3
+f 6 3 4
+f 6 4 5
+f 8 1 6
+f 9 5 3
+f 9 3 2
+f 10 7 2
+f 10 2 3
+f 11 8 6
+f 11 9 2
+f 11 2 8
+f 12 7 10
+f 13 10 3
+f 13 3 1
+f 14 5 9
+f 14 9 11
+f 14 11 6
+f 14 6 5
+f 15 1 8
+f 15 8 12
+f 15 13 1
+f 15 10 13
+f 16 12 8
+f 16 8 2
+f 17 2 7
+f 17 7 12
+f 17 16 2
+f 17 12 16
+f 18 15 12
+f 18 12 10
+f 18 10 15
\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_3/collision/model_normalized_collision_22.obj b/objects/objaverse/bagel/bagel_3/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0846eb58b5114d444c4d33673d235a884935f4ed
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_3/collision/model_normalized_collision_22.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.25216831 0.10366892 0.09001208
+v -0.08195102 0.22513209 0.09260690
+v -0.17378817 0.23802390 0.14106775
+v -0.31001760 0.24088359 0.13192658
+v -0.37240957 0.15930209 0.11507672
+v -0.10177191 0.24395613 0.11618042
+v -0.11587032 0.20151239 0.08753459
+v -0.35221132 0.09875649 0.12377718
+v -0.08205182 0.23917925 0.10367938
+v -0.13063883 0.24179247 0.12798131
+v -0.35205012 0.10480091 0.12113258
+v -0.26043498 0.23587170 0.14220243
+v -0.34864089 0.15874649 0.12657669
+v -0.28423922 0.10610904 0.11088158
+v -0.26272008 0.20726562 0.14085904
+v -0.30554681 0.23446570 0.13462813
+v -0.15266449 0.21400097 0.12352645
+v -0.07922950 0.23328355 0.09879264
+v -0.17393417 0.22831827 0.13810171
+v -0.34907027 0.11635085 0.12539361
+f 7 2 1
+f 7 1 5
+f 7 5 4
+f 7 4 2
+f 9 2 4
+f 9 4 6
+f 10 6 4
+f 10 4 3
+f 11 8 5
+f 11 5 1
+f 11 1 8
+f 12 3 4
+f 13 4 5
+f 13 5 8
+f 14 8 1
+f 15 8 3
+f 15 3 12
+f 16 13 12
+f 16 12 4
+f 16 4 13
+f 17 9 6
+f 17 6 10
+f 18 14 1
+f 18 1 2
+f 18 17 14
+f 18 2 9
+f 18 9 17
+f 19 3 8
+f 19 8 14
+f 19 14 17
+f 19 17 10
+f 19 10 3
+f 20 13 8
+f 20 8 15
+f 20 15 12
+f 20 12 13
\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_3/collision/model_normalized_collision_23.obj b/objects/objaverse/bagel/bagel_3/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..270177804bcb790fd13d221fc5f909097b333511
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_3/collision/model_normalized_collision_23.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.00836251 -0.27391099 0.08954173
+v 0.01118351 -0.26746604 -0.10325122
+v 0.00223327 -0.20690810 -0.01354435
+v -0.08731224 -0.15572770 -0.01245335
+v -0.08231633 -0.27018281 0.11786878
+v -0.08709468 -0.16883794 -0.07718455
+v 0.00185484 -0.22340820 0.02464620
+v 0.00433372 -0.20909706 -0.03380789
+v -0.02084782 -0.26943850 -0.10318995
+v -0.08658849 -0.18530725 0.04326617
+v 0.01088807 -0.25671483 -0.10047772
+v -0.08728753 -0.15499438 -0.05144696
+v -0.06799428 -0.27212073 0.11533352
+v -0.08198797 -0.22188978 -0.10789473
+v -0.08690838 -0.19736814 -0.09961007
+v -0.07369853 -0.19039671 0.03982332
+v 0.00408617 -0.25402799 0.06771035
+v 0.00772458 -0.23256498 -0.08443495
+v -0.08411095 -0.25920889 0.11188056
+v -0.06264045 -0.25386991 -0.10842047
+v -0.07072614 -0.26044900 0.10856169
+v -0.05763681 -0.25027669 0.09538901
+v -0.05955873 -0.22042216 0.06648792
+f 7 1 3
+f 7 3 4
+f 8 3 1
+f 9 2 1
+f 11 8 1
+f 11 1 2
+f 12 4 3
+f 12 3 8
+f 13 9 1
+f 13 5 9
+f 14 11 2
+f 15 14 5
+f 15 11 14
+f 15 10 4
+f 15 12 6
+f 15 4 12
+f 16 10 7
+f 16 7 4
+f 16 4 10
+f 17 10 1
+f 17 1 7
+f 17 7 10
+f 18 8 11
+f 18 12 8
+f 18 6 12
+f 18 15 6
+f 18 11 15
+f 19 5 13
+f 19 15 5
+f 19 10 15
+f 20 14 2
+f 20 2 9
+f 20 9 5
+f 20 5 14
+f 21 19 13
+f 21 13 1
+f 22 21 1
+f 22 10 19
+f 22 19 21
+f 23 22 1
+f 23 1 10
+f 23 10 22
\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_3/collision/model_normalized_collision_24.obj b/objects/objaverse/bagel/bagel_3/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b81041c90d8ba9c19b330d9d45d562e2af09802
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_3/collision/model_normalized_collision_24.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.39343445 0.09873236 0.07389697
+v 0.42194500 0.09389691 -0.02178984
+v 0.36958246 0.22467838 0.04464256
+v 0.23079046 0.23693629 0.12046643
+v 0.24028194 0.09789286 -0.12265087
+v 0.35538804 0.22269362 0.07050766
+v 0.40226263 0.12617695 0.04557737
+v 0.22289546 0.08561518 0.10113022
+v 0.31836641 0.22811028 -0.09969431
+v 0.38487222 0.15451316 0.07160322
+v 0.42101983 0.09522660 0.00378879
+v 0.34046100 0.09649243 -0.11746306
+v 0.23743588 0.23449874 -0.12607237
+v 0.37146310 0.22393507 -0.03330402
+v 0.38682122 0.19766728 0.03297534
+v 0.37180128 0.19407030 0.06902394
+v 0.40500489 0.09697039 0.04593081
+v 0.38805851 0.16697311 -0.05923776
+v 0.30462291 0.21422587 -0.11151318
+v 0.41764166 0.10833699 0.00450549
+v 0.38597516 0.19687629 -0.03455072
+v 0.34815136 0.16872320 -0.09756828
+v 0.41225387 0.09631696 -0.05101032
+v 0.36018076 0.20889047 -0.07174216
+v 0.29358721 0.22892802 -0.11165255
+v 0.40260152 0.13842024 -0.04902957
+v 0.41781905 0.10676370 -0.02022218
+v 0.33719207 0.13956435 -0.11168920
+v 0.37026886 0.18167122 -0.07482410
+v 0.35814228 0.22308261 -0.06152489
+v 0.36076687 0.18367897 -0.08304409
+v 0.34526294 0.21325125 -0.08434120
+f 6 3 4
+f 8 1 4
+f 9 4 3
+f 10 6 4
+f 10 4 1
+f 10 1 7
+f 11 8 2
+f 12 8 5
+f 12 2 8
+f 13 8 4
+f 13 5 8
+f 13 4 9
+f 13 12 5
+f 14 9 3
+f 15 10 7
+f 15 14 3
+f 16 3 6
+f 16 6 10
+f 16 15 3
+f 16 10 15
+f 17 11 7
+f 17 7 1
+f 17 1 8
+f 17 8 11
+f 19 12 13
+f 20 15 7
+f 20 7 11
+f 20 11 2
+f 21 14 15
+f 22 19 9
+f 23 2 12
+f 24 21 18
+f 25 19 13
+f 25 13 9
+f 25 9 19
+f 26 21 2
+f 26 18 21
+f 26 23 18
+f 26 2 23
+f 27 20 2
+f 27 2 21
+f 27 21 15
+f 27 15 20
+f 28 22 12
+f 28 12 19
+f 28 19 22
+f 29 18 23
+f 29 24 18
+f 29 23 12
+f 29 12 22
+f 30 9 14
+f 30 14 21
+f 30 21 24
+f 31 29 22
+f 31 22 9
+f 32 30 24
+f 32 9 30
+f 32 31 9
+f 32 24 29
+f 32 29 31
\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_3/collision/model_normalized_collision_25.obj b/objects/objaverse/bagel/bagel_3/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ef783aaaa87249ea422f212f91da56105a3267d
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_3/collision/model_normalized_collision_25.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.20796932 0.23484848 0.00610286
+v 0.20509419 0.23550054 -0.13587158
+v 0.23079046 0.38392423 0.02089472
+v -0.18597008 0.35606060 0.00610286
+v -0.18597008 0.23484848 0.00610286
+v 0.02586284 0.34812948 -0.14356885
+v 0.20199108 0.34838668 -0.11627561
+v -0.18434674 0.35639619 -0.12302406
+v 0.21105274 0.37246698 -0.08517324
+v 0.15818181 0.32378141 -0.14178859
+v -0.18764472 0.26588453 -0.12867269
+v 0.09951648 0.34859880 -0.14352368
+v 0.20089995 0.32183728 -0.12886146
+v -0.18458298 0.23638676 -0.12536584
+v -0.16781509 0.35302381 -0.12850149
+v 0.06024534 0.25526168 -0.14128333
+v 0.17209438 0.34849490 -0.12860052
+v 0.17299006 0.30673579 -0.14213880
+v -0.18129413 0.33841672 -0.12787564
+v -0.01658712 0.29746112 -0.14262701
+v 0.17242925 0.25148778 -0.14258321
+v -0.01827004 0.33576210 -0.14257856
+v -0.00214251 0.28479909 -0.14228084
+f 1 2 3
+f 5 2 1
+f 5 1 3
+f 5 3 4
+f 8 4 3
+f 9 3 2
+f 9 8 3
+f 11 5 4
+f 11 4 8
+f 12 6 8
+f 12 8 9
+f 13 9 2
+f 13 7 9
+f 14 2 5
+f 14 5 11
+f 15 8 6
+f 16 2 14
+f 17 12 9
+f 17 9 7
+f 17 10 12
+f 17 13 10
+f 17 7 13
+f 18 13 2
+f 18 10 13
+f 18 12 10
+f 19 11 8
+f 19 8 15
+f 21 18 2
+f 21 2 16
+f 21 12 18
+f 21 20 6
+f 21 6 12
+f 22 20 11
+f 22 11 19
+f 22 19 15
+f 22 15 6
+f 22 6 20
+f 23 16 14
+f 23 14 11
+f 23 11 20
+f 23 21 16
+f 23 20 21
\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_3/collision/model_normalized_collision_26.obj b/objects/objaverse/bagel/bagel_3/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35cbcbec80a48e898d68544bc9586432f6fc52b5
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_3/collision/model_normalized_collision_26.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.01406707 0.20157246 0.01584089
+v 0.01573145 0.21801252 -0.10394076
+v 0.01097799 0.23689692 0.08060841
+v -0.08205182 0.23917925 0.10367938
+v -0.08458164 0.18739506 -0.03993553
+v -0.00170098 0.24218778 -0.12160013
+v -0.08295374 0.20139605 0.05987027
+v 0.01625832 0.20263738 -0.07931940
+v 0.01268613 0.24011914 -0.12362337
+v -0.00539873 0.24294254 0.09106933
+v -0.08016346 0.23764016 -0.11160239
+v 0.00905173 0.22208189 0.05620675
+v -0.08805789 0.21582184 0.08586170
+v -0.08632370 0.18635070 0.01870219
+v -0.08634160 0.20195194 -0.07572332
+v 0.01460888 0.23172798 -0.11728895
+v -0.06628558 0.24245074 0.10174361
+v 0.01050340 0.23223452 0.07351517
+v -0.08489661 0.23117466 0.09910331
+v -0.08108409 0.22867437 -0.10453177
+f 8 2 3
+f 8 3 1
+f 10 9 6
+f 10 3 9
+f 11 6 9
+f 12 7 1
+f 13 3 10
+f 14 1 7
+f 14 8 1
+f 14 5 8
+f 14 7 13
+f 15 8 5
+f 15 2 8
+f 15 13 11
+f 15 14 13
+f 15 5 14
+f 16 9 3
+f 16 3 2
+f 17 10 6
+f 17 4 10
+f 17 11 4
+f 17 6 11
+f 18 12 1
+f 18 1 3
+f 18 7 12
+f 18 13 7
+f 18 3 13
+f 19 4 11
+f 19 11 13
+f 19 13 10
+f 19 10 4
+f 20 15 11
+f 20 2 15
+f 20 16 2
+f 20 11 9
+f 20 9 16
\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_3/collision/model_normalized_collision_28.obj b/objects/objaverse/bagel/bagel_3/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e1a8c0b15eec0b9bc14ef030a4fbdb9e5161c4f
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_3/collision/model_normalized_collision_28.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.09789298 -0.49071843 0.04886692
+v 0.11372429 -0.46768743 -0.04910340
+v 0.11577039 -0.26145295 0.10406294
+v 0.02003012 -0.23653543 -0.08500998
+v 0.01216028 -0.48080178 -0.04831070
+v 0.08210115 -0.22640123 -0.07910863
+v 0.11049951 -0.47370475 0.08633843
+v 0.08324276 -0.48918097 -0.01784785
+v 0.00836251 -0.27391099 0.08954173
+v 0.11254082 -0.47673065 -0.03178715
+v 0.01300141 -0.48111677 0.08978843
+v 0.09761072 -0.47449517 -0.04423535
+v 0.09773211 -0.48957571 -0.00472826
+v 0.05559300 -0.48918005 0.07388891
+v 0.01266841 -0.49250901 -0.02113221
+v 0.08330588 -0.49051323 0.06227414
+v 0.01630925 -0.48983224 0.07221249
+f 5 4 2
+f 6 3 2
+f 6 2 4
+f 7 2 3
+f 9 4 5
+f 9 6 4
+f 9 3 6
+f 10 7 1
+f 10 2 7
+f 11 9 5
+f 11 7 3
+f 11 3 9
+f 12 8 5
+f 12 5 2
+f 12 10 8
+f 12 2 10
+f 13 10 1
+f 13 8 10
+f 14 7 11
+f 15 13 1
+f 15 8 13
+f 15 5 8
+f 15 11 5
+f 16 1 7
+f 16 7 14
+f 16 15 1
+f 17 14 11
+f 17 11 15
+f 17 16 14
+f 17 15 16
\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_3/collision/model_normalized_collision_29.obj b/objects/objaverse/bagel/bagel_3/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a20ca22173bafa2c40bdf978799c6e6c57a27cb
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_3/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.39117614 -0.16834068 0.01168380
+v 0.41197719 0.11805793 0.00773650
+v 0.37158477 -0.15518247 0.09320100
+v 0.22289546 0.08561518 0.10113022
+v 0.23827235 0.09848485 0.00610286
+v 0.37459894 0.10233055 0.09544150
+v 0.23827235 -0.14393940 0.00610286
+v 0.22606735 -0.13859940 0.10529434
+f 1 2 3
+f 5 4 2
+f 6 3 2
+f 6 2 4
+f 7 4 5
+f 7 5 2
+f 7 2 1
+f 8 6 4
+f 8 3 6
+f 8 4 7
+f 8 7 1
+f 8 1 3
\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_3/collision/model_normalized_collision_30.obj b/objects/objaverse/bagel/bagel_3/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..524352a6970198dae7326ef9a185ab421df729df
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_3/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.34349465 -0.26410820 0.00542526
+v 0.38342707 -0.00122995 -0.09581343
+v 0.34433296 -0.00757576 0.00610286
+v 0.23827235 -0.00757576 0.00610286
+v 0.26631781 -0.28664836 -0.10805686
+v 0.23827235 -0.26515152 0.00610286
+v 0.33101525 -0.25857464 -0.05994265
+v 0.19678886 -0.00780906 -0.11068867
+f 1 2 3
+f 3 2 4
+f 6 1 3
+f 6 3 4
+f 6 5 1
+f 7 5 2
+f 7 2 1
+f 7 1 5
+f 8 4 2
+f 8 2 5
+f 8 6 4
+f 8 5 6
\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_3/collision/model_normalized_collision_31.obj b/objects/objaverse/bagel/bagel_3/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..baaab8877afd6563592760f75d226d78bf17e665
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_3/collision/model_normalized_collision_31.obj
@@ -0,0 +1,144 @@
+# https://github.com/mikedh/trimesh
+v 0.33873766 -0.25976622 0.06588296
+v 0.41740901 -0.09375093 -0.02134285
+v 0.41650897 -0.05123141 0.07089659
+v 0.35776938 0.09884629 0.10829859
+v 0.38342707 -0.00122995 -0.09581343
+v 0.34282070 -0.14351326 0.12465469
+v 0.40174561 -0.15242005 0.03470612
+v 0.33520942 -0.25981762 -0.05046996
+v 0.42101983 0.09522660 0.00378879
+v 0.37208543 -0.18392364 0.08409092
+v 0.39508048 -0.00815674 0.09713831
+v 0.43309786 -0.02205453 0.03362393
+v 0.40061158 -0.12304112 -0.04720364
+v 0.34433296 -0.00757576 0.00610286
+v 0.33675261 -0.18478730 0.11698273
+v 0.35647660 -0.23999539 -0.01939911
+v 0.42273708 -0.00615049 -0.05038732
+v 0.41197719 0.11805793 0.00773650
+v 0.35907948 -0.15149204 0.11187834
+v 0.40159732 -0.12299489 0.07180762
+v 0.37094876 -0.21035570 0.06044462
+v 0.35520213 -0.08314320 0.12023247
+v 0.41567173 0.03259203 0.07060950
+v 0.41638990 -0.10889567 0.03365699
+v 0.38543593 -0.16526209 -0.04616468
+v 0.33529395 -0.24549574 0.08895560
+v 0.34402884 -0.25476106 0.06075303
+v 0.41666462 -0.06445751 -0.04728809
+v 0.43428930 -0.02169534 0.00691583
+v 0.34624560 -0.18085112 0.11132668
+v 0.36623108 -0.08230829 0.11410742
+v 0.37308378 -0.15152374 0.09695114
+v 0.38520381 -0.16647104 0.07231492
+v 0.35691067 -0.23925420 0.04672435
+v 0.37494628 0.09610390 0.09733160
+v 0.41795939 0.09471744 0.01765674
+v 0.43340608 0.00727377 0.03582815
+v 0.41680428 -0.10969323 0.00620703
+v 0.40148752 -0.13590547 0.06104437
+v 0.41734471 -0.08002567 0.05905387
+v 0.34017216 -0.25355888 -0.04747608
+v 0.40065127 -0.13716895 -0.03359764
+v 0.34202052 -0.23874894 0.08459729
+v 0.43303680 0.02037868 0.00765510
+v 0.38680835 -0.18141381 -0.01913228
+v 0.39352204 0.02141533 0.09465437
+v 0.40140512 -0.15189892 -0.00639279
+v 0.43347376 0.01923396 0.02228805
+v 0.40650242 0.03339633 0.08133690
+f 14 4 5
+f 14 5 8
+f 15 14 8
+f 15 6 4
+f 15 4 14
+f 17 5 9
+f 18 9 5
+f 18 5 4
+f 19 6 15
+f 19 3 11
+f 22 11 4
+f 22 4 6
+f 23 11 3
+f 25 8 5
+f 25 5 13
+f 26 15 8
+f 26 8 1
+f 27 1 8
+f 27 8 16
+f 27 21 1
+f 28 13 5
+f 28 5 17
+f 28 2 13
+f 29 28 17
+f 29 2 28
+f 29 12 24
+f 30 19 15
+f 30 10 19
+f 30 26 10
+f 30 15 26
+f 31 19 11
+f 31 6 19
+f 31 22 6
+f 31 11 22
+f 32 19 10
+f 32 10 20
+f 32 20 3
+f 32 3 19
+f 33 20 10
+f 33 10 21
+f 34 7 21
+f 34 27 16
+f 34 21 27
+f 35 18 4
+f 36 9 18
+f 36 35 23
+f 36 18 35
+f 37 23 3
+f 37 3 12
+f 37 36 23
+f 37 9 36
+f 37 12 29
+f 38 24 7
+f 38 29 24
+f 38 2 29
+f 39 7 24
+f 39 20 33
+f 39 33 21
+f 39 21 7
+f 40 24 12
+f 40 12 3
+f 40 3 20
+f 40 39 24
+f 40 20 39
+f 41 16 8
+f 41 8 25
+f 42 25 13
+f 42 13 2
+f 43 21 10
+f 43 10 26
+f 43 26 1
+f 43 1 21
+f 44 29 17
+f 44 17 9
+f 45 34 16
+f 45 7 34
+f 45 25 42
+f 45 41 25
+f 45 16 41
+f 46 35 4
+f 46 4 11
+f 47 42 2
+f 47 2 38
+f 47 45 42
+f 47 38 7
+f 47 7 45
+f 48 37 29
+f 48 29 44
+f 48 44 9
+f 48 9 37
+f 49 46 11
+f 49 11 23
+f 49 23 35
+f 49 35 46
\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_3/collision/model_normalized_collision_4.obj b/objects/objaverse/bagel/bagel_3/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61854c543171b4ef111364266836ec2d45e8f918
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_3/collision/model_normalized_collision_4.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.07990947 -0.26515152 0.00610286
+v -0.06264045 -0.25386991 -0.10842047
+v -0.20040062 -0.00762205 0.00631918
+v -0.30718220 -0.00757576 0.00610286
+v -0.35998489 -0.26690816 0.00825530
+v -0.20035216 -0.00749132 -0.05477888
+v -0.08875480 -0.15903798 -0.00042213
+v -0.37579770 -0.16660001 -0.07944274
+v -0.08728753 -0.15499438 -0.05144696
+v -0.35263674 -0.14393940 0.00610286
+v -0.30718220 -0.00757576 -0.05450320
+v -0.34478599 -0.25994153 -0.04705747
+f 5 2 1
+f 5 1 3
+f 5 3 4
+f 6 4 3
+f 7 1 2
+f 7 3 1
+f 9 6 3
+f 9 3 7
+f 9 7 2
+f 9 2 6
+f 10 8 5
+f 10 5 4
+f 10 4 8
+f 11 8 4
+f 11 4 6
+f 11 6 2
+f 11 2 8
+f 12 8 2
+f 12 2 5
+f 12 5 8
\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_3/collision/model_normalized_collision_5.obj b/objects/objaverse/bagel/bagel_3/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06e0ffd1c597b50db2c3c85299c3f6922c19cff7
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_3/collision/model_normalized_collision_5.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.10056980 -0.15282852 0.00169788
+v -0.10036362 -0.15139033 -0.06610955
+v -0.19426959 0.07035938 0.01641724
+v -0.20155521 0.07061697 0.02918437
+v -0.20628298 -0.14708391 0.09034584
+v -0.17482284 -0.14978355 -0.11720817
+v -0.16179752 -0.15124532 0.05854366
+v -0.19566925 0.05748441 -0.06374881
+v -0.20507194 0.06872307 0.03320782
+v -0.19593053 -0.15131408 0.08471404
+v -0.14598116 -0.14948739 -0.10542565
+v -0.21166907 -0.10367509 -0.11944481
+v -0.20179720 0.05336928 -0.06903674
+v -0.20279155 -0.14531983 -0.12615959
+v -0.21061895 -0.13359569 0.08738158
+f 1 2 3
+f 1 3 4
+f 6 2 1
+f 8 3 2
+f 8 4 3
+f 9 7 1
+f 9 1 4
+f 10 6 1
+f 10 1 7
+f 10 9 5
+f 10 7 9
+f 11 8 2
+f 11 2 6
+f 12 11 6
+f 13 9 4
+f 13 4 8
+f 13 12 9
+f 13 8 11
+f 13 11 12
+f 14 10 5
+f 14 6 10
+f 14 12 6
+f 15 5 9
+f 15 9 12
+f 15 14 5
+f 15 12 14
\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_3/collision/model_normalized_collision_6.obj b/objects/objaverse/bagel/bagel_3/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64dba951b02b0128e151cbbce1d4ee6d12a71174
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_3/collision/model_normalized_collision_6.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v 0.30447695 -0.27584246 -0.07516091
+v 0.29251011 -0.22763013 -0.12461113
+v 0.29887841 -0.14393940 -0.06965472
+v 0.13902175 -0.14621283 0.01885708
+v 0.01118351 -0.26746604 -0.10325122
+v 0.13461313 -0.26703143 0.12352752
+v 0.29373015 -0.14214010 -0.14668497
+v 0.15058537 -0.26472128 -0.14553929
+v 0.23827235 -0.14393940 0.00610286
+v 0.01036743 -0.26672442 0.08044081
+v 0.15016500 -0.15030095 -0.11464996
+v 0.22223809 -0.26111124 -0.14356733
+v 0.23827235 -0.26515152 0.00610286
+v 0.14084735 -0.21225631 0.08603181
+v 0.12407605 -0.26876518 0.11770718
+v 0.00463207 -0.21902163 0.01437639
+v 0.19876452 -0.14663855 -0.14504223
+v 0.26048774 -0.25935683 -0.12952869
+v 0.14092598 -0.16813244 0.04642168
+v 0.13789048 -0.25563990 0.11895003
+v 0.00368441 -0.23464919 0.04088138
+v 0.00958848 -0.21990193 -0.06348978
+v 0.15366815 -0.22258195 -0.14277717
+v 0.00772458 -0.23256498 -0.08443495
+v 0.28718220 -0.25593469 -0.11281269
+v 0.29144584 -0.17465955 -0.14186660
+v 0.00735156 -0.26000031 0.07379050
+v 0.13255800 -0.15209049 -0.09004833
+v 0.01088807 -0.25671483 -0.10047772
+v 0.23389138 -0.24808327 -0.14362578
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\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_3/collision/model_normalized_collision_7.obj b/objects/objaverse/bagel/bagel_3/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e207add4196a56b6f08008a82ba9a036c3b6ae60
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_3/collision/model_normalized_collision_7.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
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+v -0.24944641 0.40566037 0.06942838
+v -0.09289496 0.48981434 -0.03427409
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+v -0.18434674 0.35639619 -0.12302406
+v -0.12053733 0.42246886 -0.11232654
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+v -0.16401098 0.47519655 0.01983936
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\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_3/collision/model_normalized_collision_8.obj b/objects/objaverse/bagel/bagel_3/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b8c09edb738b0eacca17f6b9646012962c3f049
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_3/collision/model_normalized_collision_8.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.01175723 -0.49321175 0.06208871
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+v 0.00836251 -0.27391099 0.08954173
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+v -0.16723936 -0.36522213 0.12601461
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+v -0.17219237 -0.26721312 0.13183890
+v -0.26678378 -0.36799682 0.07467567
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+v -0.28557908 -0.25770676 -0.10433682
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+v -0.20772645 -0.41233746 -0.02158307
+v -0.04553494 -0.47577865 -0.04358087
+v -0.28742873 -0.26142873 0.12720145
+v -0.10346210 -0.42325909 0.11475536
+v -0.08835452 -0.47196111 0.06049120
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+v -0.04297003 -0.49071365 0.03293814
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\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_3/collision/model_normalized_collision_9.obj b/objects/objaverse/bagel/bagel_3/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9561e5228cce582fef2e29782b5f035c5bb9cea4
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_3/collision/model_normalized_collision_9.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.11316944 -0.47854732 0.07503118
+v 0.34881454 -0.25808935 0.00660236
+v 0.16917268 -0.27118430 0.13949940
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+v 0.11368119 -0.42229655 -0.09476631
+v 0.30387551 -0.25900213 0.11548948
+v 0.12985553 -0.27338868 0.12366646
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+v 0.22223809 -0.26111124 -0.14356733
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+v 0.19394721 -0.26728441 0.14380885
+v 0.11479384 -0.42563801 0.13088799
+v 0.16910067 -0.45859244 -0.01534215
+v 0.19207223 -0.26340173 -0.14748007
+v 0.33101525 -0.25857464 -0.05994265
+v 0.19566385 -0.37393552 -0.09793800
+v 0.34792377 -0.25857079 0.03622909
+v 0.31781642 -0.25891822 0.10261458
+v 0.22177004 -0.41634982 0.06008783
+v 0.27881925 -0.26181967 0.13086217
+v 0.16201832 -0.33996412 0.14379208
+v 0.11272708 -0.44992701 0.11450930
+v 0.13967203 -0.47400006 0.06072788
+v 0.18989269 -0.32033354 -0.13208527
+v 0.27541522 -0.26085224 -0.11996197
+v 0.28159045 -0.34203094 -0.03305446
+v 0.18110144 -0.44441548 -0.03209483
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\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_3/model.xml b/objects/objaverse/bagel/bagel_3/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..952401e08d92fa42ee8f11f3f809d9cb0f1cbca2
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_3/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="more_bagel_2">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="bubl_hi" 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="bubl_hi"/>
+        <geom solimp="0.998 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="0.0004258956000000015 -0.00019023479999999874 -0.017697608400000002" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.0004258956000000015 -0.00019023479999999874 0.017356768800000002" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.05216938320000001 0.05880494040000001 -0.00017041980000000016" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/bagel/bagel_4/collision/model_normalized_collision_0.obj b/objects/objaverse/bagel/bagel_4/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eec22e4d2f04a41ef00c49b5d075bc218d43b0c1
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_4/collision/model_normalized_collision_0.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.45200787 -0.00827077 0.10653630
+v 0.48017937 -0.01377153 -0.06017440
+v 0.40261219 0.24020878 -0.06528636
+v 0.15805283 0.22252299 0.14063190
+v 0.18209812 -0.00856357 -0.01206103
+v 0.38892293 0.23332597 0.10168513
+v 0.21243466 -0.00856564 0.09316543
+v 0.19214017 -0.00824503 -0.05568736
+v 0.16623109 0.23484849 -0.05918334
+v 0.44100842 0.09511141 0.09531228
+v 0.18224238 -0.00857189 0.01489130
+v 0.16283709 0.08918060 -0.03977262
+v 0.45997195 0.09999404 -0.06267457
+v 0.19705789 -0.00855129 0.06812880
+v 0.15148613 0.09874324 0.01652369
+v 0.16394870 0.10666380 0.06839225
+f 6 4 1
+f 7 2 1
+f 7 1 4
+f 8 3 2
+f 8 2 5
+f 9 6 3
+f 9 4 6
+f 9 3 8
+f 10 6 1
+f 10 1 2
+f 11 5 2
+f 12 9 8
+f 12 8 5
+f 13 10 2
+f 13 2 3
+f 13 3 6
+f 13 6 10
+f 14 11 2
+f 14 2 7
+f 14 7 4
+f 15 4 9
+f 15 9 12
+f 15 11 14
+f 15 12 5
+f 15 5 11
+f 16 15 14
+f 16 14 4
+f 16 4 15
\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_4/collision/model_normalized_collision_12.obj b/objects/objaverse/bagel/bagel_4/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9583e34995bde05923cbc8928b66cd268563c580
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_4/collision/model_normalized_collision_12.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v -0.21538745 0.13544834 0.12801518
+v 0.03011340 0.22115702 0.10615260
+v -0.09227420 0.33872432 0.16712213
+v -0.10400524 0.43729569 0.09849632
+v -0.15942649 0.15156187 0.09924178
+v 0.02972870 0.44474140 0.10472667
+v -0.22409022 0.36002267 0.13697772
+v 0.01086530 0.28466117 0.14982363
+v -0.01129393 0.40803655 0.15010678
+v -0.23167985 0.20709457 0.15404255
+v -0.22428304 0.39386542 0.10277411
+v 0.03123717 0.25813173 0.13445880
+v -0.02663090 0.41425329 0.14346174
+v 0.02099475 0.39352022 0.14795444
+v -0.16208963 0.36191722 0.14965438
+v -0.22772379 0.32112643 0.15123668
+v -0.09314983 0.31097439 0.16684244
+v -0.23387373 0.14730135 0.14118367
+v -0.22163883 0.38796002 0.11429023
+v -0.19564550 0.40808017 0.09975584
+v 0.03128487 0.22811148 0.11399939
+v 0.02070249 0.42037687 0.13584255
+v 0.02609739 0.29972149 0.15020585
+v 0.00595524 0.40957803 0.14883655
+v -0.11756717 0.33688555 0.16625388
+v -0.19040014 0.37058962 0.13786487
+v -0.12978959 0.37173537 0.15042036
+v -0.10212671 0.43000007 0.10687032
+v 0.02926816 0.43734530 0.11072838
+v -0.12038093 0.31155516 0.16660524
+f 5 2 1
+f 5 4 2
+f 6 2 4
+f 11 5 1
+f 13 6 4
+f 16 7 11
+f 16 15 7
+f 18 17 10
+f 18 8 17
+f 18 12 8
+f 18 1 12
+f 18 11 1
+f 18 16 11
+f 18 10 16
+f 19 11 7
+f 20 4 5
+f 20 5 11
+f 20 19 4
+f 20 11 19
+f 21 12 1
+f 21 1 2
+f 21 2 6
+f 21 6 12
+f 22 6 13
+f 23 8 12
+f 23 14 3
+f 23 17 8
+f 23 3 17
+f 24 9 3
+f 24 3 14
+f 24 14 22
+f 24 22 13
+f 24 13 9
+f 25 3 9
+f 25 15 16
+f 26 7 15
+f 26 19 7
+f 26 13 19
+f 27 9 13
+f 27 26 15
+f 27 13 26
+f 27 25 9
+f 27 15 25
+f 28 19 13
+f 28 13 4
+f 28 4 19
+f 29 22 14
+f 29 6 22
+f 29 14 23
+f 29 23 12
+f 29 12 6
+f 30 17 3
+f 30 3 25
+f 30 10 17
+f 30 25 16
+f 30 16 10
\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_4/collision/model_normalized_collision_14.obj b/objects/objaverse/bagel/bagel_4/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6215a919a2d3fd11b809324c5d9ed754238be8d
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_4/collision/model_normalized_collision_14.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v 0.14055305 0.21898391 0.13499852
+v 0.15288759 0.27947886 -0.15976508
+v 0.14420182 0.46236536 0.06864113
+v 0.05197655 0.49150105 0.07267887
+v 0.02467375 0.20549195 -0.11393689
+v 0.11290538 0.44379041 -0.09100122
+v 0.14553654 0.45009498 0.07861253
+v 0.15107958 0.23484849 -0.07433486
+v 0.02748928 0.22073036 0.10519950
+v 0.15174362 0.43134402 -0.09051695
+v 0.10971399 0.48817392 -0.00743967
+v 0.02923656 0.42168634 -0.12098009
+v 0.08702227 0.48144154 0.07305977
+v 0.03456076 0.47917509 0.07926576
+v 0.15691154 0.33443308 -0.14890847
+v 0.10310446 0.47457193 -0.05068701
+v 0.14105665 0.47467936 0.03454080
+v 0.02895269 0.47772826 -0.03925191
+v 0.03747147 0.28247539 -0.14862030
+v 0.12866518 0.46280843 0.07466582
+v 0.02962165 0.36726305 -0.14661979
+v 0.08751690 0.40461823 -0.13357352
+v 0.14125087 0.46010756 -0.03772619
+v 0.02879461 0.46003605 -0.07952532
+v 0.11098520 0.49137935 0.03881280
+v 0.03540132 0.48996054 0.02108478
+v 0.09114242 0.48913312 -0.00846719
+v 0.08477487 0.37822212 -0.14678847
+v 0.15191461 0.40659649 -0.11633472
+v 0.04390212 0.45933099 -0.07911808
+v 0.10056843 0.48868485 0.05324496
+v 0.03781021 0.48861436 0.05807264
+v 0.04669976 0.48975831 0.00072699
+v 0.06206478 0.37771362 -0.14641224
+v 0.11389210 0.43093921 -0.10355312
+v 0.15039966 0.38009567 -0.13327540
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+f 33 26 4
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+f 36 15 28
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+f 37 4 13
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+f 38 34 12
+f 38 12 22
+f 38 22 28
+f 38 28 34
\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_4/collision/model_normalized_collision_16.obj b/objects/objaverse/bagel/bagel_4/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8024de496263e4f473d084dffa44f682364950e
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_4/collision/model_normalized_collision_16.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.27282916 -0.14421993 0.15009460
+v 0.27257758 -0.14408860 -0.14858010
+v 0.27731784 -0.00765121 0.14221197
+v 0.22675514 -0.00851390 0.10906526
+v 0.11162006 -0.15149379 -0.02786834
+v 0.27513233 -0.00660951 -0.14989937
+v 0.17571388 -0.15177355 0.11158056
+v 0.27911626 -0.04986766 -0.15364736
+v 0.19571854 -0.00252145 -0.06609052
+v 0.23184273 -0.14726016 0.13947692
+v 0.26489424 -0.00769218 0.13639056
+v 0.12703820 -0.15636016 0.06994040
+v 0.15462753 -0.15237498 -0.11395250
+v 0.21449242 -0.15055862 -0.13711464
+v 0.18224238 -0.00857189 0.01489130
+v 0.22251888 -0.00428989 -0.12231495
+v 0.12650133 -0.15114605 -0.08731505
+v 0.26048099 -0.00646567 -0.14719613
+v 0.18209812 -0.00856357 -0.01206103
+v 0.11170985 -0.15160694 0.03069873
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+v 0.21243466 -0.00856564 0.09316543
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+f 18 14 13
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+f 23 12 4
+f 23 9 21
+f 23 11 9
+f 23 4 11
\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_4/collision/model_normalized_collision_17.obj b/objects/objaverse/bagel/bagel_4/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff7e76e9e1626df64806e34831a240dbc48fd69f
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_4/collision/model_normalized_collision_17.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.09795603 0.15647434 0.03024984
+v 0.03521738 0.21349144 -0.12577690
+v 0.03214887 0.20293306 0.08441914
+v -0.09280873 0.22175096 0.12027898
+v -0.09186743 0.22109981 -0.11773306
+v -0.00253887 0.22759962 0.11470935
+v -0.11169294 0.16726776 0.07159651
+v 0.03209275 0.18703023 -0.09938754
+v 0.03011340 0.22115702 0.10615260
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+v 0.03148674 0.21415513 0.09872417
+v -0.09433777 0.21257728 0.11399939
+v 0.00172016 0.22397323 -0.12200508
+v -0.10860633 0.16241114 0.06075280
+v -0.09869231 0.15550102 -0.01229191
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+f 15 4 7
+f 15 7 9
+f 16 10 5
+f 16 5 6
+f 16 6 10
+f 17 11 7
+f 17 1 11
+f 18 11 1
+f 18 8 11
+f 18 12 8
+f 18 1 17
+f 18 17 7
+f 18 7 12
\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_4/collision/model_normalized_collision_18.obj b/objects/objaverse/bagel/bagel_4/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b55f577e6bee5853ce98e8f8cde117dd1262121d
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_4/collision/model_normalized_collision_18.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.22195069 -0.43466323 0.04246114
+v -0.22295540 -0.42017693 -0.08389129
+v -0.22771058 -0.24801758 0.15271187
+v -0.42958526 -0.24432896 0.08479331
+v -0.34955414 -0.36946763 -0.00455537
+v -0.27289390 -0.24973627 -0.14831961
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+v -0.22318387 -0.37480610 0.12226058
+v -0.35790782 -0.24592346 0.13928757
+v -0.33755552 -0.38308575 0.04113105
+v -0.30592965 -0.39745231 -0.00546001
+v -0.22642557 -0.35412709 -0.13010447
+v -0.32841653 -0.24575195 -0.13475191
+v -0.43602229 -0.26878378 -0.00501240
+v -0.34908152 -0.28510169 -0.12058088
+v -0.28308275 -0.38495112 0.09535087
+v -0.22226473 -0.38979729 0.11055505
+v -0.39622664 -0.27233247 0.10518370
+v -0.38566770 -0.24430737 0.12687831
+v -0.27092368 -0.32102228 0.13895221
+v -0.24805996 -0.40279519 -0.09471362
+v -0.23301279 -0.41497652 -0.08497960
+v -0.33783276 -0.38391655 0.03345316
+v -0.44353618 -0.24487458 0.05779055
+v -0.37802814 -0.28211956 -0.09378437
+v -0.40179254 -0.24514465 -0.09445997
+v -0.27712477 -0.35644931 -0.12017544
+v -0.28178122 -0.37403638 0.10515464
+v -0.29675524 -0.39927731 0.06989615
+v -0.37828726 -0.32849567 0.07801024
+v -0.36676284 -0.28455235 0.11918802
+v -0.22684953 -0.35454608 0.13482818
+v -0.27318172 -0.25004283 0.15341393
+v -0.22535392 -0.37956340 -0.12021993
+v -0.23347528 -0.42899009 -0.03746263
+v -0.40822090 -0.31272370 0.04036160
+v -0.28185973 -0.41357399 0.03349796
+v -0.44112013 -0.24478498 -0.02312729
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+v -0.36726104 -0.25991950 -0.11928276
+v -0.42016545 -0.28369011 -0.02012201
+v -0.34818633 -0.32381042 -0.08084497
+v -0.30876914 -0.38500431 0.07819908
+v -0.32353628 -0.32861750 0.11851421
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+f 16 3 9
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+f 64 48 7
+f 64 34 48
+f 64 7 53
+f 64 53 51
+f 64 51 34
\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_4/collision/model_normalized_collision_2.obj b/objects/objaverse/bagel/bagel_4/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c2736dfdf552165fbc0f028510f8908a07297b7
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_4/collision/model_normalized_collision_2.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.03011340 0.22115702 0.10615260
+v 0.03687997 0.24042355 -0.13790492
+v 0.03131298 0.48782290 0.01775245
+v -0.09073084 0.48221195 0.01200220
+v -0.22997257 0.22107624 -0.15720395
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+v -0.21621549 0.21189662 0.15054164
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+v -0.22428304 0.39386542 0.10277411
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+v -0.19218142 0.39415314 -0.13139266
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+f 10 5 8
+f 10 8 6
+f 10 6 4
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+f 12 2 5
+f 12 5 11
+f 13 10 4
+f 14 4 3
+f 14 13 4
+f 15 12 11
+f 15 9 12
+f 16 12 9
+f 16 3 6
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+f 16 9 14
+f 17 5 10
+f 17 10 13
+f 18 14 9
+f 18 13 14
+f 18 9 15
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+f 20 11 5
+f 20 5 17
+f 20 15 11
+f 20 18 15
+f 21 19 16
+f 21 16 14
+f 21 14 19
+f 22 20 17
+f 22 17 13
+f 23 22 13
+f 23 13 18
+f 23 18 20
+f 23 20 22
\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_4/collision/model_normalized_collision_21.obj b/objects/objaverse/bagel/bagel_4/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..385ebeaa509d10cf010ad5b52be0cf05b301e505
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_4/collision/model_normalized_collision_21.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.40209710 -0.24514283 0.11332768
+v -0.41306593 -0.25216092 -0.06174979
+v -0.40243034 0.08080261 0.15430374
+v -0.40700002 0.18807528 0.10491948
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+v -0.45155553 -0.24168055 0.03999787
+v -0.43319768 0.20258768 -0.08261796
+v -0.42711768 -0.06479142 0.15019983
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+v -0.43731052 -0.21127472 0.09565045
+v -0.42040054 -0.10128437 -0.12007973
+v -0.40633651 -0.06699964 0.15801498
+v -0.45309984 0.03440512 0.12822123
+v -0.48198774 0.08022549 -0.02691680
+v -0.46839958 -0.09615906 0.10790036
+v -0.48399418 -0.15479950 0.03431261
+v -0.42357939 -0.24093938 0.09550472
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+v -0.48142940 0.06497991 0.04062048
+v -0.48181502 -0.04171395 0.08731978
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+v -0.46629591 -0.19988568 -0.00527703
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+v -0.45247493 0.18304787 -0.04052695
+v -0.46718926 0.03675242 -0.07902957
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\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_4/collision/model_normalized_collision_27.obj b/objects/objaverse/bagel/bagel_4/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93d780813823cd83ccf41125cc9617f9e73a112c
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_4/collision/model_normalized_collision_27.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.02986746 -0.40151512 -0.05918334
+v 0.02874877 -0.39910254 -0.14219498
+v 0.03096505 -0.19679583 -0.05675610
+v -0.22770829 -0.15909088 -0.05918334
+v -0.23741501 -0.41811680 -0.06362590
+v -0.22922466 -0.15996868 -0.14644508
+v -0.09906248 -0.17387776 -0.05377270
+v 0.03149037 -0.24579073 -0.11974607
+v -0.23211908 -0.17721679 -0.15212841
+v -0.16230049 -0.16896735 -0.11878240
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\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_4/collision/model_normalized_collision_28.obj b/objects/objaverse/bagel/bagel_4/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68495fe164e78a1ea010fb3dc9e50f407fbbb652
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_4/collision/model_normalized_collision_28.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v 0.07366319 -0.47874547 -0.05375755
+v 0.16422405 -0.43678785 -0.08089531
+v -0.18051851 -0.44179877 -0.07191919
+v -0.18135239 -0.39923423 -0.11641660
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+v -0.09034661 -0.39559109 -0.13660603
+v 0.11751340 -0.41914326 -0.11694191
+v -0.17894183 -0.43189780 -0.09104066
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\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_4/collision/model_normalized_collision_3.obj b/objects/objaverse/bagel/bagel_4/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4bcb351ce00f9beb5d7ef04f5cfc542da4613eae
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_4/collision/model_normalized_collision_3.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v 0.45736944 -0.14076159 -0.05678894
+v 0.45704842 -0.10650311 -0.10525532
+v 0.40261219 0.24020878 -0.06528636
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+v 0.27531719 -0.14551867 -0.14923910
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+v 0.38576160 -0.14087999 -0.13140283
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+v 0.44431048 -0.13511000 -0.09398798
+v 0.10488792 0.23715175 -0.14259287
+v 0.19214017 -0.00824503 -0.05568736
+v 0.46825429 -0.08324858 -0.05885496
+v 0.45536344 -0.05247519 -0.10296871
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+v 0.45526913 -0.14023180 -0.06444668
+v 0.11839085 0.15752066 -0.09703818
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+f 37 20 28
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\ No newline at end of file
diff --git a/objects/objaverse/bagel/bagel_4/visual/material.mtl b/objects/objaverse/bagel/bagel_4/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fbcf6b4b1af9257e08a0fd6e283841743ce8fad5
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_4/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_4/visual/model_normalized_0.obj b/objects/objaverse/bagel/bagel_4/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb6a9fff1e69b0c7fd3095667dcbe048aec743a5
--- /dev/null
+++ b/objects/objaverse/bagel/bagel_4/visual/model_normalized_0.obj
@@ -0,0 +1,9276 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v 0.46337445 0.14277694 0.00072698
+v 0.44548715 0.19077499 0.00072698
+v 0.44242889 0.18945060 0.03243724
+v 0.46390069 0.14294169 0.03325938
+v 0.43447773 0.18600366 0.06328696
+v 0.45691883 0.14074876 0.06560785
+v 0.42344752 0.18122113 0.09406790
+v 0.43557659 0.13404522 0.09036824
+v 0.39917657 0.17069956 0.11405536
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diff --git a/objects/objaverse/coffee_cup/coffee_cup_2/collision/model_normalized_collision_11.obj b/objects/objaverse/coffee_cup/coffee_cup_2/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08fae2798284a190941750f2df066a0f0522f425
--- /dev/null
+++ b/objects/objaverse/coffee_cup/coffee_cup_2/collision/model_normalized_collision_11.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
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diff --git a/objects/objaverse/coffee_cup/coffee_cup_2/collision/model_normalized_collision_29.obj b/objects/objaverse/coffee_cup/coffee_cup_2/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9803f2f69e862df1a7b2b97a771b994999579703
--- /dev/null
+++ b/objects/objaverse/coffee_cup/coffee_cup_2/collision/model_normalized_collision_29.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file