diff --git a/apple/.DS_Store b/apple/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..175aa980cdda61998f89f51442fc6085d1525aec
Binary files /dev/null and b/apple/.DS_Store differ
diff --git a/apple/apple_10/collision/model_normalized_collision_0.obj b/apple/apple_10/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..279c3d968c49423c1a1058923a3c84617436ec66
--- /dev/null
+++ b/apple/apple_10/collision/model_normalized_collision_0.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.25967653 -0.14637264 -0.44543019
+v 0.23671784 -0.08442615 -0.48079941
+v 0.26827427 0.21881237 -0.38126109
+v -0.19520898 0.20166799 -0.35606061
+v -0.21413425 -0.14983926 -0.45125191
+v 0.01698877 0.19985116 -0.47188875
+v 0.24418496 -0.13166534 -0.35606061
+v 0.24015870 0.04671468 -0.47396545
+v 0.20957213 -0.08607159 -0.48997273
+v -0.20698423 0.21178974 -0.44020161
+v -0.19520898 -0.13166534 -0.35606061
+v 0.17523086 0.19609025 -0.45930284
+v 0.12862698 -0.08729492 -0.49000664
+v 0.21045270 -0.01333719 -0.48950086
+v 0.11832114 0.19800456 -0.47323886
+v 0.03344498 0.18514378 -0.47708573
+v 0.23622827 0.15089718 -0.44499373
+v 0.18031306 0.01710325 -0.49036207
+v 0.07777719 0.19552279 -0.47421360
+v 0.20276962 0.19286387 -0.44700392
+v 0.23585911 0.10519598 -0.45935060
+v 0.21701637 0.17699552 -0.44577307
+v 0.23621244 0.19535148 -0.42097228
+v 0.23373778 0.17823932 -0.43275725
+f 7 1 3
+f 7 3 4
+f 7 5 1
+f 8 1 2
+f 8 3 1
+f 9 2 1
+f 9 1 5
+f 10 4 3
+f 10 5 4
+f 11 7 4
+f 11 4 5
+f 11 5 7
+f 13 9 5
+f 14 8 2
+f 14 2 9
+f 15 10 3
+f 15 6 10
+f 15 3 12
+f 15 12 8
+f 15 8 14
+f 16 10 6
+f 16 5 10
+f 16 13 5
+f 17 3 8
+f 18 14 9
+f 18 9 13
+f 18 13 16
+f 18 16 15
+f 18 15 14
+f 19 16 6
+f 19 6 15
+f 19 15 16
+f 20 12 3
+f 21 17 8
+f 21 8 12
+f 21 12 17
+f 22 17 12
+f 22 12 20
+f 23 20 3
+f 24 23 3
+f 24 3 17
+f 24 17 22
+f 24 22 20
+f 24 20 23
\ No newline at end of file
diff --git a/apple/apple_10/collision/model_normalized_collision_1.obj b/apple/apple_10/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e00dc6404208f0386904ef81d0fa12f5ce19f5f
--- /dev/null
+++ b/apple/apple_10/collision/model_normalized_collision_1.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v 0.29391916 0.25292490 0.16754936
+v 0.33193318 0.25955590 0.09653892
+v 0.25194050 0.33357230 0.10575713
+v 0.13289080 0.41474336 -0.04100582
+v 0.16454394 0.37299535 -0.25051020
+v 0.14653290 0.32571986 0.19115016
+v 0.24571000 0.30873600 0.16713595
+v 0.13812435 0.29257709 0.00757576
+v 0.21871822 0.36409935 -0.18518252
+v 0.13330555 0.38416732 0.07762906
+v 0.30282708 0.27785881 0.11825106
+v 0.25763522 0.27666258 0.19032150
+v 0.23708621 0.33815539 -0.23962222
+v 0.32753018 0.25576958 0.10897981
+v 0.13151864 0.40125886 -0.21578106
+v 0.23804693 0.34990281 0.07606743
+v 0.13492490 0.34057233 0.16780903
+v 0.22431844 0.31944720 0.16476161
+v 0.32612102 0.26811167 0.09380524
+v 0.13551064 0.39367975 -0.23329906
+v 0.15809530 0.40952220 -0.12456958
+v 0.20358386 0.36395180 -0.21359220
+v 0.13241324 0.39829634 0.03446642
+v 0.16179787 0.36357843 0.10578866
+v 0.18893940 0.39506551 -0.07029871
+v 0.13160824 0.41669408 -0.15643056
+v 0.14713015 0.38018275 0.07605833
+v 0.16375541 0.33476832 0.16484813
+v 0.18750651 0.39524818 -0.09667301
+v 0.15891875 0.41075703 -0.07023766
+v 0.20336391 0.37886971 -0.15479670
+v 0.14630397 0.41002766 -0.04204447
+v 0.20424393 0.38020661 -0.00965957
+f 8 1 6
+f 11 7 1
+f 12 7 6
+f 12 6 1
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+f 14 1 8
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+f 14 13 2
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+f 16 10 3
+f 17 8 6
+f 17 15 8
+f 18 7 3
+f 18 6 7
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+f 19 3 7
+f 19 7 11
+f 19 16 3
+f 19 13 9
+f 19 2 13
+f 20 15 5
+f 20 5 8
+f 20 8 15
+f 22 15 9
+f 22 9 13
+f 22 13 5
+f 22 5 15
+f 23 17 10
+f 23 15 17
+f 24 10 17
+f 24 18 3
+f 24 3 10
+f 25 19 9
+f 25 16 19
+f 26 23 4
+f 26 15 23
+f 26 21 9
+f 26 9 15
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+f 27 10 16
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+f 28 24 17
+f 28 18 24
+f 28 17 6
+f 28 6 18
+f 29 25 9
+f 30 26 4
+f 30 21 26
+f 30 29 21
+f 30 25 29
+f 31 29 9
+f 31 9 21
+f 31 21 29
+f 32 30 4
+f 32 16 30
+f 32 23 16
+f 32 4 23
+f 33 30 16
+f 33 16 25
+f 33 25 30
\ No newline at end of file
diff --git a/apple/apple_10/collision/model_normalized_collision_10.obj b/apple/apple_10/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4677025f9da3156a3d94fe9b486c92fe77e753c0
--- /dev/null
+++ b/apple/apple_10/collision/model_normalized_collision_10.obj
@@ -0,0 +1,132 @@
+# https://github.com/mikedh/trimesh
+v -0.32822065 -0.21449468 0.18032312
+v -0.31642110 -0.20742292 0.00757576
+v -0.31642110 -0.01045322 0.17424242
+v -0.36138684 0.13005728 0.18266130
+v -0.45271422 -0.00947619 0.00711576
+v -0.33157262 0.08045587 0.00757576
+v -0.33129649 -0.01045226 0.24972007
+v -0.32446693 -0.17456866 0.22657997
+v -0.39896349 -0.20310017 0.00587365
+v -0.31642110 -0.01045322 0.00757576
+v -0.34127668 0.12346213 0.21459829
+v -0.44376678 0.07852337 0.00554567
+v -0.43537172 0.01780508 0.07951412
+v -0.32443540 -0.20314541 0.20086742
+v -0.32393892 -0.12892454 0.24111706
+v -0.40806915 -0.18550213 0.00505158
+v -0.33772921 0.10671625 0.22642946
+v -0.45357780 0.00301225 0.00442651
+v -0.42051383 0.07416612 0.10613137
+v -0.37535595 -0.10845395 0.19447837
+v -0.40499301 -0.15148696 0.10462387
+v -0.35775858 0.09015791 0.20863355
+v -0.45212378 -0.01231000 0.01925911
+v -0.43639024 -0.12533466 0.00469918
+v -0.37019311 0.12397763 0.17031852
+v -0.43443562 0.07652375 0.04889962
+v -0.34535869 -0.14011595 0.21925655
+v -0.37410270 0.03414087 0.19406036
+v -0.40272091 -0.16691027 0.07931322
+v -0.40484380 -0.12321491 0.13338448
+v -0.34913694 0.12018518 0.20777387
+v -0.34558948 0.10343930 0.21960504
+v -0.38811883 0.07502258 0.16321186
+v -0.33298830 -0.12673363 0.23401633
+v -0.33897605 -0.01042636 0.24214506
+v -0.40380553 -0.18262216 0.03407933
+v -0.37657395 -0.19807062 0.10559474
+v -0.42033243 -0.12568501 0.09544655
+v -0.37306102 -0.15280898 0.16280200
+v -0.43463182 -0.08278769 0.07829187
+v -0.35785033 0.12048689 0.19353471
+v -0.38953951 -0.19823118 0.06456250
+v -0.33026152 -0.19755646 0.19606173
+v -0.42030311 -0.11577583 0.10536280
+v -0.38798901 -0.18067975 0.10366922
+f 8 2 3
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+f 32 7 17
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+f 39 30 21
+f 39 8 27
+f 39 27 30
+f 40 20 13
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+f 40 23 24
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+f 41 4 22
+f 41 22 31
+f 42 9 1
+f 42 1 37
+f 42 36 9
+f 42 29 36
+f 42 21 29
+f 43 39 21
+f 43 21 14
+f 43 14 8
+f 43 8 39
+f 44 30 20
+f 44 20 40
+f 44 40 38
+f 44 38 30
+f 45 42 37
+f 45 21 42
+f 45 37 14
+f 45 14 21
\ No newline at end of file
diff --git a/apple/apple_10/collision/model_normalized_collision_11.obj b/apple/apple_10/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8e01d87e2e3dadd7074720b10dc27dd4ecbce51
--- /dev/null
+++ b/apple/apple_10/collision/model_normalized_collision_11.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.24328365 -0.34228832 -0.23446492
+v 0.42491687 -0.11136186 -0.22942264
+v 0.26219690 -0.33100802 -0.22925397
+v 0.24336993 0.33648561 -0.23436533
+v 0.23671784 -0.08442615 -0.48079941
+v 0.26571520 0.32620885 -0.22955550
+v 0.23475883 0.31259440 -0.30487252
+v 0.30791967 -0.12879187 -0.42825247
+v 0.44220730 -0.02321843 -0.22866257
+v 0.23650818 -0.33362749 -0.27291080
+v 0.23664021 0.32709517 -0.27576572
+v 0.31691236 -0.23958205 -0.31746388
+v 0.33210292 0.09085789 -0.40539967
+v 0.39821663 -0.18319087 -0.22902294
+v 0.37767608 -0.12654268 -0.32907841
+v 0.23551096 -0.30200480 -0.31740510
+v 0.24673063 -0.32808268 -0.26991502
+v 0.26580407 0.01404765 -0.47373134
+v 0.38544801 0.20718551 -0.22951750
+v 0.35095508 -0.23980002 -0.22924327
+v 0.39246495 -0.12894221 -0.30076976
+v 0.34696099 -0.05317731 -0.40680393
+v 0.37939825 -0.15106381 -0.31361850
+v 0.23523602 0.22488091 -0.40449244
+v 0.23652855 -0.18378226 -0.43783379
+v 0.30702622 -0.25093618 -0.31332002
+v 0.26247642 -0.02273396 -0.47372458
+v 0.23535584 0.27114189 -0.37712726
+v 0.42205954 0.05823457 -0.27196438
+v 0.34797090 -0.23709780 -0.24323657
+v 0.42074070 -0.11003684 -0.24317869
+v 0.39208026 -0.02282463 -0.33086699
+v 0.33661934 -0.06789405 -0.41599313
+v 0.33194384 0.03338799 -0.41964906
+v 0.31697066 -0.19529992 -0.35771666
+v 0.31620357 -0.12562016 -0.41881552
+v 0.39154514 -0.15430567 -0.28851729
+v 0.23752414 0.09115696 -0.46293472
+v 0.23863814 -0.12639934 -0.46697384
+v 0.30639547 -0.17725092 -0.38535031
+v 0.29229498 -0.25272286 -0.32567401
+v 0.24399337 0.30613783 -0.30127346
+v 0.25776143 0.27588568 -0.33118032
+v 0.35117447 0.16124273 -0.34118195
+v 0.30842258 0.08648029 -0.43129784
+v 0.44164844 0.03376896 -0.23209040
+v 0.40654383 -0.08291721 -0.28691672
+v 0.32282211 -0.03846753 -0.42968726
+v 0.40651365 0.06020227 -0.29850264
+v 0.34732474 -0.14987951 -0.35775467
+v 0.37792452 -0.16434491 -0.30241036
+v 0.41036717 -0.15700736 -0.22962374
+v 0.24113998 0.03244050 -0.47637463
+v 0.26301096 -0.11377081 -0.45940525
+v 0.29114322 -0.20744225 -0.37007858
+v 0.27289930 0.26072055 -0.33117238
+v 0.34910129 0.17272815 -0.33031999
+v 0.36181632 0.14927800 -0.33272889
+v 0.24603169 0.22142983 -0.39856671
+v 0.23789330 0.13685816 -0.44857786
+v 0.32155654 0.01965874 -0.43043883
+v 0.33600385 0.11577458 -0.38661651
+v 0.42633428 0.09040431 -0.22985211
+v 0.43891360 0.03353902 -0.24672731
+f 1 3 4
+f 6 4 3
+f 9 6 3
+f 10 1 4
+f 11 4 6
+f 11 6 7
+f 11 10 4
+f 11 7 10
+f 14 9 3
+f 14 2 9
+f 16 10 7
+f 17 3 1
+f 17 1 10
+f 19 6 9
+f 20 14 3
+f 20 3 12
+f 22 21 15
+f 23 15 21
+f 24 16 7
+f 24 5 16
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+f 26 12 3
+f 26 3 17
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+f 36 23 8
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+f 39 8 25
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+f 48 8 27
+f 48 27 18
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+f 49 32 22
+f 49 22 34
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+f 50 8 23
+f 50 23 35
+f 51 12 23
+f 51 23 37
+f 51 37 14
+f 51 14 12
+f 52 37 2
+f 52 2 14
+f 52 14 37
+f 53 38 18
+f 53 18 5
+f 53 5 38
+f 54 39 5
+f 54 8 39
+f 54 27 8
+f 54 5 27
+f 55 40 12
+f 55 25 40
+f 55 41 25
+f 55 12 41
+f 56 43 19
+f 56 19 28
+f 56 28 43
+f 57 44 28
+f 57 28 19
+f 57 19 44
+f 58 44 19
+f 58 19 29
+f 58 29 49
+f 58 49 13
+f 58 13 44
+f 59 45 24
+f 59 24 28
+f 59 28 45
+f 60 38 24
+f 60 24 45
+f 60 45 18
+f 60 18 38
+f 61 45 34
+f 61 18 45
+f 61 48 18
+f 61 34 22
+f 61 22 48
+f 62 44 13
+f 62 13 45
+f 62 45 28
+f 62 28 44
+f 63 29 19
+f 63 19 9
+f 63 9 46
+f 64 63 46
+f 64 29 63
+f 64 49 29
+f 64 32 49
+f 64 46 9
+f 64 9 32
\ No newline at end of file
diff --git a/apple/apple_10/collision/model_normalized_collision_12.obj b/apple/apple_10/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a51b10ec88f9561981c9e1fe9d420d5263a74e4
--- /dev/null
+++ b/apple/apple_10/collision/model_normalized_collision_12.obj
@@ -0,0 +1,126 @@
+# https://github.com/mikedh/trimesh
+v 0.39783648 -0.21954806 0.01138648
+v 0.45464867 -0.06572608 -0.18377722
+v 0.44969368 0.09534768 0.00740664
+v 0.42944210 0.14263372 -0.15980574
+v 0.37914148 -0.20641165 -0.23419971
+v 0.45320513 0.03346671 -0.17080791
+v 0.38054859 0.09560739 0.00757576
+v 0.44105300 -0.11182549 0.01986198
+v 0.43754852 -0.15574931 -0.11080360
+v 0.45564650 -0.04119550 -0.05358810
+v 0.44107418 0.11894859 -0.15592474
+v 0.41472617 0.10760632 -0.24637073
+v 0.42209575 -0.11548709 0.08190522
+v 0.40864560 -0.17979686 -0.21169402
+v 0.43875280 -0.15342488 -0.04008424
+v 0.45558189 0.03437779 -0.12919390
+v 0.45543715 -0.06955003 -0.05354469
+v 0.43249278 0.13710300 -0.15729042
+v 0.43783732 0.05882039 -0.22862210
+v 0.41879006 0.13852960 -0.20211372
+v 0.41878524 -0.12976872 0.08069526
+v 0.42464860 -0.11217659 0.07730053
+v 0.42325811 -0.17118633 -0.17153971
+v 0.42313287 -0.18250815 -0.11251068
+v 0.45545316 0.00425367 -0.08389795
+v 0.45504316 -0.09592011 -0.12630897
+v 0.45413624 -0.01190955 -0.18613463
+v 0.43800722 -0.05281058 -0.22681977
+v 0.43715393 0.11918653 -0.16778565
+v 0.42190760 -0.15605244 0.04941477
+v 0.42137311 -0.15569204 -0.19793547
+v 0.42240297 -0.18314467 -0.02508328
+v 0.41064540 -0.19351626 -0.18343331
+v 0.45540237 0.01921922 -0.09889546
+v 0.45341784 -0.08022972 -0.17151806
+v 0.45498721 -0.08465916 -0.08386217
+v 0.42095150 -0.12525524 -0.22809762
+v 0.42318290 -0.16992183 0.01993196
+v 0.42133810 -0.12645822 0.07609057
+v 0.43571200 -0.09482815 -0.21281545
+v 0.40640181 -0.17090073 -0.22829872
+v 0.41042042 -0.19983857 0.00561791
+v 0.39191902 -0.19381641 -0.22611933
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+f 26 10 17
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+f 27 16 2
+f 27 6 16
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+f 29 20 11
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+f 30 8 22
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+f 33 1 5
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+f 35 31 2
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+f 36 26 17
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+f 38 30 1
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+f 39 22 21
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+f 43 41 14
+f 43 14 5
+f 43 5 41
\ No newline at end of file
diff --git a/apple/apple_10/collision/model_normalized_collision_13.obj b/apple/apple_10/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04d8d3355e3c8bbc46257ad777e30d2f1e9450b3
--- /dev/null
+++ b/apple/apple_10/collision/model_normalized_collision_13.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.25194265 -0.35456748 0.01104482
+v 0.44357228 -0.11259984 0.00518371
+v 0.24229861 -0.01056067 0.32020821
+v 0.23798206 0.35567134 0.05130748
+v 0.23972805 0.35981156 0.00661214
+v 0.40718534 0.10251805 0.13779933
+v 0.23478363 -0.30219975 0.16736525
+v 0.28217505 -0.33457236 0.00557711
+v 0.39191475 -0.11153785 0.16732118
+v 0.23622539 0.17565794 0.29853134
+v 0.37679815 0.23841574 0.04853445
+v 0.23679604 -0.33351812 0.11033221
+v 0.32160967 0.30827614 0.00266909
+v 0.29617914 -0.01139389 0.29726847
+v 0.43842716 -0.08151279 0.06164721
+v 0.39289842 -0.20998265 0.06422445
+v 0.23537016 -0.27134189 0.21134445
+v 0.33205236 0.17646000 0.21073469
+v 0.44075510 0.11822343 0.00591723
+v 0.25165842 0.35365165 0.00591570
+v 0.39467216 -0.22637821 0.00400937
+v 0.25421624 0.33803968 0.09250197
+v 0.36364096 0.04551823 0.22185454
+v 0.26041089 0.10402621 0.30924990
+v 0.40751137 -0.05554721 0.13558828
+v 0.40722598 -0.18212604 0.07301865
+v 0.35047163 -0.25364952 0.08887504
+v 0.23883136 -0.23132194 0.25510882
+v 0.37589620 0.20587271 0.08872911
+v 0.43941667 0.11838365 0.01772432
+v 0.38115483 0.23619363 0.00711470
+v 0.33730687 0.29371563 0.00286766
+v 0.43753719 0.03375765 0.06199852
+v 0.27446150 0.33674494 0.04750737
+v 0.24835484 0.29721958 0.17968895
+v 0.36405217 -0.03764411 0.22113614
+v 0.39374066 0.10606855 0.16109222
+v 0.23945381 0.12277982 0.31263274
+v 0.30436186 0.06069513 0.27983836
+v 0.31972081 0.16567798 0.23352790
+v 0.40626536 -0.14163043 0.10642239
+v 0.43853372 -0.11105114 0.03454026
+v 0.41042042 -0.19983857 0.00561791
+v 0.33518833 -0.28170742 0.05126564
+v 0.36400177 -0.25579722 0.04954315
+v 0.25996584 -0.31120508 0.11816476
+v 0.29068036 -0.22078988 0.22452638
+v 0.37782374 -0.22554147 0.07368838
+v 0.29535832 -0.19810416 0.24566750
+v 0.34689675 0.20449903 0.14913867
+v 0.43699520 0.10230208 0.04672932
+v 0.28167907 0.33796013 0.00585465
+v 0.26113090 0.33909978 0.07713337
+v 0.36474388 0.24865855 0.05846483
+v 0.23981300 0.30176432 0.18276165
+v 0.25294647 0.12168216 0.30803083
+v 0.29035576 0.04782064 0.29401199
+v 0.34962936 0.06068444 0.23467694
+v 0.24560737 0.17182967 0.29419365
+v 0.34712260 0.15120416 0.20565257
+v 0.40739645 -0.19833117 0.03552529
+v 0.33604786 -0.26613994 0.08809907
+v 0.33757423 -0.28434167 0.00609072
+v 0.27727997 -0.22112663 0.23828864
+f 8 1 5
+f 10 4 7
+f 12 5 1
+f 12 1 8
+f 12 7 4
+f 12 4 5
+f 17 10 7
+f 20 13 8
+f 20 8 5
+f 21 8 13
+f 24 3 14
+f 25 15 6
+f 25 6 9
+f 25 9 15
+f 28 3 10
+f 28 10 17
+f 29 18 6
+f 29 6 11
+f 30 19 11
+f 30 11 6
+f 31 11 19
+f 32 19 2
+f 32 31 19
+f 32 11 31
+f 32 21 13
+f 32 2 21
+f 33 15 2
+f 33 2 19
+f 33 6 15
+f 36 23 14
+f 36 9 6
+f 36 6 23
+f 37 23 6
+f 37 6 18
+f 38 10 3
+f 38 3 24
+f 40 18 35
+f 40 24 39
+f 41 26 15
+f 41 15 9
+f 41 9 26
+f 42 26 2
+f 42 2 15
+f 42 15 26
+f 43 21 2
+f 44 12 8
+f 45 21 16
+f 45 27 44
+f 45 44 8
+f 46 27 7
+f 46 7 12
+f 47 17 7
+f 47 7 27
+f 48 16 26
+f 48 26 27
+f 48 45 16
+f 48 27 45
+f 49 14 3
+f 49 3 28
+f 49 36 14
+f 49 9 36
+f 49 26 9
+f 49 47 27
+f 49 27 26
+f 50 29 11
+f 50 18 29
+f 50 35 18
+f 51 33 19
+f 51 19 30
+f 51 30 6
+f 51 6 33
+f 52 4 34
+f 52 20 5
+f 52 5 4
+f 52 34 13
+f 52 13 20
+f 53 34 4
+f 53 4 22
+f 53 32 13
+f 53 13 34
+f 54 22 35
+f 54 53 22
+f 54 11 32
+f 54 32 53
+f 54 50 11
+f 54 35 50
+f 55 35 22
+f 55 22 4
+f 55 4 10
+f 56 38 24
+f 56 10 38
+f 57 39 24
+f 57 24 14
+f 57 14 39
+f 58 39 14
+f 58 14 23
+f 58 40 39
+f 59 40 35
+f 59 10 56
+f 59 56 24
+f 59 24 40
+f 59 55 10
+f 59 35 55
+f 60 37 18
+f 60 18 40
+f 60 40 58
+f 60 58 23
+f 60 23 37
+f 61 43 2
+f 61 2 26
+f 61 26 16
+f 61 16 21
+f 61 21 43
+f 62 44 27
+f 62 12 44
+f 62 46 12
+f 62 27 46
+f 63 45 8
+f 63 8 21
+f 63 21 45
+f 64 28 17
+f 64 17 47
+f 64 49 28
+f 64 47 49
\ No newline at end of file
diff --git a/apple/apple_10/collision/model_normalized_collision_14.obj b/apple/apple_10/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5bf3a0f6c8c17b35465613b3bdcd85dba18c56f7
--- /dev/null
+++ b/apple/apple_10/collision/model_normalized_collision_14.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v 0.44969368 0.09534768 0.00740664
+v 0.44988459 0.09335293 -0.15692601
+v 0.34839247 0.27980030 0.00703674
+v 0.22233421 0.37067499 -0.00902418
+v 0.25933647 0.09560739 0.00757576
+v 0.27400119 0.32096722 -0.22533632
+v 0.39248531 0.22245006 -0.02455706
+v 0.22779767 0.36597146 0.00730858
+v 0.29393823 0.33525517 -0.05127838
+v 0.22903344 0.21681951 -0.23484848
+v 0.43793554 0.13390647 -0.06864080
+v 0.38115483 0.23619363 0.00711470
+v 0.39251184 0.20466960 -0.20106646
+v 0.22903344 0.21681951 0.00757576
+v 0.22176796 0.37148416 -0.12761504
+v 0.30591246 0.32283666 0.00247053
+v 0.29500231 0.33446386 -0.02484367
+v 0.25933647 0.09560739 -0.23484848
+v 0.44075510 0.11822343 0.00591723
+v 0.28886526 0.32271681 -0.19735691
+v 0.34853082 0.27767549 -0.08046351
+v 0.43805877 0.13272191 -0.14014643
+v 0.22547289 0.34642915 -0.23273777
+v 0.22148090 0.35400826 -0.21521977
+v 0.25165842 0.35365165 0.00591570
+v 0.42343225 0.09470481 -0.23398177
+v 0.42235035 0.16206988 -0.02473276
+v 0.34910707 0.24601828 -0.22537362
+v 0.24871233 0.35078440 -0.17252741
+v 0.39418301 0.21724405 -0.12595169
+v 0.30315615 0.32320385 -0.11078202
+v 0.44107418 0.11894859 -0.15592474
+v 0.40731921 0.19312845 -0.15520721
+v 0.24965365 0.33481584 -0.22910844
+v 0.37885492 0.21709131 -0.21683263
+v 0.39042672 0.19449730 -0.22796266
+v 0.23357128 0.34820160 -0.21340511
+v 0.42152124 0.14932063 -0.18277495
+f 5 2 1
+f 11 1 2
+f 12 7 3
+f 12 8 1
+f 12 3 8
+f 14 5 1
+f 14 1 8
+f 14 8 4
+f 14 10 5
+f 15 4 9
+f 17 9 4
+f 17 16 3
+f 17 3 9
+f 18 2 5
+f 18 5 10
+f 19 1 11
+f 19 12 1
+f 19 7 12
+f 21 9 3
+f 21 3 7
+f 22 11 2
+f 24 14 4
+f 24 4 15
+f 24 10 14
+f 24 23 10
+f 25 8 3
+f 25 3 16
+f 25 16 17
+f 25 17 4
+f 25 4 8
+f 26 2 18
+f 26 18 10
+f 26 10 23
+f 27 19 11
+f 27 11 7
+f 27 7 19
+f 28 6 20
+f 29 15 9
+f 29 24 15
+f 30 21 7
+f 30 13 20
+f 31 9 21
+f 31 29 9
+f 31 20 29
+f 31 30 20
+f 31 21 30
+f 32 22 2
+f 32 13 22
+f 33 7 11
+f 33 11 22
+f 33 30 7
+f 33 22 13
+f 33 13 30
+f 34 20 6
+f 34 6 28
+f 35 28 20
+f 35 20 13
+f 36 26 23
+f 36 34 28
+f 36 23 34
+f 36 28 35
+f 36 35 13
+f 37 29 20
+f 37 24 29
+f 37 20 34
+f 37 34 23
+f 37 23 24
+f 38 36 13
+f 38 13 32
+f 38 32 2
+f 38 2 26
+f 38 26 36
\ No newline at end of file
diff --git a/apple/apple_10/collision/model_normalized_collision_15.obj b/apple/apple_10/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34547c5887a4819c08e5ce736e98019727e191b4
--- /dev/null
+++ b/apple/apple_10/collision/model_normalized_collision_15.obj
@@ -0,0 +1,141 @@
+# https://github.com/mikedh/trimesh
+v -0.22504822 0.18619886 0.29445863
+v -0.21036050 0.18651648 -0.23484848
+v -0.21036050 0.18651648 0.00757576
+v -0.20366312 0.40086597 0.00474585
+v -0.41165327 0.17995219 -0.18513145
+v -0.22017992 0.22554125 0.28185707
+v -0.20527192 0.38394169 -0.22778538
+v -0.24895851 0.18253876 0.28449101
+v -0.34588963 0.29216183 -0.11055492
+v -0.20411223 0.39882883 -0.15610843
+v -0.39470126 0.17886072 -0.22987725
+v -0.24146919 0.20979002 0.27928766
+v -0.27529223 0.36460095 -0.01180586
+v -0.22759255 0.39778307 -0.10968097
+v -0.21205650 0.38095850 -0.22910450
+v -0.34290474 0.26592525 -0.22738081
+v -0.40776080 0.17991873 0.04659314
+v -0.23317204 0.22249450 0.27820307
+v -0.27060113 0.36648881 -0.08019989
+v -0.22948317 0.39428553 -0.02709590
+v -0.30312262 0.30659576 -0.22908852
+v -0.21708700 0.39361700 -0.15506941
+v -0.40350468 0.20531548 -0.16677234
+v -0.34962881 0.18105347 0.17802061
+v -0.35862213 0.27964469 -0.01305256
+v -0.21771107 0.35801388 0.13705924
+v -0.21784253 0.37010708 0.11063958
+v -0.33163643 0.29120142 -0.18634718
+v -0.40414583 0.20652498 -0.00823637
+v -0.28436698 0.20464151 0.23582422
+v -0.38964556 0.23319251 -0.12562733
+v -0.31166278 0.28129007 0.13526574
+v -0.21771167 0.32771165 0.18251432
+v -0.21572368 0.39490167 0.00343980
+v -0.27167783 0.35065179 -0.15472116
+v -0.40272548 0.19046806 0.04442357
+v -0.35929082 0.27860632 -0.09531506
+v -0.38923863 0.23696518 -0.06883362
+v -0.31488770 0.25025289 0.16024921
+v -0.28893735 0.30661002 0.13341040
+v -0.34548557 0.18985926 0.17564800
+v -0.22707150 0.36564595 0.10693709
+v -0.29885653 0.33862676 0.03249336
+v -0.22856882 0.32203013 0.17872684
+v -0.22856822 0.35233237 0.13327176
+v -0.29031005 0.34921620 0.01844493
+v -0.30310190 0.30592294 0.10694741
+v -0.34346845 0.29479469 0.00209832
+f 3 2 4
+f 6 1 3
+f 6 3 4
+f 8 2 3
+f 8 3 1
+f 10 4 2
+f 10 2 7
+f 11 2 8
+f 12 8 1
+f 14 4 10
+f 15 7 2
+f 15 10 7
+f 17 5 11
+f 18 12 1
+f 18 1 6
+f 19 9 13
+f 19 13 14
+f 20 14 13
+f 20 4 14
+f 21 15 2
+f 21 2 11
+f 21 11 16
+f 22 15 14
+f 22 14 10
+f 22 10 15
+f 23 16 11
+f 23 11 5
+f 24 8 12
+f 24 17 11
+f 24 11 8
+f 27 26 4
+f 28 21 16
+f 28 9 19
+f 28 16 23
+f 29 23 5
+f 29 5 17
+f 30 24 12
+f 30 12 18
+f 31 28 23
+f 31 9 28
+f 32 17 24
+f 33 18 6
+f 33 6 4
+f 33 4 26
+f 34 27 4
+f 34 4 20
+f 34 20 27
+f 35 28 19
+f 35 19 14
+f 35 21 28
+f 35 14 15
+f 35 15 21
+f 36 29 17
+f 36 25 29
+f 36 17 32
+f 37 9 31
+f 37 25 13
+f 37 13 9
+f 38 29 25
+f 38 37 31
+f 38 25 37
+f 38 31 23
+f 38 23 29
+f 39 30 18
+f 39 18 32
+f 40 32 18
+f 41 39 32
+f 41 32 24
+f 41 24 30
+f 41 30 39
+f 42 26 27
+f 42 27 20
+f 42 20 13
+f 44 40 18
+f 44 18 33
+f 44 33 26
+f 44 26 40
+f 45 42 40
+f 45 40 26
+f 45 26 42
+f 46 13 25
+f 46 43 42
+f 46 42 13
+f 47 32 40
+f 47 40 42
+f 47 42 43
+f 48 46 25
+f 48 43 46
+f 48 47 43
+f 48 32 47
+f 48 36 32
+f 48 25 36
\ No newline at end of file
diff --git a/apple/apple_10/collision/model_normalized_collision_16.obj b/apple/apple_10/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30ccdd1288550e0af3bd2fc6e6bec2cca2483fcb
--- /dev/null
+++ b/apple/apple_10/collision/model_normalized_collision_16.obj
@@ -0,0 +1,132 @@
+# https://github.com/mikedh/trimesh
+v 0.09204208 -0.29261673 0.25776380
+v 0.32683754 -0.06878904 0.25782961
+v 0.22160491 -0.10880322 0.32408393
+v 0.13755841 0.03558421 0.33980193
+v 0.05388125 -0.00964792 0.26214942
+v 0.29617914 -0.01139389 0.29726847
+v 0.00055846 -0.27223434 0.28130526
+v 0.28503171 -0.18771926 0.25563373
+v 0.18565060 0.03481792 0.33691130
+v 0.33364655 -0.01018014 0.26394831
+v 0.16409045 -0.23134983 0.29331692
+v 0.14203833 -0.12961114 0.32412770
+v 0.00154174 -0.29633832 0.26257443
+v 0.00136278 -0.15481211 0.28305778
+v 0.29237135 -0.06527855 0.29247420
+v 0.23883136 -0.23132194 0.25510882
+v 0.16805647 -0.02312782 0.33918429
+v 0.23648943 -0.05595357 0.32292824
+v 0.06089202 -0.26975328 0.27809817
+v 0.14726442 -0.02373317 0.33709360
+v 0.16536603 -0.18638397 0.30803038
+v 0.00160651 -0.11961200 0.26034775
+v 0.07706710 -0.00635042 0.29737470
+v 0.23244066 -0.09589593 0.32376322
+v 0.30557614 -0.12650124 0.26391062
+v 0.32676024 -0.01179965 0.27072288
+v 0.19628439 -0.26038139 0.25819260
+v 0.23405434 -0.22560764 0.26129926
+v 0.16556486 0.03525474 0.34064922
+v 0.16804755 -0.12912884 0.32362685
+v 0.26753997 -0.01049457 0.30952329
+v 0.16301840 -0.25111756 0.28006602
+v 0.13877545 0.03433074 0.33990299
+v 0.00073997 -0.28903842 0.26828989
+v 0.00126328 -0.12650827 0.26480649
+v 0.05948625 -0.00897080 0.27477667
+v 0.31087351 -0.12917169 0.25710907
+v 0.30467718 -0.08104951 0.27901712
+v 0.15072824 -0.27521522 0.25790352
+v 0.19121186 -0.25607197 0.26471146
+v 0.18293091 0.03505869 0.33742041
+v 0.09124031 -0.28531683 0.26347926
+v 0.31962151 -0.06680490 0.26658192
+v 0.14844378 -0.26807278 0.26655578
+v 0.18841624 -0.24053958 0.27610644
+f 10 2 5
+f 10 9 6
+f 10 5 9
+f 11 8 3
+f 13 1 7
+f 14 7 4
+f 16 5 2
+f 16 2 8
+f 19 11 7
+f 19 7 1
+f 20 4 7
+f 20 7 12
+f 20 12 17
+f 21 11 3
+f 21 12 7
+f 21 7 11
+f 22 1 13
+f 22 16 1
+f 22 5 16
+f 23 14 4
+f 24 15 6
+f 24 3 8
+f 24 6 18
+f 24 17 3
+f 24 18 9
+f 24 9 17
+f 25 24 8
+f 26 10 6
+f 26 6 15
+f 28 16 8
+f 28 8 11
+f 29 17 9
+f 30 17 12
+f 30 3 17
+f 30 21 3
+f 30 12 21
+f 31 18 6
+f 31 6 9
+f 31 9 18
+f 32 11 19
+f 33 20 17
+f 33 4 20
+f 33 29 4
+f 33 17 29
+f 34 22 13
+f 34 13 7
+f 35 7 14
+f 35 34 7
+f 35 22 34
+f 36 23 4
+f 36 4 5
+f 36 5 22
+f 36 22 35
+f 36 35 14
+f 36 14 23
+f 37 25 8
+f 37 8 2
+f 37 2 25
+f 38 25 2
+f 38 15 24
+f 38 24 25
+f 38 26 15
+f 39 1 16
+f 39 16 27
+f 40 27 16
+f 40 16 28
+f 40 32 27
+f 40 11 32
+f 41 29 9
+f 41 4 29
+f 41 9 5
+f 41 5 4
+f 42 32 19
+f 42 19 1
+f 42 1 32
+f 43 38 2
+f 43 2 10
+f 43 10 26
+f 43 26 38
+f 44 32 1
+f 44 1 39
+f 44 39 27
+f 44 27 32
+f 45 40 28
+f 45 28 11
+f 45 11 40
\ No newline at end of file
diff --git a/apple/apple_10/collision/model_normalized_collision_17.obj b/apple/apple_10/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9792d1150d43407cb11a198b5bd9f406616f162a
--- /dev/null
+++ b/apple/apple_10/collision/model_normalized_collision_17.obj
@@ -0,0 +1,168 @@
+# https://github.com/mikedh/trimesh
+v -0.20378888 -0.37614288 0.05025709
+v -0.20354032 -0.36069548 -0.22891995
+v -0.21038561 -0.20744931 0.28035574
+v -0.30393500 -0.20293991 0.23547057
+v -0.39674691 -0.21444779 -0.09613268
+v -0.20063637 -0.30173956 0.22630808
+v -0.27097825 -0.35864859 -0.08124342
+v -0.21036050 -0.22257443 -0.23484848
+v -0.21586355 -0.27303780 0.24489884
+v -0.22725360 -0.34547628 0.13585902
+v -0.20364471 -0.37656013 -0.18634189
+v -0.28474288 -0.32866226 -0.20250528
+v -0.20304695 -0.24518928 0.26495146
+v -0.39425150 -0.20066568 0.03521807
+v -0.30176750 -0.21202201 0.23453100
+v -0.20496546 -0.35982170 0.12297325
+v -0.27690823 -0.35573299 -0.02661381
+v -0.20424690 -0.39061125 -0.11189686
+v -0.33072698 -0.29884385 -0.05105550
+v -0.26099636 -0.33935767 -0.21103024
+v -0.35458432 -0.21717789 -0.23089083
+v -0.21036050 -0.20742292 0.00757576
+v -0.20303906 -0.27548402 0.24978339
+v -0.24885909 -0.20011065 0.26570208
+v -0.28820661 -0.22229310 0.23584762
+v -0.36032415 -0.23927772 0.08920410
+v -0.20447133 -0.32893443 0.18077990
+v -0.21565507 -0.35444321 0.12462827
+v -0.24534573 -0.36947261 -0.12403001
+v -0.21687849 -0.38577283 -0.06895592
+v -0.29979279 -0.32856927 -0.08128062
+v -0.38964851 -0.22414862 -0.09455504
+v -0.23079081 -0.35470062 -0.21111497
+v -0.27551741 -0.33892156 -0.18457638
+v -0.35988922 -0.22504160 -0.21039468
+v -0.27640334 -0.32470785 -0.22640382
+v -0.36597586 -0.21439501 -0.21369845
+v -0.38137964 -0.20095078 0.09291975
+v -0.30061679 -0.32638689 0.00146134
+v -0.38941310 -0.22830702 -0.01119773
+v -0.21212602 -0.32762011 0.17763743
+v -0.26097426 -0.35417344 0.01851054
+v -0.21693972 -0.38506884 -0.11119728
+v -0.20440424 -0.39154685 -0.06871587
+v -0.31475928 -0.28588791 -0.21057087
+v -0.39896349 -0.20310017 0.00587365
+v -0.27111754 -0.34242332 0.03207533
+v -0.31564984 -0.28080191 0.09232459
+v -0.33000735 -0.29890787 -0.02528192
+v -0.38826814 -0.21272583 0.03400083
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+v -0.28426666 -0.31605062 -0.22561948
+v -0.26986766 -0.31248029 0.11921031
+v -0.34498673 -0.26845475 0.05044935
+v -0.24123525 -0.34288653 0.10799569
+v -0.37579069 -0.21275270 0.09003959
+v -0.37571003 -0.23851817 0.02021054
+f 8 6 2
+f 11 2 6
+f 13 6 8
+f 16 1 6
+f 18 11 6
+f 18 6 1
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+f 21 8 2
+f 22 13 8
+f 22 3 13
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+f 23 9 6
+f 23 6 13
+f 24 4 15
+f 24 3 22
+f 24 22 14
+f 24 13 3
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+f 26 10 15
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+f 27 10 16
+f 28 16 10
+f 28 1 16
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+f 32 12 19
+f 33 20 2
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+f 34 20 11
+f 34 12 20
+f 34 11 29
+f 34 29 7
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+f 37 8 21
+f 37 35 5
+f 38 24 14
+f 38 4 24
+f 38 15 4
+f 40 32 19
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+f 41 27 6
+f 41 10 27
+f 41 25 10
+f 41 6 25
+f 42 28 10
+f 42 10 17
+f 42 17 28
+f 43 29 11
+f 43 11 18
+f 43 7 29
+f 43 30 7
+f 44 18 1
+f 44 17 30
+f 44 43 18
+f 44 30 43
+f 45 12 5
+f 45 5 35
+f 45 35 37
+f 46 37 5
+f 46 14 37
+f 46 5 40
+f 47 39 17
+f 47 17 10
+f 49 19 17
+f 49 17 39
+f 49 40 19
+f 50 38 14
+f 50 46 40
+f 50 14 46
+f 51 44 1
+f 51 17 44
+f 51 28 17
+f 51 1 28
+f 52 36 12
+f 52 12 45
+f 52 21 36
+f 52 45 37
+f 52 37 21
+f 53 48 10
+f 53 10 26
+f 53 26 48
+f 54 48 26
+f 54 39 48
+f 54 49 39
+f 54 40 49
+f 55 47 10
+f 55 10 48
+f 55 48 39
+f 55 39 47
+f 56 50 40
+f 56 40 26
+f 56 38 50
+f 56 26 15
+f 56 15 38
+f 57 54 26
+f 57 26 40
+f 57 40 54
\ No newline at end of file
diff --git a/apple/apple_10/collision/model_normalized_collision_18.obj b/apple/apple_10/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a98e95b0a199f2560c32718cf8bb5e657f3edeaf
--- /dev/null
+++ b/apple/apple_10/collision/model_normalized_collision_18.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.25933647 -0.25287746 0.00757576
+v 0.29497487 -0.28992922 -0.25106996
+v 0.24627738 0.35585631 0.01130403
+v -0.21036050 0.32288012 0.00757576
+v -0.21036050 -0.25287746 -0.23484848
+v -0.21036050 -0.25287746 0.00757576
+v 0.25933647 0.21681951 0.00757576
+v -0.23309765 0.35072096 -0.25125527
+v 0.25933647 0.21681951 -0.23484848
+v 0.23708621 0.33815539 -0.23962222
+f 6 1 3
+f 6 3 4
+f 6 5 2
+f 6 2 1
+f 7 1 2
+f 7 3 1
+f 8 2 5
+f 8 4 3
+f 8 6 4
+f 8 5 6
+f 9 7 2
+f 9 3 7
+f 10 8 3
+f 10 3 9
+f 10 9 2
+f 10 2 8
\ No newline at end of file
diff --git a/apple/apple_10/collision/model_normalized_collision_19.obj b/apple/apple_10/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d8308483aab3a400be688be2eb2374615bec97e
--- /dev/null
+++ b/apple/apple_10/collision/model_normalized_collision_19.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.08359411 0.07099933 -0.43637130
+v 0.09670555 0.08680718 -0.45277463
+v 0.01722856 0.29333191 -0.43194840
+v -0.01306824 0.29364523 -0.43224941
+v -0.20744725 0.08160576 -0.48619993
+v -0.19520898 0.08045587 -0.41666667
+v -0.12136654 0.08055792 -0.48270302
+v -0.07775534 0.19894307 -0.49236685
+v -0.20698423 0.21178974 -0.44020161
+v 0.01684109 0.27185306 -0.45191997
+v -0.15217387 0.12884398 -0.49196772
+v 0.09407645 0.12857794 -0.47012327
+v -0.14495857 0.19553174 -0.47582180
+v -0.01346080 0.27194197 -0.45208272
+v 0.09564309 0.10046217 -0.46126807
+v 0.01292024 0.25837294 -0.45931093
+v -0.14402298 0.16403164 -0.48773449
+v -0.09902545 0.19491942 -0.48931660
+v -0.19642086 0.20270970 -0.44939186
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 6 5 1
+f 7 2 1
+f 7 1 5
+f 9 6 4
+f 9 5 6
+f 10 4 3
+f 11 7 5
+f 12 11 8
+f 12 7 11
+f 12 10 3
+f 12 3 2
+f 14 4 10
+f 14 8 13
+f 14 13 9
+f 14 9 4
+f 15 12 2
+f 15 2 7
+f 15 7 12
+f 16 12 8
+f 16 10 12
+f 16 14 10
+f 16 8 14
+f 17 8 11
+f 17 11 5
+f 18 17 13
+f 18 13 8
+f 18 8 17
+f 19 17 5
+f 19 5 9
+f 19 9 13
+f 19 13 17
\ No newline at end of file
diff --git a/apple/apple_10/collision/model_normalized_collision_2.obj b/apple/apple_10/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ad535031e0be3aeb7d293c142ccc8795d1ededc
--- /dev/null
+++ b/apple/apple_10/collision/model_normalized_collision_2.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.04619556 -0.43244228 0.03290680
+v 0.14821918 -0.38682918 -0.22640772
+v 0.00182093 -0.23721743 0.28930178
+v -0.20549317 -0.23260929 0.27008622
+v -0.20354032 -0.36069548 -0.22891995
+v -0.00066566 -0.37451666 0.19778695
+v 0.15013563 -0.40783435 0.00683002
+v 0.01847194 -0.44715129 -0.12285037
+v 0.15327587 -0.25287746 -0.23484848
+v -0.11459294 -0.27447543 0.27834857
+v -0.20040850 -0.38455679 0.01852755
+v -0.00099646 -0.40281224 0.13625947
+v 0.00055846 -0.27223434 0.28130526
+v -0.11786407 -0.40042140 -0.22843487
+v 0.02808400 -0.44734759 -0.09988124
+v 0.15019624 -0.40334102 -0.18411077
+v 0.15327587 -0.25287746 0.00757576
+v -0.21036050 -0.25287746 -0.23484848
+v 0.00176071 -0.23772594 0.00757576
+v -0.17645368 -0.23126894 0.28276613
+v -0.20278188 -0.33982525 0.16315724
+v -0.09652628 -0.43254528 0.02113999
+v 0.00030121 -0.31534667 0.24797462
+v 0.02865238 -0.41674712 -0.21384469
+v 0.08904086 -0.40045086 -0.22862296
+v -0.11146271 -0.43183892 -0.11136333
+v 0.05837181 -0.43212857 0.00617403
+v 0.13228140 -0.41635443 -0.09707418
+v 0.02854236 -0.44647128 -0.12274686
+v -0.19651642 -0.29676385 0.23784117
+v -0.21036050 -0.23772594 0.00757576
+v -0.20318188 -0.35510478 0.13620247
+v -0.07362667 -0.43190204 0.04820406
+v -0.02821224 -0.44899793 -0.01187907
+v -0.07034085 -0.29787464 0.26611852
+v 0.00341927 -0.41571717 -0.21338317
+v 0.11920760 -0.39973378 -0.21323763
+v -0.20053526 -0.38584029 -0.15462575
+v -0.11121471 -0.43151458 -0.03956063
+v -0.12899811 -0.41651061 -0.17117365
+v 0.11808169 -0.41645682 0.00641421
+v -0.00229571 -0.44700747 -0.00899905
+v 0.13318248 -0.41626768 -0.05420389
+v 0.11717748 -0.41650383 -0.15769173
+v -0.17476184 -0.27369216 0.26165789
+v -0.06679894 -0.40050829 0.15133318
+v -0.12515013 -0.41585481 0.04904124
+v 0.00383027 -0.44834149 -0.11085288
+v -0.03156055 -0.40122801 0.15068382
+v -0.04513046 -0.30040339 0.26339530
+v -0.16230543 -0.31193694 0.23451871
+v -0.10281276 -0.41678008 -0.18338520
+v -0.17141358 -0.40030526 0.00581077
+v -0.04128280 -0.44846830 -0.03796697
+v -0.15572480 -0.40220798 -0.18522149
+v -0.20304695 -0.24518928 0.26495146
+v -0.14482668 -0.28869176 0.26252698
+v -0.11170831 -0.38486498 0.14776513
+v -0.11183022 -0.41454043 0.07511943
+v -0.10163617 -0.43066235 -0.12452979
+v -0.01657602 -0.38506318 0.18052174
+v -0.01445248 -0.43172565 0.04785359
+v -0.03988861 -0.38814671 0.17463054
+v -0.02691567 -0.44806282 -0.06714554
+f 12 7 6
+f 12 1 7
+f 13 7 3
+f 13 3 10
+f 16 9 7
+f 16 2 9
+f 17 9 3
+f 17 3 7
+f 17 7 9
+f 18 14 5
+f 19 3 9
+f 19 9 18
+f 20 10 3
+f 20 3 19
+f 23 6 7
+f 23 7 13
+f 25 9 2
+f 25 24 14
+f 25 18 9
+f 25 14 18
+f 28 16 7
+f 29 15 8
+f 29 24 16
+f 29 8 24
+f 29 28 15
+f 30 4 21
+f 31 20 19
+f 31 19 18
+f 31 4 20
+f 32 5 11
+f 32 21 4
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+f 32 18 5
+f 34 33 22
+f 35 13 10
+f 36 24 8
+f 36 14 24
+f 37 25 2
+f 37 2 16
+f 37 16 24
+f 37 24 25
+f 38 11 5
+f 40 26 38
+f 41 27 15
+f 41 7 1
+f 41 1 27
+f 42 27 1
+f 42 15 27
+f 42 34 15
+f 43 28 7
+f 43 15 28
+f 43 41 15
+f 43 7 41
+f 44 29 16
+f 44 16 28
+f 44 28 29
+f 45 10 20
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+f 48 8 15
+f 48 15 34
+f 49 1 12
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+f 50 23 13
+f 50 13 35
+f 50 35 6
+f 50 6 23
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+f 52 36 8
+f 52 14 36
+f 52 40 14
+f 52 48 40
+f 52 8 48
+f 53 39 22
+f 53 11 38
+f 53 38 26
+f 53 26 39
+f 53 47 11
+f 53 22 47
+f 54 34 22
+f 54 22 39
+f 54 39 26
+f 54 48 34
+f 55 40 38
+f 55 38 5
+f 55 5 14
+f 55 14 40
+f 56 45 20
+f 56 20 4
+f 56 4 30
+f 56 30 45
+f 57 45 30
+f 57 10 45
+f 57 30 51
+f 57 35 10
+f 57 51 6
+f 57 6 35
+f 58 46 21
+f 58 21 32
+f 58 32 46
+f 59 46 32
+f 59 32 47
+f 59 33 46
+f 59 47 22
+f 59 22 33
+f 60 48 26
+f 60 26 40
+f 60 40 48
+f 61 49 12
+f 61 12 6
+f 62 49 33
+f 62 33 34
+f 62 34 42
+f 62 42 1
+f 62 1 49
+f 63 51 46
+f 63 6 51
+f 63 61 6
+f 63 46 49
+f 63 49 61
+f 64 54 26
+f 64 26 48
+f 64 48 54
\ No newline at end of file
diff --git a/apple/apple_10/collision/model_normalized_collision_20.obj b/apple/apple_10/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88f7c73b4f97907872622fb7ef4f951f8e19c9a8
--- /dev/null
+++ b/apple/apple_10/collision/model_normalized_collision_20.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v 0.00182093 -0.23721743 0.28930178
+v 0.00176071 -0.23772594 0.00757576
+v 0.00269639 -0.00930816 0.18868452
+v -0.37351409 -0.00845671 0.19857086
+v -0.33404677 -0.20890573 0.17551743
+v -0.31642110 -0.01045322 0.00757576
+v -0.13622827 -0.00736868 0.31111605
+v -0.21036050 -0.23772594 0.00757576
+v 0.00176071 -0.01045322 0.00757576
+v -0.31642110 -0.20742292 0.00757576
+v 0.00136278 -0.15481211 0.28305778
+v -0.23049081 -0.15539696 0.29126800
+v -0.20549317 -0.23260929 0.27008622
+v -0.10002340 -0.00112567 0.29921676
+v -0.17755721 -0.11653652 0.30994291
+v -0.31683818 -0.12637509 0.24800582
+v -0.12269319 -0.23695996 0.29418429
+v -0.02561303 -0.03422630 0.24114781
+v -0.23776197 -0.00810301 0.31077254
+v -0.16818331 -0.11561583 0.30927231
+v -0.31736619 -0.17201922 0.23346873
+v -0.17487607 -0.21329077 0.29236312
+v -0.02461816 -0.01201097 0.22521244
+v -0.28039441 -0.01025353 0.29608752
+v -0.28185238 -0.06965258 0.29338687
+v -0.30393500 -0.20293991 0.23547057
+v -0.23115004 -0.19742211 0.27548518
+v -0.18778412 -0.22992075 0.27986932
+v -0.32372149 -0.01042600 0.25719211
+v -0.31406773 -0.19903622 0.22437318
+v -0.26084837 -0.19940438 0.26034404
+v -0.29061178 -0.10962905 0.27519432
+v -0.14476306 -0.22878276 0.29303216
+v -0.30121608 -0.17166068 0.24745822
+f 1 2 3
+f 8 2 1
+f 8 6 2
+f 9 3 2
+f 9 2 6
+f 10 5 4
+f 10 4 6
+f 10 8 5
+f 10 6 8
+f 11 7 1
+f 11 1 3
+f 13 5 8
+f 14 3 9
+f 14 7 11
+f 14 9 6
+f 14 6 4
+f 17 13 8
+f 17 8 1
+f 17 1 15
+f 18 14 11
+f 18 11 3
+f 19 14 4
+f 19 7 14
+f 19 15 7
+f 20 15 1
+f 20 1 7
+f 20 7 15
+f 21 16 4
+f 21 4 5
+f 22 17 15
+f 22 15 12
+f 23 18 3
+f 23 3 14
+f 23 14 18
+f 24 19 4
+f 25 12 15
+f 25 15 19
+f 25 19 24
+f 26 5 13
+f 26 16 21
+f 27 22 12
+f 28 13 17
+f 28 22 27
+f 29 25 24
+f 29 24 4
+f 29 4 16
+f 29 16 25
+f 30 26 21
+f 30 21 5
+f 30 5 26
+f 31 27 12
+f 31 26 13
+f 31 28 27
+f 31 13 28
+f 32 25 16
+f 32 26 31
+f 32 31 12
+f 32 12 25
+f 33 28 17
+f 33 17 22
+f 33 22 28
+f 34 32 16
+f 34 16 26
+f 34 26 32
\ No newline at end of file
diff --git a/apple/apple_10/collision/model_normalized_collision_21.obj b/apple/apple_10/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c0b53892043671715f740d390a35b257269e4b40
--- /dev/null
+++ b/apple/apple_10/collision/model_normalized_collision_21.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.05969603 -0.40549228 -0.23026675
+v 0.23722926 -0.21486221 -0.40836687
+v 0.24418496 -0.22257443 -0.23484848
+v -0.19520898 -0.22257443 -0.23484848
+v -0.20280522 -0.22986909 -0.41539701
+v 0.20532333 -0.21308497 -0.43675727
+v 0.13402358 -0.39014939 -0.22800337
+v -0.19108841 -0.36599722 -0.23126662
+v -0.07037616 -0.21643111 -0.46570764
+v 0.23689817 -0.34682541 -0.23174752
+v 0.02802523 -0.32576211 -0.38969024
+v -0.14346269 -0.39064791 -0.22823595
+v 0.21920258 -0.35774797 -0.23066486
+v 0.19110334 -0.32340723 -0.33127497
+v 0.01215496 -0.28102786 -0.44739932
+v -0.17333476 -0.37603843 -0.22900468
+v -0.05763107 -0.40491566 -0.22994221
+v 0.20095637 -0.29765130 -0.35545338
+v 0.23468790 -0.34107825 -0.25939024
+v 0.05666301 -0.38458169 -0.28593367
+v 0.01436140 -0.21678256 -0.47890825
+v 0.17771641 -0.31335920 -0.35534855
+v -0.00775378 -0.28359897 -0.44657288
+v -0.18766651 -0.32730958 -0.31783055
+v -0.08534641 -0.37198713 -0.31406827
+v 0.23303349 -0.22406677 -0.40307089
+v 0.21920911 -0.35454658 -0.24315445
+v 0.23154469 -0.29675604 -0.32873735
+v 0.02870739 -0.40188503 -0.25939361
+v -0.00872621 -0.21676557 -0.47956477
+v 0.16614094 -0.21738287 -0.45000612
+v 0.16429512 -0.32506407 -0.34401765
+v 0.20106440 -0.22202604 -0.43134266
+v -0.06833608 -0.25842422 -0.44403980
+v -0.01148004 -0.31341298 -0.41697126
+v -0.18639507 -0.35678001 -0.25748990
+v -0.10279888 -0.38630984 -0.27423821
+v 0.20621095 -0.35359296 -0.25546194
+v 0.23254190 -0.32837873 -0.28424306
+v 0.23294707 -0.28456697 -0.34235946
+v 0.05887413 -0.40116795 -0.24400828
+v -0.00686743 -0.22960232 -0.47444041
+v 0.02840057 -0.25971144 -0.45786280
+v 0.16296442 -0.22349116 -0.44733875
+v 0.07331172 -0.35503040 -0.32864955
+v -0.18983448 -0.26938773 -0.39033023
+v -0.05264933 -0.24236456 -0.45748168
+v -0.00204833 -0.34168001 -0.37526265
+v -0.17169574 -0.37133746 -0.24151093
+v -0.11080137 -0.37034457 -0.30151500
+v 0.00341696 -0.40059213 -0.25884652
+v 0.01335639 -0.22965212 -0.47358306
+v 0.05618511 -0.28222450 -0.43024246
+v 0.17731434 -0.25170548 -0.41486664
+v -0.05297107 -0.28297890 -0.43076698
+v -0.18860064 -0.29652431 -0.35745944
+v -0.05186146 -0.32587217 -0.38697669
+v -0.03827623 -0.34204293 -0.37357695
+v 0.02790039 -0.35522618 -0.34392701
+v -0.12588325 -0.38534397 -0.25598727
+v -0.12797307 -0.35708333 -0.31195611
+v -0.05717143 -0.38523833 -0.28908226
+v 0.05608459 -0.26681107 -0.44512198
+v -0.09738218 -0.29573036 -0.40227015
+f 6 3 2
+f 6 4 3
+f 7 3 4
+f 8 4 5
+f 9 5 4
+f 9 4 6
+f 10 2 3
+f 12 7 4
+f 13 10 3
+f 13 3 7
+f 16 12 4
+f 16 4 8
+f 17 1 7
+f 17 7 12
+f 19 2 10
+f 22 11 15
+f 22 18 14
+f 24 8 5
+f 26 6 2
+f 27 13 7
+f 27 19 10
+f 27 10 13
+f 28 14 18
+f 29 1 17
+f 30 9 6
+f 30 6 21
+f 31 21 6
+f 32 11 22
+f 32 22 14
+f 32 14 7
+f 32 7 20
+f 33 18 22
+f 33 26 18
+f 33 6 26
+f 34 5 9
+f 35 23 15
+f 35 15 11
+f 36 16 8
+f 36 8 24
+f 37 17 12
+f 38 27 7
+f 38 7 14
+f 38 14 19
+f 38 19 27
+f 39 19 14
+f 39 14 28
+f 40 28 18
+f 40 18 26
+f 40 26 2
+f 40 2 19
+f 40 39 28
+f 40 19 39
+f 41 7 1
+f 41 1 29
+f 41 29 20
+f 41 20 7
+f 42 9 30
+f 42 15 23
+f 42 30 21
+f 43 15 42
+f 44 43 31
+f 44 15 43
+f 44 31 6
+f 44 6 33
+f 45 32 20
+f 45 11 32
+f 46 5 34
+f 47 34 9
+f 47 23 34
+f 47 42 23
+f 47 9 42
+f 48 20 29
+f 48 35 11
+f 48 11 45
+f 49 36 24
+f 49 12 16
+f 49 16 36
+f 50 25 37
+f 51 29 17
+f 51 17 37
+f 52 43 42
+f 52 42 21
+f 52 21 31
+f 52 31 43
+f 53 22 15
+f 54 44 33
+f 54 33 22
+f 54 22 44
+f 55 46 34
+f 55 34 23
+f 55 23 35
+f 56 24 5
+f 56 5 46
+f 58 35 48
+f 58 57 35
+f 58 48 29
+f 58 29 25
+f 59 48 45
+f 59 45 20
+f 59 20 48
+f 60 50 37
+f 60 37 12
+f 60 12 49
+f 60 49 24
+f 60 24 50
+f 61 50 24
+f 61 25 50
+f 61 24 56
+f 61 56 46
+f 61 46 25
+f 62 51 37
+f 62 37 25
+f 62 25 29
+f 62 29 51
+f 63 53 15
+f 63 15 44
+f 63 44 22
+f 63 22 53
+f 64 55 35
+f 64 46 55
+f 64 35 57
+f 64 57 58
+f 64 58 25
+f 64 25 46
\ No newline at end of file
diff --git a/apple/apple_10/collision/model_normalized_collision_22.obj b/apple/apple_10/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7063ac62bd79cc96fb6dceddf1608716d69e1075
--- /dev/null
+++ b/apple/apple_10/collision/model_normalized_collision_22.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.04626250 -0.10230700 0.48140100
+v 0.08016300 -0.08833950 0.47484151
+v 0.05747100 -0.06879950 0.50000000
+v 0.00564041 -0.02581695 0.29682729
+v 0.00012072 -0.05299871 0.19239794
+v 0.00269639 -0.00930816 0.18868452
+v 0.03584200 -0.08012100 0.49351549
+v -0.02736112 -0.05456101 0.19076075
+v -0.00204014 -0.04345558 0.33212612
+v -0.01119794 -0.04040104 0.29234651
+v -0.02324034 -0.02605817 0.23397763
+v -0.01472737 -0.01155261 0.18777171
+v -0.01398359 -0.04053582 0.27744284
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 6 4 3
+f 6 2 5
+f 7 1 3
+f 8 6 5
+f 8 5 1
+f 8 1 7
+f 9 7 3
+f 9 3 4
+f 10 8 7
+f 10 7 9
+f 11 10 9
+f 11 9 4
+f 12 6 8
+f 12 8 11
+f 12 11 4
+f 12 4 6
+f 13 11 8
+f 13 8 10
+f 13 10 11
\ No newline at end of file
diff --git a/apple/apple_10/collision/model_normalized_collision_23.obj b/apple/apple_10/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78e07c5d828059451c6f464b57a0ecb195a055a0
--- /dev/null
+++ b/apple/apple_10/collision/model_normalized_collision_23.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v -0.07526190 -0.30163834 -0.40500445
+v -0.06984810 -0.28748874 -0.42037487
+v -0.06583092 0.06612802 -0.43486397
+v -0.19642086 0.20270970 -0.44939186
+v -0.20280522 -0.22986909 -0.41539701
+v -0.15043188 -0.11343915 -0.48991055
+v -0.19520898 0.08045587 -0.41666667
+v -0.19059437 -0.25613369 -0.40630939
+v -0.06893813 -0.17082018 -0.47847816
+v -0.18888619 -0.10578581 -0.48737975
+v -0.13105120 -0.28921710 -0.39412363
+v -0.19309735 -0.26260981 -0.39712061
+v -0.06970617 -0.27196625 -0.43513488
+v -0.14534887 0.15057658 -0.49232447
+v -0.18963970 -0.24342795 -0.41402902
+v -0.07037616 -0.21643111 -0.46570764
+v -0.12840525 -0.28242671 -0.40376864
+v -0.17595438 -0.27265059 -0.39297617
+v -0.14495857 0.19553174 -0.47582180
+v -0.07703027 0.08577825 -0.45536145
+v -0.18629478 0.11902340 -0.49029586
+v -0.17374867 -0.25652265 -0.41204821
+v -0.15889407 0.20952423 -0.46523690
+v -0.12034111 0.12698919 -0.48668465
+v -0.15946412 0.14925069 -0.48873711
+v -0.08756052 -0.24558817 -0.44483961
+v -0.18511884 0.16269169 -0.47225727
+v -0.15682980 0.19379385 -0.47303493
+v -0.08387630 -0.26940129 -0.43242798
+f 1 2 3
+f 7 3 4
+f 7 4 5
+f 8 2 1
+f 10 5 4
+f 11 1 3
+f 11 3 7
+f 12 7 5
+f 12 5 8
+f 12 8 11
+f 13 9 3
+f 13 3 2
+f 13 2 8
+f 14 9 6
+f 15 8 5
+f 15 5 10
+f 16 10 6
+f 16 6 9
+f 16 9 13
+f 17 11 8
+f 17 8 1
+f 17 1 11
+f 18 12 11
+f 18 11 7
+f 18 7 12
+f 20 3 9
+f 20 19 3
+f 21 10 4
+f 21 14 6
+f 21 6 10
+f 22 13 8
+f 22 8 15
+f 22 15 10
+f 22 10 16
+f 23 4 3
+f 23 3 19
+f 24 20 9
+f 24 9 14
+f 24 14 19
+f 24 19 20
+f 25 14 21
+f 26 22 16
+f 26 16 13
+f 27 21 4
+f 28 23 19
+f 28 19 14
+f 28 14 25
+f 28 25 21
+f 28 21 27
+f 28 27 4
+f 28 4 23
+f 29 26 13
+f 29 13 22
+f 29 22 26
\ No newline at end of file
diff --git a/apple/apple_10/collision/model_normalized_collision_24.obj b/apple/apple_10/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb4e0f008d516d9db3cd05937adbcb8334f1bc9e
--- /dev/null
+++ b/apple/apple_10/collision/model_normalized_collision_24.obj
@@ -0,0 +1,141 @@
+# https://github.com/mikedh/trimesh
+v 0.23621244 0.19535148 -0.42097228
+v 0.27436848 0.22314961 -0.37248488
+v -0.19520898 0.20166799 -0.35606061
+v -0.10279444 0.35812268 -0.34856725
+v 0.07210773 0.36778862 -0.34312945
+v -0.13084331 0.19685762 -0.47940916
+v 0.01691223 0.20166799 -0.34090909
+v 0.15683857 0.25235068 -0.44612219
+v -0.17334857 0.19590117 -0.46386379
+v 0.21949103 0.19410767 -0.43398810
+v 0.23401727 0.29663369 -0.33472449
+v -0.18785810 0.32903074 -0.35075632
+v 0.23080853 0.26682761 -0.38331772
+v -0.13764509 0.27966307 -0.44491443
+v 0.16509733 0.19882435 -0.46200577
+v 0.07338029 0.37110303 -0.33542860
+v -0.19113918 0.19816968 -0.45398698
+v 0.23092293 0.27645999 -0.37600245
+v -0.03244294 0.22869647 -0.47583827
+v 0.01796116 0.37246837 -0.34757635
+v -0.16842184 0.31047130 -0.40013301
+v -0.12951743 0.21031268 -0.47481918
+v 0.16281540 0.21266748 -0.45992507
+v 0.20263507 0.32575914 -0.33406807
+v 0.01726781 0.37975122 -0.33803299
+v -0.15388716 0.26688968 -0.44307068
+v 0.18956733 0.26162364 -0.41666372
+v 0.04432262 0.27725844 -0.44735476
+v -0.03141494 0.19958531 -0.48079998
+v -0.13209885 0.29074260 -0.43450569
+v -0.15943776 0.33499543 -0.36218827
+v -0.18252331 0.27904845 -0.41379247
+v -0.11407629 0.22509363 -0.47381655
+v 0.18507180 0.22114950 -0.44353990
+v 0.13837465 0.24118163 -0.45966748
+v 0.20159181 0.32124591 -0.34387977
+v -0.16057022 0.34066141 -0.35004248
+v 0.04427013 0.29213198 -0.43193529
+v -0.04202277 0.33563049 -0.38799873
+v -0.10174392 0.35099659 -0.35848977
+v -0.16226802 0.32013765 -0.38838488
+v -0.18061764 0.32016504 -0.37583474
+v -0.18659616 0.22456763 -0.44490694
+v 0.13492315 0.26104417 -0.44642735
+v -0.01370102 0.33758363 -0.38652820
+v 0.16211642 0.27546733 -0.41754058
+v 0.03175648 0.30742930 -0.41697409
+v 0.17748120 0.32034049 -0.35663872
+f 7 1 2
+f 10 7 3
+f 10 1 7
+f 10 3 9
+f 10 9 6
+f 11 7 2
+f 12 3 7
+f 13 2 1
+f 13 1 10
+f 15 10 6
+f 17 9 3
+f 17 3 12
+f 18 11 2
+f 18 2 13
+f 22 6 9
+f 22 9 14
+f 23 10 15
+f 24 5 16
+f 24 16 7
+f 24 7 11
+f 25 12 7
+f 25 7 16
+f 25 16 5
+f 25 5 20
+f 26 14 9
+f 26 9 17
+f 26 21 14
+f 27 18 13
+f 27 13 8
+f 28 19 14
+f 29 15 6
+f 29 6 19
+f 30 14 21
+f 30 28 14
+f 32 17 12
+f 32 21 26
+f 33 19 6
+f 33 6 22
+f 33 22 14
+f 33 14 19
+f 34 23 8
+f 34 10 23
+f 34 13 10
+f 34 8 13
+f 35 8 23
+f 35 19 28
+f 35 29 19
+f 35 23 15
+f 35 15 29
+f 36 5 24
+f 36 27 8
+f 36 18 27
+f 36 24 11
+f 36 11 18
+f 37 25 4
+f 37 12 25
+f 37 4 31
+f 38 20 5
+f 39 30 25
+f 39 25 20
+f 40 30 4
+f 40 4 25
+f 40 25 30
+f 41 30 21
+f 41 4 30
+f 41 31 4
+f 42 32 12
+f 42 21 32
+f 42 41 21
+f 42 31 41
+f 42 37 31
+f 42 12 37
+f 43 32 26
+f 43 26 17
+f 43 17 32
+f 44 35 28
+f 44 8 35
+f 44 28 38
+f 44 38 5
+f 45 39 20
+f 45 30 39
+f 46 36 8
+f 46 8 44
+f 47 45 20
+f 47 20 38
+f 47 38 28
+f 47 28 30
+f 47 30 45
+f 48 5 36
+f 48 36 46
+f 48 46 44
+f 48 44 5
\ No newline at end of file
diff --git a/apple/apple_10/collision/model_normalized_collision_25.obj b/apple/apple_10/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8b464a88164a0ee6474188f24d98fc56176bddb
--- /dev/null
+++ b/apple/apple_10/collision/model_normalized_collision_25.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.07702694 0.27511800 0.27727547
+v 0.08008676 0.28948809 0.26582617
+v -0.15478242 0.27834201 0.27812147
+v -0.05632271 0.37188191 0.18265983
+v 0.00176071 0.27742557 0.18939394
+v 0.07626620 0.31575271 0.24553605
+v -0.15838814 0.26826063 0.28429503
+v -0.05605254 0.36652588 0.19093998
+v 0.00065476 0.36362085 0.18696905
+v 0.03173125 0.26976214 0.28637179
+v -0.23973330 0.29157569 0.20335291
+v -0.19228715 0.32028777 0.22061444
+v -0.01794418 0.36407865 0.19456177
+v -0.01655847 0.36998486 0.18244855
+v 0.07676712 0.31051643 0.25033737
+v -0.20493074 0.26979058 0.25585492
+v -0.21771167 0.32771165 0.18251432
+v -0.11656115 0.32047951 0.23591977
+v 0.07469478 0.29446831 0.26290538
+v 0.03145810 0.27861783 0.27890994
+v -0.21959149 0.27153468 0.24418869
+v -0.18513206 0.29355906 0.24789825
+v -0.13187337 0.35577857 0.18210748
+v -0.21392419 0.32270076 0.19432541
+v -0.21448708 0.28160733 0.23917843
+v -0.20132503 0.27987196 0.24968137
+v -0.19240854 0.34186389 0.18292675
+v -0.19086512 0.33562546 0.19451397
+f 5 2 1
+f 6 2 5
+f 9 6 5
+f 10 3 7
+f 10 5 1
+f 12 8 4
+f 13 8 3
+f 13 3 6
+f 13 4 8
+f 14 9 5
+f 14 4 13
+f 14 13 6
+f 14 6 9
+f 15 1 2
+f 15 2 6
+f 15 6 3
+f 16 10 7
+f 16 5 10
+f 17 5 11
+f 17 14 5
+f 18 12 3
+f 18 3 8
+f 18 8 12
+f 19 15 10
+f 19 10 1
+f 19 1 15
+f 20 15 3
+f 20 3 10
+f 20 10 15
+f 21 11 5
+f 21 5 16
+f 22 3 12
+f 22 7 3
+f 23 4 14
+f 23 14 17
+f 23 12 4
+f 24 17 11
+f 24 11 12
+f 24 12 17
+f 25 21 16
+f 25 12 11
+f 25 11 21
+f 26 22 12
+f 26 16 7
+f 26 7 22
+f 26 25 16
+f 26 12 25
+f 27 23 17
+f 27 17 12
+f 28 27 12
+f 28 12 23
+f 28 23 27
\ No newline at end of file
diff --git a/apple/apple_10/collision/model_normalized_collision_26.obj b/apple/apple_10/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90e6730636214585e740f0c7e151cefa31ef7337
--- /dev/null
+++ b/apple/apple_10/collision/model_normalized_collision_26.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v -0.38371570 0.07806240 0.16938324
+v -0.33157262 0.08045587 -0.09848485
+v -0.36610317 0.09022169 0.19406880
+v -0.33944683 0.19218970 0.18084633
+v -0.41905804 0.18230062 -0.15557688
+v -0.36038729 0.16525139 0.16694765
+v -0.45417488 0.07733256 -0.09588149
+v -0.33157262 0.18651648 -0.09848485
+v -0.35289200 0.18162089 0.17032601
+v -0.43754744 0.09075286 -0.16767370
+v -0.39429022 0.07676795 0.15160376
+v -0.40908958 0.19676800 -0.16574769
+v -0.41881835 0.16655968 0.03256601
+v -0.43998050 0.08442743 -0.16240130
+v -0.42376976 0.07748501 0.09536396
+v -0.44958904 0.10368508 -0.06861928
+v -0.41929528 0.17944623 -0.02316452
+v -0.40243215 0.17915016 0.05939227
+v -0.38821058 0.10535156 0.14811302
+v -0.41712979 0.10322583 0.08949632
+v -0.45132225 0.07689558 -0.02646735
+v -0.44990340 0.10380628 -0.08376330
+v -0.43503369 0.13725798 -0.01157180
+v -0.45101216 0.09176626 -0.09528318
+v -0.44836138 0.09141260 -0.02713389
+f 1 2 3
+f 3 2 4
+f 8 4 2
+f 9 6 3
+f 9 3 4
+f 10 7 5
+f 11 7 2
+f 11 2 1
+f 12 4 8
+f 12 10 5
+f 12 8 2
+f 12 2 10
+f 14 10 2
+f 14 2 7
+f 14 7 10
+f 17 12 5
+f 18 13 9
+f 18 9 4
+f 18 17 13
+f 18 4 12
+f 18 12 17
+f 19 15 11
+f 19 6 15
+f 19 3 6
+f 19 11 1
+f 19 1 3
+f 20 15 6
+f 20 13 15
+f 20 6 9
+f 20 9 13
+f 21 7 11
+f 21 11 15
+f 21 16 7
+f 21 15 13
+f 22 7 16
+f 22 17 5
+f 22 16 17
+f 23 17 16
+f 23 13 17
+f 23 21 13
+f 24 22 5
+f 24 5 7
+f 24 7 22
+f 25 23 16
+f 25 16 21
+f 25 21 23
\ No newline at end of file
diff --git a/apple/apple_10/collision/model_normalized_collision_27.obj b/apple/apple_10/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e89b78bde0051f5fb2a308d8a97dcf8b22f3a652
--- /dev/null
+++ b/apple/apple_10/collision/model_normalized_collision_27.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.24418496 -0.01045322 -0.23484848
+v 0.24418496 -0.01045322 -0.35606061
+v 0.23756327 0.34062250 -0.23092311
+v 0.01632388 0.42310192 -0.23300035
+v 0.00833000 -0.02861200 -0.40702000
+v 0.08761746 0.41382137 -0.22815701
+v 0.26827427 0.21881237 -0.38126109
+v 0.01691223 -0.01045322 -0.23484848
+v 0.19198519 0.33299779 -0.33197552
+v 0.01460459 0.41478747 -0.25970043
+v 0.12970398 0.39781664 -0.22985683
+v 0.23401727 0.29663369 -0.33472449
+v 0.01816820 0.38544510 -0.33075014
+v 0.13116003 0.39351772 -0.24115656
+v 0.15969140 0.38206643 -0.22966974
+v 0.22830226 0.32070055 -0.30094525
+v 0.23393395 0.33373804 -0.25907465
+v 0.05565050 0.37853897 -0.33201386
+v 0.01427776 0.39763142 -0.30438294
+v 0.04422198 0.41058226 -0.25808081
+v 0.02908646 0.39552882 -0.30357313
+f 5 2 1
+f 6 1 3
+f 7 1 2
+f 7 3 1
+f 7 2 5
+f 8 5 1
+f 8 6 4
+f 8 1 6
+f 10 8 4
+f 10 5 8
+f 10 4 6
+f 12 7 9
+f 13 7 5
+f 14 6 11
+f 15 11 6
+f 15 6 3
+f 15 14 11
+f 15 3 14
+f 16 12 9
+f 17 3 7
+f 17 7 12
+f 17 12 16
+f 17 16 9
+f 17 14 3
+f 17 9 14
+f 18 9 7
+f 18 7 13
+f 18 14 9
+f 18 6 14
+f 19 13 5
+f 19 5 10
+f 20 19 10
+f 20 10 6
+f 21 20 6
+f 21 6 18
+f 21 19 20
+f 21 18 13
+f 21 13 19
\ No newline at end of file
diff --git a/apple/apple_10/collision/model_normalized_collision_28.obj b/apple/apple_10/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..372806e5382658dfc1877a0d87a2745e2ba2683f
--- /dev/null
+++ b/apple/apple_10/collision/model_normalized_collision_28.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.19108841 -0.36599722 -0.23126662
+v -0.18983448 -0.26938773 -0.39033023
+v -0.18630139 0.31325723 -0.37967991
+v -0.20311596 0.37601877 -0.24582361
+v -0.42503830 -0.03901950 -0.22920135
+v -0.18989975 0.35300142 -0.30323668
+v -0.18874174 -0.36138861 -0.24437826
+v -0.26100642 0.34098699 -0.22909591
+v -0.27144833 0.07566259 -0.46046828
+v -0.19656684 0.35144481 -0.30065276
+v -0.19363279 0.36378256 -0.27811523
+v -0.18641088 0.26804283 -0.41931651
+v -0.37981680 -0.18397334 -0.22739471
+v -0.39213330 0.14571942 -0.28626861
+v -0.20380731 0.36031051 -0.27557435
+v -0.19071184 -0.09373191 -0.49321117
+v -0.24180748 -0.29586296 -0.33137095
+v -0.37743575 0.20788223 -0.22904510
+v -0.20354032 -0.36069548 -0.22891995
+v -0.29153656 0.17815018 -0.41236498
+v -0.34485557 -0.03867942 -0.38764246
+v -0.19006856 -0.18354953 -0.44570188
+v -0.18966185 0.13629374 -0.48133731
+v -0.19063132 -0.31689287 -0.33137970
+v -0.42453062 0.09183188 -0.23123812
+v -0.30336774 -0.28867079 -0.22776326
+v -0.19791706 0.26415527 -0.41413668
+v -0.33175150 0.28321800 -0.22908349
+v -0.29104377 -0.07728325 -0.44729340
+v -0.36076158 -0.10559535 -0.34625303
+v -0.34572175 0.07473904 -0.39021914
+v -0.19086165 0.00428983 -0.49364021
+v -0.18812901 0.18043069 -0.46312213
+v -0.26106063 0.10310569 -0.45807041
+v -0.22802213 -0.28329940 -0.35482530
+v -0.20451102 -0.31363053 -0.32873214
+v -0.40738415 0.15186310 -0.23068842
+v -0.34403394 -0.22452072 -0.24031572
+v -0.26395143 -0.33000959 -0.22875049
+v -0.29904101 0.17593252 -0.40576180
+v -0.38898171 0.16024196 -0.27308036
+v -0.24715374 0.03586519 -0.47486435
+v -0.19955867 -0.18189841 -0.44238126
+v -0.39562348 -0.15831158 -0.22974824
+v -0.40345785 -0.00782997 -0.28692490
+v -0.35904720 -0.08521551 -0.36123195
+v -0.34331977 -0.11920948 -0.36002358
+v -0.33007115 0.08971393 -0.40502165
+v -0.41732597 0.08975587 -0.25955594
+v -0.23093172 0.10324021 -0.47355944
+v -0.28649993 0.13623600 -0.43005080
+v -0.24094395 -0.28667116 -0.34021598
+v -0.34849768 -0.22782448 -0.22758707
+v -0.29768604 -0.25416255 -0.28528536
+v -0.26841138 -0.31552974 -0.25554052
+v -0.37346126 0.14958940 -0.31266896
+v -0.30030938 0.20108018 -0.37394199
+v -0.40378182 0.15082509 -0.24484733
+v -0.27534197 0.00518283 -0.45945127
+v -0.20036322 -0.09176193 -0.48930608
+v -0.20467046 0.00416367 -0.48933611
+v -0.19059437 -0.25613369 -0.40630939
+v -0.41002106 -0.11262572 -0.22942172
+v -0.37417459 0.03599794 -0.34606704
+f 7 3 6
+f 8 1 4
+f 10 6 3
+f 10 4 6
+f 11 6 4
+f 11 4 1
+f 11 7 6
+f 11 1 7
+f 12 7 2
+f 12 3 7
+f 15 8 4
+f 15 4 10
+f 15 10 3
+f 18 5 13
+f 19 1 8
+f 19 17 7
+f 19 7 1
+f 22 16 12
+f 22 12 2
+f 24 2 7
+f 26 19 8
+f 26 8 13
+f 27 20 3
+f 27 3 12
+f 27 12 20
+f 28 15 3
+f 28 8 15
+f 28 18 13
+f 28 13 8
+f 31 29 21
+f 32 23 16
+f 33 12 16
+f 33 16 23
+f 33 23 20
+f 33 20 12
+f 36 24 7
+f 36 7 17
+f 36 17 35
+f 37 25 5
+f 37 5 18
+f 39 17 19
+f 39 19 26
+f 40 14 28
+f 41 28 14
+f 41 18 28
+f 43 16 22
+f 44 30 13
+f 46 21 29
+f 46 5 45
+f 47 13 30
+f 47 46 29
+f 47 30 46
+f 48 29 31
+f 48 40 20
+f 48 31 40
+f 49 14 31
+f 49 25 37
+f 49 45 5
+f 49 5 25
+f 50 9 34
+f 50 42 9
+f 50 23 32
+f 50 32 42
+f 50 34 20
+f 50 20 23
+f 51 34 9
+f 51 20 34
+f 51 48 20
+f 51 9 48
+f 52 35 17
+f 52 29 35
+f 52 47 29
+f 52 17 47
+f 53 38 26
+f 53 26 13
+f 53 13 38
+f 54 38 13
+f 54 17 38
+f 54 47 17
+f 54 13 47
+f 55 39 26
+f 55 17 39
+f 55 38 17
+f 55 26 38
+f 56 40 31
+f 56 31 14
+f 56 14 40
+f 57 40 28
+f 57 28 3
+f 57 3 20
+f 57 20 40
+f 58 37 18
+f 58 18 41
+f 58 41 14
+f 58 49 37
+f 58 14 49
+f 59 42 29
+f 59 9 42
+f 59 48 9
+f 59 29 48
+f 60 42 16
+f 60 29 42
+f 60 43 29
+f 60 16 43
+f 61 42 32
+f 61 32 16
+f 61 16 42
+f 62 43 22
+f 62 22 2
+f 62 35 29
+f 62 29 43
+f 62 36 35
+f 62 2 24
+f 62 24 36
+f 63 44 13
+f 63 13 5
+f 63 30 44
+f 63 46 30
+f 63 5 46
+f 64 31 21
+f 64 46 45
+f 64 21 46
+f 64 49 31
+f 64 45 49
\ No newline at end of file
diff --git a/apple/apple_10/collision/model_normalized_collision_29.obj b/apple/apple_10/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12c645dec6645db06dfdc60b22d8d062d9423fa8
--- /dev/null
+++ b/apple/apple_10/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.39783648 -0.21954806 0.01138648
+v 0.37914148 -0.20641165 -0.23419971
+v 0.41472617 0.10760632 -0.24637073
+v 0.25933647 0.09560739 0.00757576
+v 0.25933647 -0.20742292 0.00757576
+v 0.25933647 0.09560739 -0.23484848
+v 0.38054859 0.09560739 0.00757576
+v 0.25933647 -0.20742292 -0.23484848
+f 1 2 3
+f 5 1 4
+f 6 4 3
+f 6 5 4
+f 7 1 3
+f 7 3 4
+f 7 4 1
+f 8 2 1
+f 8 1 5
+f 8 5 6
+f 8 6 3
+f 8 3 2
\ No newline at end of file
diff --git a/apple/apple_10/collision/model_normalized_collision_3.obj b/apple/apple_10/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99ee756bb4d39ce3008b46afe0851cba8ce3672a
--- /dev/null
+++ b/apple/apple_10/collision/model_normalized_collision_3.obj
@@ -0,0 +1,126 @@
+# https://github.com/mikedh/trimesh
+v 0.15013563 -0.40783435 0.00683002
+v 0.40019853 -0.19777638 -0.20041079
+v 0.40736420 -0.20572553 0.00713759
+v 0.25933647 -0.20742292 0.00757576
+v 0.15327587 -0.25287746 -0.23484848
+v 0.41345978 -0.20131787 -0.02430325
+v 0.30471186 -0.29822200 0.06814642
+v 0.15153938 -0.38320976 -0.23194990
+v 0.15327587 -0.25287746 0.00757576
+v 0.25933647 -0.20742292 -0.23484848
+v 0.31502457 -0.29149748 0.06598262
+v 0.14872687 -0.40526468 -0.17314416
+v 0.38553025 -0.20011403 -0.23015952
+v 0.30419957 -0.32998833 -0.13929318
+v 0.14981483 -0.39237136 -0.21391971
+v 0.24820829 -0.34043994 -0.23011277
+v 0.35071925 -0.28212090 -0.08505532
+v 0.21859293 -0.38598310 -0.09537307
+v 0.31812685 -0.28296796 -0.21311168
+v 0.19238911 -0.37229732 -0.22683848
+v 0.40757282 -0.21360411 -0.02504290
+v 0.24481277 -0.37320557 -0.03958092
+v 0.39442293 -0.22404752 -0.12624703
+v 0.17759376 -0.40075659 -0.11219137
+v 0.37980515 -0.20818131 -0.22867935
+v 0.27374056 -0.32725708 -0.21246027
+v 0.17660130 -0.38574868 -0.21088324
+v 0.39467216 -0.22637821 0.00400937
+v 0.32012574 -0.29695711 0.03612455
+v 0.24911730 -0.37122187 -0.08028753
+v 0.20638796 -0.38682290 0.00290946
+v 0.34878259 -0.28449889 -0.09591526
+v 0.41406250 -0.20095411 -0.09773901
+v 0.17865374 -0.40117850 -0.00874538
+v 0.16248984 -0.40090600 -0.17280892
+v 0.30371246 -0.31176130 -0.18200652
+v 0.18708091 -0.38502790 -0.19958788
+v 0.22012756 -0.38514066 -0.01282198
+v 0.16370089 -0.40426202 0.00580149
+v 0.40773574 -0.21267812 -0.09734382
+v 0.23327212 -0.36999873 -0.14068684
+v 0.23176910 -0.37198668 0.00202367
+v 0.29798734 -0.30402840 0.06513937
+f 6 2 4
+f 6 4 3
+f 9 4 5
+f 9 7 4
+f 9 1 7
+f 10 5 4
+f 10 4 2
+f 10 8 5
+f 11 3 4
+f 11 4 7
+f 12 9 5
+f 12 1 9
+f 13 10 2
+f 15 12 5
+f 15 5 8
+f 16 8 10
+f 16 10 13
+f 20 8 16
+f 21 6 3
+f 22 14 17
+f 23 14 2
+f 24 1 12
+f 25 13 2
+f 25 2 14
+f 25 14 19
+f 25 19 16
+f 25 16 13
+f 26 14 16
+f 26 16 19
+f 27 15 8
+f 27 8 20
+f 27 12 15
+f 28 21 3
+f 28 3 11
+f 28 17 21
+f 29 22 17
+f 29 28 11
+f 29 17 28
+f 30 14 22
+f 32 17 14
+f 32 14 23
+f 32 21 17
+f 33 2 6
+f 33 6 21
+f 34 24 18
+f 34 1 24
+f 35 24 12
+f 35 18 24
+f 35 12 27
+f 36 26 19
+f 36 19 14
+f 36 14 26
+f 37 35 27
+f 37 18 35
+f 37 16 14
+f 37 27 20
+f 37 20 16
+f 38 29 11
+f 38 11 7
+f 38 22 29
+f 38 34 18
+f 38 30 22
+f 38 18 30
+f 39 1 34
+f 39 38 31
+f 39 34 38
+f 40 23 2
+f 40 2 33
+f 40 32 23
+f 40 33 21
+f 40 21 32
+f 41 37 14
+f 41 18 37
+f 41 30 18
+f 41 14 30
+f 42 38 7
+f 42 31 38
+f 43 39 31
+f 43 7 1
+f 43 1 39
+f 43 42 7
+f 43 31 42
\ No newline at end of file
diff --git a/apple/apple_10/collision/model_normalized_collision_30.obj b/apple/apple_10/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62dfb66fe92b6799872aa7a438e5ed7ed568c39c
--- /dev/null
+++ b/apple/apple_10/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01691223 -0.01045322 -0.23484848
+v 0.00833000 -0.02861200 -0.40702000
+v 0.01751727 0.33815253 -0.38528985
+v -0.22910640 0.34923481 -0.25930836
+v -0.19520898 -0.01045322 -0.23484848
+v -0.20014453 0.31377201 -0.35962202
+v 0.01691223 0.30772860 -0.23484848
+v -0.19520898 -0.01045322 -0.35606061
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 7 5 1
+f 7 4 5
+f 8 5 4
+f 8 4 6
+f 8 6 2
+f 8 2 5
\ No newline at end of file
diff --git a/apple/apple_10/collision/model_normalized_collision_31.obj b/apple/apple_10/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..481c24fdcbb198516a470bc69ecfdba1ad729c19
--- /dev/null
+++ b/apple/apple_10/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.24418496 -0.22257443 -0.23484848
+v 0.25622258 -0.23731904 -0.37073678
+v 0.24418496 -0.01045322 -0.35606061
+v -0.19520898 -0.01045322 -0.23484848
+v -0.22397664 -0.24513197 -0.38671153
+v 0.24418496 -0.01045322 -0.23484848
+v -0.19520898 -0.22257443 -0.23484848
+v -0.19520898 -0.01045322 -0.35606061
+f 5 2 1
+f 5 3 2
+f 6 3 4
+f 6 4 1
+f 6 1 2
+f 6 2 3
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 5 4
+f 8 4 3
+f 8 3 5
\ No newline at end of file
diff --git a/apple/apple_10/collision/model_normalized_collision_4.obj b/apple/apple_10/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4bcc675133d6b8c2283f6ff24bdf1728dd971481
--- /dev/null
+++ b/apple/apple_10/collision/model_normalized_collision_4.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.24229861 -0.01056067 0.32020821
+v 0.24418496 -0.01045322 0.00757576
+v 0.27052756 0.34295297 0.01327123
+v -0.14888035 0.41194372 0.07775530
+v -0.22551201 -0.01045322 0.00757576
+v 0.15981868 0.25035680 0.28172301
+v -0.08322927 -0.02628710 0.26790196
+v 0.07140645 0.42751229 0.00392395
+v 0.23622539 0.17565794 0.29853134
+v -0.20344021 0.12298574 0.32193977
+v 0.13449055 0.40393157 0.00540457
+v -0.22168798 0.39125885 0.00595995
+v 0.00145319 0.35358127 0.20612109
+v 0.23725848 0.15163020 0.30654258
+v 0.23825110 0.30900311 0.17728156
+v -0.22314532 -0.00853624 0.31353482
+v -0.20366312 0.40086597 0.00474585
+v -0.21203015 0.33534643 0.17750342
+v 0.04286496 0.42694529 0.04428281
+v -0.13368592 0.26903137 0.29233376
+v 0.10455481 0.17972503 0.32298543
+v 0.24057625 0.31204355 0.16997061
+v 0.08728098 0.30793086 0.25060174
+v 0.13025183 -0.01013783 0.32832539
+v -0.09305554 -0.02589137 0.27451140
+v -0.18507230 0.39422950 0.07905019
+v -0.11816511 0.42893672 0.00459558
+v -0.06995807 0.38005906 0.16346101
+v -0.21708026 0.20897999 0.29090381
+v 0.07309694 0.31918684 0.24030580
+v 0.13137458 0.39547872 0.04899734
+v 0.22245692 0.10640722 0.32266492
+v -0.08822394 0.20835726 0.32248867
+v 0.20805580 0.13523845 0.32097918
+v 0.22558142 0.16418782 0.30681601
+v 0.13145049 0.27630613 0.26632325
+v 0.05866984 0.23890417 0.30782657
+v -0.19158296 0.00763531 0.32218253
+v 0.22410063 -0.01073420 0.32639746
+v -0.15849500 0.41091598 0.06574758
+v -0.21202955 0.36564866 0.13204835
+v -0.04220398 0.42653835 0.04957851
+v -0.01786648 0.37956136 0.16442911
+v -0.10022519 0.36474234 0.17851665
+v -0.21605247 0.16488675 0.30544486
+v -0.20054031 0.26361703 0.26348933
+v -0.21594856 0.23367500 0.27908041
+v 0.07036779 0.42469467 0.01845488
+v 0.13173482 0.37945058 0.09092122
+v -0.15747866 0.19271169 0.32196860
+v -0.04324568 0.21018653 0.32390556
+v 0.20506024 0.20387668 0.29369868
+v -0.04429081 0.26366607 0.29429820
+v 0.10493964 0.24874059 0.29284999
+v -0.20663284 0.02286915 0.32165765
+v -0.17499073 0.41244884 0.00576103
+v -0.21515772 0.37865808 0.07895824
+v -0.04302783 0.41049690 0.09132105
+v 0.01271368 0.41104555 0.08927916
+v -0.20528250 0.34975663 0.16353770
+v -0.16035374 0.39538940 0.10312374
+v -0.17097539 0.26465491 0.27990460
+v -0.11851496 0.23855039 0.30709792
+v -0.17101619 0.18032470 0.32149451
+f 1 2 3
+f 7 5 2
+f 7 2 1
+f 8 2 5
+f 11 3 2
+f 11 2 8
+f 14 1 3
+f 14 3 9
+f 16 12 5
+f 17 8 5
+f 17 5 12
+f 22 15 9
+f 22 9 3
+f 22 19 15
+f 25 16 5
+f 25 5 7
+f 25 24 16
+f 27 8 17
+f 27 19 8
+f 29 12 16
+f 30 15 19
+f 30 23 15
+f 30 13 20
+f 30 20 23
+f 31 22 3
+f 31 3 11
+f 32 1 14
+f 34 32 14
+f 34 21 32
+f 35 21 34
+f 35 34 14
+f 35 14 9
+f 36 23 6
+f 36 6 15
+f 36 15 23
+f 37 21 35
+f 38 24 10
+f 38 16 24
+f 39 25 7
+f 39 7 1
+f 39 24 25
+f 39 1 32
+f 39 32 21
+f 39 21 24
+f 40 4 27
+f 41 40 26
+f 41 4 40
+f 41 12 18
+f 42 27 4
+f 42 19 27
+f 43 28 13
+f 43 13 30
+f 44 20 13
+f 44 13 28
+f 45 29 16
+f 45 16 10
+f 47 18 12
+f 47 12 29
+f 47 46 18
+f 48 8 19
+f 48 19 31
+f 48 31 11
+f 48 11 8
+f 49 31 19
+f 49 19 22
+f 49 22 31
+f 50 47 29
+f 50 20 47
+f 51 24 21
+f 51 21 37
+f 51 37 20
+f 51 20 33
+f 51 33 50
+f 51 50 10
+f 51 10 24
+f 52 35 9
+f 52 37 35
+f 52 6 37
+f 52 15 6
+f 52 9 15
+f 53 37 23
+f 53 23 20
+f 53 20 37
+f 54 37 6
+f 54 6 23
+f 54 23 37
+f 55 38 10
+f 55 10 16
+f 55 16 38
+f 56 40 27
+f 56 27 17
+f 56 17 40
+f 57 41 26
+f 57 12 41
+f 57 17 12
+f 57 40 17
+f 57 26 40
+f 58 42 4
+f 58 4 28
+f 58 28 43
+f 59 43 30
+f 59 30 19
+f 59 58 43
+f 59 19 42
+f 59 42 58
+f 60 18 20
+f 60 20 44
+f 60 41 18
+f 61 44 28
+f 61 28 4
+f 61 60 44
+f 61 4 41
+f 61 41 60
+f 62 20 18
+f 62 18 46
+f 62 47 20
+f 62 46 47
+f 63 50 33
+f 63 33 20
+f 63 20 50
+f 64 45 10
+f 64 10 50
+f 64 50 29
+f 64 29 45
\ No newline at end of file
diff --git a/apple/apple_10/collision/model_normalized_collision_5.obj b/apple/apple_10/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2eba7c027cf061da912b588d77741615ea811476
--- /dev/null
+++ b/apple/apple_10/collision/model_normalized_collision_5.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.25622258 -0.23731904 -0.37073678
+v 0.27060116 -0.09252428 -0.45779151
+v 0.24418496 -0.13166534 -0.35606061
+v -0.06730488 -0.06999151 -0.44512854
+v -0.02238510 -0.21490678 -0.47544985
+v -0.19520898 -0.13166534 -0.35606061
+v 0.20037438 -0.20759776 -0.44600352
+v -0.07469433 -0.12406305 -0.48216910
+v -0.22397664 -0.24513197 -0.38671153
+v 0.23606787 -0.10880767 -0.47735308
+v 0.23192996 -0.19383502 -0.43234658
+v 0.13437785 -0.21406770 -0.45742129
+v -0.21413425 -0.14983926 -0.45125191
+v 0.04377919 -0.21477255 -0.47421765
+v 0.23671784 -0.08442615 -0.48079941
+v 0.23228031 -0.20937500 -0.41761312
+v 0.21047012 -0.13927032 -0.47441325
+v -0.07572369 -0.09563272 -0.46267873
+v -0.07470923 -0.18903823 -0.47384843
+v -0.19754298 -0.22481577 -0.42093197
+v 0.08887762 -0.19903504 -0.47240524
+v 0.08716652 -0.08802060 -0.47361500
+v -0.07037616 -0.21643111 -0.46570764
+f 1 2 3
+f 3 2 4
+f 6 1 3
+f 6 3 4
+f 9 1 6
+f 11 2 1
+f 11 10 2
+f 11 7 10
+f 12 7 1
+f 13 6 4
+f 13 9 6
+f 14 9 5
+f 14 1 9
+f 14 12 1
+f 15 5 8
+f 15 4 2
+f 15 2 10
+f 15 14 5
+f 15 10 14
+f 16 11 1
+f 16 1 7
+f 16 7 11
+f 17 10 7
+f 17 7 12
+f 17 14 10
+f 18 13 4
+f 18 8 13
+f 19 13 8
+f 19 8 5
+f 20 9 13
+f 21 17 12
+f 21 12 14
+f 21 14 17
+f 22 15 8
+f 22 8 18
+f 22 18 4
+f 22 4 15
+f 23 5 9
+f 23 9 20
+f 23 19 5
+f 23 20 13
+f 23 13 19
\ No newline at end of file
diff --git a/apple/apple_10/collision/model_normalized_collision_6.obj b/apple/apple_10/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c44546bb028e35fd079fc1ee658b75afa84d91e
--- /dev/null
+++ b/apple/apple_10/collision/model_normalized_collision_6.obj
@@ -0,0 +1,117 @@
+# https://github.com/mikedh/trimesh
+v -0.21036050 -0.22257443 0.00757576
+v -0.21036050 -0.22257443 -0.23484848
+v -0.21036050 0.18651648 -0.23484848
+v -0.41227131 0.19779733 -0.09776095
+v -0.40319232 -0.21319426 -0.06571399
+v -0.42076352 0.10589791 -0.23020011
+v -0.21036050 0.18651648 0.00757576
+v -0.39298013 -0.21516032 0.00465640
+v -0.36870434 0.20902603 -0.24946495
+v -0.45174658 -0.02456559 0.00708652
+v -0.37421055 -0.19536159 -0.22401433
+v -0.41786157 0.18518519 -0.15781785
+v -0.43639024 -0.12533466 0.00469918
+v -0.33157262 0.18651648 0.00757576
+v -0.36151212 -0.21109124 -0.22642709
+v -0.40465625 0.16314403 -0.22879149
+v -0.45132225 0.07689558 -0.02646735
+v -0.40305674 -0.21345094 -0.04128083
+v -0.43384006 -0.08278241 -0.19611155
+v -0.37667770 -0.21087192 -0.19878603
+v -0.41707350 -0.09494705 -0.22589448
+v -0.40381819 0.17520250 -0.21235029
+v -0.45101216 0.09176626 -0.09528318
+v -0.44376678 0.07852337 0.00554567
+v -0.43536907 -0.13905631 -0.09600661
+v -0.40479541 -0.19847902 -0.01105703
+v -0.38977697 -0.19422973 -0.19734562
+v -0.40267434 -0.14063635 -0.22622214
+v -0.43450495 0.07630706 -0.20108731
+v -0.45149221 -0.00932872 -0.11256965
+v -0.45022687 0.03292180 0.00369154
+v -0.43333697 -0.13768266 -0.01098179
+v -0.45169009 -0.03971348 -0.02321821
+v -0.40558169 -0.17184656 -0.19718530
+v -0.39058325 -0.20971487 -0.14021733
+v -0.41997410 0.16649959 -0.16969143
+v -0.45138667 -0.03962453 -0.08225977
+v -0.45000543 0.06319883 -0.01150854
+v -0.43330350 -0.10943385 -0.17090502
+v -0.40468269 -0.18229245 -0.17152197
+f 1 2 3
+f 7 1 3
+f 8 5 2
+f 8 2 1
+f 9 3 2
+f 9 7 3
+f 9 4 7
+f 10 8 1
+f 12 4 9
+f 13 8 10
+f 14 7 4
+f 14 10 1
+f 14 1 7
+f 15 9 2
+f 16 9 6
+f 16 6 12
+f 18 5 8
+f 20 15 2
+f 20 2 5
+f 21 6 9
+f 21 19 6
+f 22 16 12
+f 22 12 9
+f 22 9 16
+f 23 17 4
+f 23 4 12
+f 24 14 4
+f 24 4 17
+f 24 10 14
+f 25 5 18
+f 26 18 8
+f 26 8 13
+f 26 13 18
+f 27 11 15
+f 27 15 20
+f 28 15 11
+f 28 19 21
+f 28 21 9
+f 28 9 15
+f 29 6 19
+f 30 10 17
+f 30 17 23
+f 30 29 19
+f 30 23 29
+f 31 17 10
+f 31 10 24
+f 32 25 18
+f 32 18 13
+f 32 13 25
+f 33 25 13
+f 33 13 10
+f 33 10 30
+f 34 19 28
+f 34 28 11
+f 34 11 27
+f 35 20 5
+f 36 29 23
+f 36 23 12
+f 36 12 6
+f 36 6 29
+f 37 30 19
+f 37 33 30
+f 37 25 33
+f 38 31 24
+f 38 24 17
+f 38 17 31
+f 39 34 25
+f 39 19 34
+f 39 37 19
+f 39 25 37
+f 40 5 25
+f 40 25 34
+f 40 35 5
+f 40 34 27
+f 40 27 20
+f 40 20 35
\ No newline at end of file
diff --git a/apple/apple_10/collision/model_normalized_collision_7.obj b/apple/apple_10/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2fc976d43ea9130a1ce962dc428f557c41242eab
--- /dev/null
+++ b/apple/apple_10/collision/model_normalized_collision_7.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v 0.09993181 -0.41619857 0.06326923
+v 0.27256808 -0.34111844 0.00671722
+v 0.26385093 -0.01033616 0.31110174
+v 0.00642231 -0.00472884 0.20099019
+v 0.00176071 -0.01045322 0.00757576
+v 0.00092148 -0.30584250 0.25527452
+v 0.00298844 -0.44049978 0.01356209
+v 0.24418496 -0.01045322 0.00757576
+v -0.00079480 -0.02648283 0.26569860
+v 0.21947310 -0.25622409 0.24954883
+v 0.04718059 -0.43454189 0.00756359
+v -0.00066566 -0.37451666 0.19778695
+v 0.24880633 -0.35945577 0.00286692
+v 0.05388125 -0.00964792 0.26214942
+v 0.23578516 -0.24282957 0.24939453
+v 0.19377386 -0.26768363 0.25105016
+v 0.08789790 -0.41632432 0.07384050
+v -0.00099646 -0.40281224 0.13625947
+v 0.26584357 -0.34692485 0.00371017
+v 0.16370089 -0.40426202 0.00580149
+v 0.20055778 -0.35557291 0.12282962
+v 0.26824048 -0.33510434 0.03508504
+v 0.10266155 -0.29735129 0.25047200
+v 0.00146921 -0.42972007 0.05160895
+v 0.02757903 -0.38509835 0.16459297
+v 0.10394288 -0.42023314 0.00665471
+v 0.21712878 -0.37269710 0.03255529
+v 0.14749500 -0.38491831 0.10466146
+v 0.20064009 -0.31085075 0.19199806
+v 0.23001035 -0.32677374 0.13357052
+v 0.04573289 -0.33028995 0.23255394
+v 0.04096645 -0.35635062 0.20615293
+v 0.03097526 -0.41611667 0.09317746
+v 0.19069648 -0.38555694 0.03287627
+v 0.02701234 -0.36979373 0.19449660
+v 0.20128107 -0.34201464 0.14715088
+v 0.00048272 -0.33215075 0.23495925
+v 0.10243548 -0.31179597 0.23467730
+v 0.19232626 -0.28015206 0.23611926
+v 0.00076809 -0.41775289 0.09364487
+v 0.17500500 -0.38429098 0.06284308
+v 0.17696645 -0.35531833 0.14475870
+v 0.23149160 -0.26613284 0.22282081
+v 0.21557694 -0.31056245 0.17664314
+f 8 3 2
+f 8 5 4
+f 8 4 3
+f 9 6 3
+f 9 4 5
+f 11 7 5
+f 12 6 9
+f 13 5 8
+f 13 11 5
+f 14 9 3
+f 14 3 4
+f 14 4 9
+f 15 3 10
+f 16 10 3
+f 17 11 1
+f 17 7 11
+f 18 12 9
+f 18 9 5
+f 19 13 8
+f 19 8 2
+f 19 2 13
+f 22 2 3
+f 22 3 15
+f 22 21 2
+f 23 16 3
+f 23 3 6
+f 24 18 5
+f 24 5 7
+f 25 18 17
+f 25 12 18
+f 26 20 1
+f 26 1 11
+f 26 11 13
+f 26 13 20
+f 27 20 13
+f 27 13 2
+f 27 2 21
+f 28 1 20
+f 28 17 1
+f 29 10 16
+f 30 22 15
+f 30 21 22
+f 31 23 6
+f 32 31 12
+f 32 23 31
+f 33 7 17
+f 33 17 18
+f 34 27 21
+f 34 20 27
+f 35 12 25
+f 35 25 17
+f 35 17 28
+f 35 32 12
+f 36 21 30
+f 37 31 6
+f 37 6 12
+f 37 12 31
+f 38 32 16
+f 38 16 23
+f 38 23 32
+f 39 29 16
+f 39 16 32
+f 40 33 18
+f 40 18 24
+f 40 24 7
+f 40 7 33
+f 41 34 21
+f 41 21 28
+f 41 28 20
+f 41 20 34
+f 42 32 35
+f 42 39 32
+f 42 29 39
+f 42 36 29
+f 42 35 28
+f 42 28 21
+f 42 21 36
+f 43 30 15
+f 43 15 10
+f 44 36 30
+f 44 30 43
+f 44 43 10
+f 44 10 29
+f 44 29 36
\ No newline at end of file
diff --git a/apple/apple_10/collision/model_normalized_collision_8.obj b/apple/apple_10/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92c0c995d8f64fb975cc5b5fd3ffef6cc01a412f
--- /dev/null
+++ b/apple/apple_10/collision/model_normalized_collision_8.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.22314532 -0.00853624 0.31353482
+v -0.22551201 -0.01045322 0.00757576
+v -0.22551201 0.18651648 0.00757576
+v -0.34962881 0.18105347 0.17802061
+v -0.37734779 -0.00899546 0.19200588
+v -0.21969703 0.18253418 0.29811940
+v -0.28039441 -0.01025353 0.29608752
+v -0.33157262 0.18651648 0.00757576
+v -0.21946572 0.13692122 0.31277421
+v -0.33157262 -0.01045322 0.00757576
+v -0.24962492 -0.00969740 0.30822546
+v -0.33090478 0.10364911 0.23519349
+v -0.37019311 0.12397763 0.17031852
+v -0.35289200 0.18162089 0.17032601
+v -0.33897605 -0.01042636 0.24214506
+v -0.24918016 0.10795484 0.30757061
+v -0.25463248 0.17909825 0.28011344
+v -0.34585999 0.13386391 0.20470672
+v -0.36402172 0.12223226 0.18192661
+v -0.36411346 0.15256124 0.16682778
+v -0.26889464 0.11808828 0.29442967
+v -0.24672264 0.16513817 0.29108171
+v -0.23212521 0.13521460 0.30742302
+v -0.23235653 0.18082756 0.29276822
+f 6 2 3
+f 8 3 2
+f 8 6 3
+f 9 1 2
+f 9 2 6
+f 10 8 2
+f 10 5 8
+f 11 7 2
+f 11 2 1
+f 13 8 5
+f 14 4 6
+f 14 6 8
+f 15 5 10
+f 15 12 5
+f 15 10 2
+f 15 2 7
+f 16 7 11
+f 16 11 1
+f 16 1 9
+f 17 6 4
+f 18 12 4
+f 19 13 5
+f 19 5 12
+f 19 12 18
+f 19 18 4
+f 19 4 13
+f 20 13 4
+f 20 4 14
+f 20 14 8
+f 20 8 13
+f 21 15 7
+f 21 12 15
+f 21 7 16
+f 21 17 4
+f 21 4 12
+f 22 21 16
+f 22 17 21
+f 23 22 16
+f 23 16 9
+f 24 6 17
+f 24 17 22
+f 24 22 23
+f 24 23 9
+f 24 9 6
\ No newline at end of file
diff --git a/apple/apple_10/collision/model_normalized_collision_9.obj b/apple/apple_10/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca6ee9573d4c8ccf1b18b61756b9a51d1fd8ace1
--- /dev/null
+++ b/apple/apple_10/collision/model_normalized_collision_9.obj
@@ -0,0 +1,159 @@
+# https://github.com/mikedh/trimesh
+v 0.13812435 0.32288012 0.00757576
+v 0.16454394 0.37299535 -0.25051020
+v 0.13449055 0.40393157 0.00540457
+v -0.12920669 0.42652788 0.00564302
+v -0.20014453 0.31377201 -0.35962202
+v 0.04534067 0.44064031 -0.16835394
+v 0.01691223 0.30772860 -0.23484848
+v -0.21036050 0.32288012 0.00757576
+v 0.12818101 0.42540433 -0.12472829
+v 0.00147608 0.44277931 -0.03927817
+v -0.11272287 0.42798194 -0.20133373
+v 0.01751727 0.33815253 -0.38528985
+v -0.25121459 0.34755005 -0.23152887
+v 0.13129105 0.42555516 -0.08741620
+v 0.10062007 0.42378121 -0.19583528
+v 0.07140645 0.42751229 0.00392395
+v -0.09878718 0.44175283 -0.11182053
+v -0.05368109 0.39661240 -0.30208377
+v -0.20366312 0.40086597 0.00474585
+v -0.24759436 0.34311720 -0.24406808
+v -0.20340540 0.37855112 -0.24034611
+v 0.05846074 0.44110638 -0.14251569
+v 0.12752665 0.40883797 -0.19826306
+v 0.01816820 0.38544510 -0.33075014
+v 0.02926722 0.44220837 -0.05415898
+v -0.04234823 0.44182819 -0.17009032
+v -0.09982123 0.44224972 -0.05518942
+v -0.07148186 0.36642606 -0.34354221
+v -0.17499073 0.41244884 0.00576103
+v -0.20440725 0.41005203 -0.09652390
+v -0.21141878 0.36622951 -0.25498205
+v -0.18503273 0.33410253 -0.34606546
+v 0.10147502 0.40994914 -0.22644326
+v 0.01796116 0.37246837 -0.34757635
+v 0.01379478 0.40982070 -0.27293901
+v 0.05941759 0.44127843 -0.11482665
+v -0.07251942 0.44183606 -0.04130183
+v -0.04209498 0.38184353 -0.32797675
+v -0.18698137 0.39408964 -0.21576970
+v -0.20203419 0.39385332 -0.18541955
+v -0.20456049 0.41006209 -0.05510766
+v -0.15916496 0.42587699 -0.08144230
+v -0.24449340 0.35447119 -0.22909881
+v -0.11362283 0.36409978 -0.33129051
+v -0.11354412 0.40929253 -0.24025153
+v 0.12970398 0.39781664 -0.22985683
+v 0.06042296 0.42480180 -0.21359104
+v -0.00006411 0.42598266 -0.22911633
+v -0.05365485 0.41167665 -0.27173744
+v -0.18696465 0.40920112 -0.14000414
+v -0.18931269 0.40974869 -0.00968760
+v -0.15923937 0.42564790 -0.07021139
+v -0.10138257 0.42643910 -0.21306189
+v -0.02750866 0.42597758 -0.22978126
+f 1 2 3
+f 1 3 4
+f 7 2 1
+f 8 1 4
+f 8 7 1
+f 8 5 7
+f 12 7 5
+f 12 2 7
+f 14 3 2
+f 14 2 9
+f 16 10 4
+f 16 4 3
+f 16 3 14
+f 19 13 8
+f 20 13 5
+f 20 5 8
+f 20 8 13
+f 22 14 9
+f 22 15 6
+f 22 9 15
+f 23 15 9
+f 23 9 2
+f 23 2 15
+f 25 16 14
+f 25 10 16
+f 25 22 10
+f 26 11 17
+f 26 22 6
+f 26 10 22
+f 27 26 17
+f 27 10 26
+f 28 12 5
+f 29 19 8
+f 29 8 4
+f 29 4 27
+f 30 17 11
+f 32 31 21
+f 32 5 13
+f 32 28 5
+f 33 24 15
+f 34 24 2
+f 34 2 12
+f 34 12 28
+f 36 25 14
+f 36 14 22
+f 36 22 25
+f 37 27 4
+f 37 4 10
+f 37 10 27
+f 38 28 18
+f 38 18 24
+f 38 34 28
+f 38 24 34
+f 39 11 21
+f 40 39 21
+f 40 11 39
+f 41 30 13
+f 41 13 19
+f 42 27 17
+f 42 17 30
+f 42 30 41
+f 43 21 31
+f 43 40 21
+f 43 13 30
+f 43 30 40
+f 43 32 13
+f 43 31 32
+f 44 18 28
+f 44 28 32
+f 45 32 21
+f 45 44 32
+f 45 18 44
+f 46 33 15
+f 46 15 2
+f 46 2 24
+f 46 24 33
+f 47 6 15
+f 47 15 24
+f 47 24 35
+f 48 26 6
+f 48 47 35
+f 48 6 47
+f 49 35 24
+f 49 24 18
+f 49 48 35
+f 50 40 30
+f 50 30 11
+f 50 11 40
+f 51 41 19
+f 51 19 29
+f 51 29 41
+f 52 42 41
+f 52 27 42
+f 52 41 29
+f 52 29 27
+f 53 45 21
+f 53 21 11
+f 53 11 26
+f 53 49 18
+f 53 18 45
+f 54 26 48
+f 54 48 49
+f 54 53 26
+f 54 49 53
\ No newline at end of file
diff --git a/apple/apple_10/model.xml b/apple/apple_10/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..d7700b3e425a08e8e06f9647f5915ecef62b28b0
--- /dev/null
+++ b/apple/apple_10/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="apple_74">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
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+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="M_Apple.001" texture="image0" specular="0.5" shininess="0.25"/>
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+  <worldbody>
+    <body>
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+      </body>
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diff --git a/apple/apple_10/visual/material.mtl b/apple/apple_10/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..33616803300962094e8955deb30562079542847b
--- /dev/null
+++ b/apple/apple_10/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 250.00000000
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/apple/apple_10/visual/model_normalized_0.obj b/apple/apple_10/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f8808b2839c4f08b1118c06cde7baa48b6705a8
--- /dev/null
+++ b/apple/apple_10/visual/model_normalized_0.obj
@@ -0,0 +1,1288 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/apple/apple_18/model.xml b/apple/apple_18/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..030764ad7fecfbcc024a8c012aed132fb947532a
--- /dev/null
+++ b/apple/apple_18/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="apple_43">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="Apple_A" 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="Apple_A"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_22._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_23._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_21._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_20._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_24._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_30._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_18._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_19._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_31._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_25._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_27._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_26._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
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+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_5._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
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+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_1._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_3._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_2._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_17._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_16._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_28._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_14._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_15._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_29._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_11._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_10._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_12._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_13._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+      </body>
+      <site rgba="0 0 0 0" size="0.005" pos="1.3477099999999743e-05 0.00016405269999999973 -0.033397056" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="1.3477099999999743e-05 0.00016405269999999973 0.0337057385" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.034353707500000004 0.031381173600000006 0.00015434124999999966" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/apple/apple_18/visual/material.mtl b/apple/apple_18/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fbcf6b4b1af9257e08a0fd6e283841743ce8fad5
--- /dev/null
+++ b/apple/apple_18/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/apple/apple_18/visual/model_normalized_0.obj b/apple/apple_18/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..483443fb7bd8551582c13c3771c6035ab0833fea
--- /dev/null
+++ b/apple/apple_18/visual/model_normalized_0.obj
@@ -0,0 +1,7145 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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+f 1348/1348/1348 1125/1125/1125 1363/1363/1363
+f 1410/1410/1410 1408/1408/1408 1507/1507/1507
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+f 1515/1515/1515 1518/1518/1518 1537/1537/1537
+f 1448/1448/1448 1494/1494/1494 1508/1508/1508
\ No newline at end of file
diff --git a/apple/apple_19/collision/model_normalized_collision_0.obj b/apple/apple_19/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c18740bfb0f7421c23c00af56e1b823624a1803f
--- /dev/null
+++ b/apple/apple_19/collision/model_normalized_collision_0.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.07838148 0.00743485 -0.42044732
+v 0.01136179 0.10621921 -0.44672220
+v 0.01255594 0.09848485 -0.26428020
+v -0.21471679 0.23484849 -0.26428020
+v -0.20566751 0.18110957 -0.45881053
+v 0.01255594 0.23484849 -0.26428020
+v -0.21471679 -0.00757576 -0.37034080
+v -0.21352386 -0.00644430 -0.47660570
+v 0.01200909 0.23038091 -0.47728764
+v -0.21471679 0.09848485 -0.26428020
+v -0.13337968 -0.00351343 -0.46236845
+v -0.20957885 0.22853828 -0.43431188
+v 0.01162416 0.16063964 -0.47466676
+v -0.20995160 0.12463032 -0.47246876
+v -0.10551693 -0.00249967 -0.44364821
+v -0.09173857 0.22990719 -0.47351558
+v -0.17443333 -0.00458061 -0.47549814
+v -0.16102800 0.22473552 -0.45751196
+v -0.13479938 0.19976396 -0.47229088
+v -0.20597221 0.21169154 -0.44425130
+v -0.19190429 0.22543958 -0.44367551
+f 1 2 3
+f 6 4 3
+f 7 1 3
+f 8 7 4
+f 9 6 3
+f 9 4 6
+f 10 7 3
+f 10 3 4
+f 10 4 7
+f 11 7 8
+f 12 8 4
+f 13 9 3
+f 13 3 2
+f 13 2 11
+f 14 12 5
+f 14 8 12
+f 15 11 2
+f 15 2 1
+f 15 1 7
+f 15 7 11
+f 16 9 8
+f 16 8 14
+f 16 12 4
+f 16 4 9
+f 17 13 11
+f 17 11 8
+f 17 8 9
+f 17 9 13
+f 18 12 16
+f 19 16 14
+f 19 14 5
+f 19 18 16
+f 19 5 18
+f 20 18 5
+f 20 5 12
+f 21 20 12
+f 21 12 18
+f 21 18 20
\ No newline at end of file
diff --git a/apple/apple_19/collision/model_normalized_collision_1.obj b/apple/apple_19/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..759329326d82ce91cff0af4cb671d8457c946495
--- /dev/null
+++ b/apple/apple_19/collision/model_normalized_collision_1.obj
@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
+v 0.14891957 -0.00757576 -0.35518929
+v 0.23964943 0.26346984 -0.39508842
+v 0.20260276 0.34635279 -0.34785079
+v 0.01247353 0.39970977 -0.35354883
+v 0.01121494 0.19024530 -0.47652907
+v 0.09828726 0.31337334 -0.42693289
+v 0.18596100 0.35941457 -0.34627109
+v 0.15105938 -0.00522456 -0.46156500
+v -0.03689487 0.03896380 -0.40802783
+v -0.06117414 0.31904958 -0.43522792
+v 0.14562569 0.23048455 -0.45843405
+v 0.10121848 0.39079401 -0.34878399
+v 0.16939920 0.29635804 -0.41454269
+v 0.01009385 -0.00369728 -0.44327389
+v 0.02583200 0.32907631 -0.42860333
+v -0.06288387 0.35391597 -0.39881409
+v 0.01290647 0.28466497 -0.45963603
+v 0.07279153 0.20561045 -0.47605419
+v 0.20492451 0.22981720 -0.43556640
+v 0.11210232 0.32525352 -0.41517360
+v 0.18237375 0.35437939 -0.35631603
+v 0.11201523 0.25535434 -0.45821574
+v 0.04034365 -0.00514319 -0.40098420
+v 0.04008901 0.35513681 -0.40051262
+v -0.06544982 0.34093039 -0.41358883
+v 0.01200909 0.23038091 -0.47728764
+v -0.05867202 0.32731264 -0.43059559
+v 0.07019211 0.29799141 -0.44299662
+v 0.20321514 0.27113305 -0.41620193
+v 0.11272469 0.28388205 -0.44138565
+v 0.19956741 0.34208366 -0.35636170
+v 0.11227599 0.35502796 -0.38487578
+v 0.05664738 0.23240639 -0.47409438
+v 0.01212971 0.39217724 -0.36185591
+v 0.09992271 0.38538470 -0.35555391
+v 0.04015558 0.34037166 -0.41603145
+v -0.03264276 0.35554581 -0.40111477
+v 0.02528538 0.28380066 -0.45899874
+v 0.17278693 0.24063840 -0.44382737
+v 0.15668272 0.28470712 -0.42609675
+v 0.07187018 0.21738258 -0.47500737
+v 0.20269621 0.24253208 -0.43046579
+f 1 2 3
+f 7 1 3
+f 8 2 1
+f 9 1 4
+f 12 4 1
+f 12 1 7
+f 14 5 8
+f 14 10 5
+f 14 9 10
+f 16 9 4
+f 18 11 8
+f 18 8 5
+f 19 2 8
+f 19 8 11
+f 20 6 15
+f 21 7 3
+f 21 13 20
+f 21 12 7
+f 23 14 8
+f 23 8 1
+f 23 1 9
+f 23 9 14
+f 25 10 9
+f 25 9 16
+f 26 5 10
+f 26 10 17
+f 26 18 5
+f 27 17 10
+f 27 15 17
+f 27 10 25
+f 27 25 16
+f 28 15 6
+f 29 2 19
+f 29 13 21
+f 30 20 13
+f 30 6 20
+f 30 28 6
+f 30 22 28
+f 31 21 3
+f 31 3 2
+f 31 29 21
+f 31 2 29
+f 32 21 20
+f 33 22 11
+f 33 26 17
+f 34 24 15
+f 34 4 24
+f 35 24 4
+f 35 4 12
+f 35 32 24
+f 35 12 21
+f 35 21 32
+f 36 20 15
+f 36 15 24
+f 36 32 20
+f 36 24 32
+f 37 27 16
+f 37 16 4
+f 37 4 34
+f 37 34 15
+f 37 15 27
+f 38 17 15
+f 38 15 28
+f 38 28 22
+f 38 33 17
+f 38 22 33
+f 39 19 11
+f 39 11 22
+f 40 13 29
+f 40 30 13
+f 40 22 30
+f 40 39 22
+f 40 29 39
+f 41 33 11
+f 41 11 18
+f 41 18 26
+f 41 26 33
+f 42 39 29
+f 42 29 19
+f 42 19 39
\ No newline at end of file
diff --git a/apple/apple_19/collision/model_normalized_collision_10.obj b/apple/apple_19/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb7f674d99baf95eb228bb6d5eb73c77c9197c76
--- /dev/null
+++ b/apple/apple_19/collision/model_normalized_collision_10.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.26526681 -0.27527603 0.27605232
+v 0.25498018 -0.26515152 -0.23397717
+v 0.25498018 -0.00757576 -0.23397717
+v 0.01719942 -0.00617872 0.34038587
+v 0.01363146 -0.27557517 0.37113491
+v 0.01255594 -0.00757576 -0.23397717
+v 0.25498018 -0.00757576 0.26602284
+v 0.01255594 -0.26515152 -0.23397717
+v 0.21099575 -0.00717313 0.35417994
+v 0.20337217 -0.25899218 0.33250027
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 6 5 4
+f 7 1 3
+f 8 2 1
+f 8 1 5
+f 8 6 2
+f 8 5 6
+f 9 7 3
+f 9 3 4
+f 9 4 5
+f 9 1 7
+f 10 9 5
+f 10 5 1
+f 10 1 9
\ No newline at end of file
diff --git a/apple/apple_19/collision/model_normalized_collision_11.obj b/apple/apple_19/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03004ce0c1b10b43307a769676b9371621f55f18
--- /dev/null
+++ b/apple/apple_19/collision/model_normalized_collision_11.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.36942246 -0.24690344 -0.23156638
+v 0.42147470 -0.09595162 -0.22940612
+v 0.23982867 -0.25000000 -0.23397717
+v 0.25498018 0.23484849 -0.23397717
+v 0.23751738 -0.00752452 -0.46569422
+v 0.40705477 0.18299534 -0.22823955
+v 0.37837343 -0.22896545 -0.22942154
+v 0.23248552 -0.24428269 -0.42120310
+v 0.23982867 -0.00757576 -0.23397717
+v 0.24833911 0.25884168 -0.39184770
+v 0.37338235 0.02222484 -0.35935506
+v 0.39246644 -0.19818232 -0.22904976
+v 0.23372970 -0.08163323 -0.46444739
+v 0.38460856 0.23160767 -0.23104282
+v 0.41808501 0.08194195 -0.25665108
+v 0.28962901 0.12481546 -0.42729541
+v 0.42246547 0.12596812 -0.22832004
+v 0.37403971 -0.12319325 -0.32785184
+v 0.38846243 -0.19636620 -0.24279493
+v 0.30002056 -0.07888938 -0.42882834
+v 0.24678801 0.24221643 -0.40494478
+v 0.25366480 0.26402230 -0.38391927
+v 0.39328695 0.21390511 -0.22878362
+v 0.38684652 0.15450889 -0.29820304
+v 0.40308172 -0.04975467 -0.30211517
+v 0.41790521 -0.06522264 -0.25704990
+v 0.32910889 -0.23840872 -0.32858996
+v 0.40144034 -0.12247088 -0.27034965
+v 0.24925800 -0.00706829 -0.46316204
+v 0.34566334 -0.08106414 -0.38642447
+v 0.25705656 -0.19700754 -0.42968972
+v 0.30482806 0.06571814 -0.42805269
+v 0.24742395 0.14115274 -0.44808200
+v 0.33110888 0.17976236 -0.36927793
+v 0.40226432 0.16870859 -0.25635540
+v 0.40347445 0.05105910 -0.30312267
+v 0.35714534 -0.24132059 -0.27024140
+v 0.34235224 -0.21167662 -0.32785034
+v 0.37114518 -0.15234882 -0.31518377
+v 0.40634204 -0.15443603 -0.22925402
+v 0.41742592 -0.09528230 -0.24334988
+v 0.24580122 -0.08077467 -0.45841058
+v 0.38756680 -0.06494753 -0.32757614
+v 0.23375942 -0.17148380 -0.44836809
+v 0.31508912 -0.13908657 -0.39890007
+v 0.28697398 -0.21203079 -0.39894873
+v 0.27528014 0.16726595 -0.42643020
+v 0.27399438 0.09589965 -0.44231409
+v 0.31426590 0.22490540 -0.35781569
+v 0.35803262 0.12324477 -0.35856838
+v 0.37213239 0.20999104 -0.28355392
+v 0.40266928 0.10946986 -0.28669908
+v 0.37438209 -0.22709010 -0.24308849
+v 0.37136458 -0.21059274 -0.26979157
+v 0.32710181 -0.13767343 -0.38710416
+v 0.40244410 -0.15297686 -0.24269666
+v 0.37267460 -0.03468881 -0.35804989
+v 0.23459254 -0.21522459 -0.43471010
+v 0.26104040 -0.13988367 -0.44213345
+v 0.27053083 -0.16761704 -0.42922914
+v 0.24313692 -0.24077895 -0.41523181
+v 0.29790062 -0.21213893 -0.38752933
+v 0.24833886 0.18405442 -0.43378744
+v 0.30045518 0.13783981 -0.41500429
+f 7 3 1
+f 7 6 3
+f 8 1 3
+f 9 3 6
+f 9 8 3
+f 10 9 4
+f 12 6 7
+f 13 8 9
+f 17 12 2
+f 17 6 12
+f 19 12 7
+f 21 5 13
+f 21 13 9
+f 21 9 10
+f 22 10 4
+f 22 4 14
+f 22 21 10
+f 23 14 4
+f 23 9 6
+f 23 4 9
+f 26 17 2
+f 26 15 17
+f 27 1 8
+f 28 25 26
+f 29 13 5
+f 32 30 20
+f 32 11 30
+f 32 20 29
+f 33 5 21
+f 33 29 5
+f 35 23 6
+f 35 14 23
+f 35 6 17
+f 36 25 11
+f 36 26 25
+f 36 15 26
+f 37 1 27
+f 38 37 27
+f 39 28 19
+f 39 18 28
+f 39 38 18
+f 40 2 12
+f 41 28 26
+f 41 26 2
+f 41 2 40
+f 42 29 20
+f 42 13 29
+f 43 18 30
+f 43 28 18
+f 43 25 28
+f 44 8 13
+f 45 20 30
+f 46 8 31
+f 47 16 33
+f 48 32 29
+f 48 29 33
+f 48 33 16
+f 48 16 32
+f 49 21 22
+f 49 22 14
+f 49 47 21
+f 49 34 47
+f 50 34 24
+f 50 11 32
+f 50 36 11
+f 51 35 24
+f 51 14 35
+f 51 49 14
+f 51 24 34
+f 51 34 49
+f 52 35 17
+f 52 24 35
+f 52 17 15
+f 52 15 36
+f 52 50 24
+f 52 36 50
+f 53 1 37
+f 53 19 7
+f 53 7 1
+f 54 37 38
+f 54 53 37
+f 54 19 53
+f 54 39 19
+f 54 38 39
+f 55 30 18
+f 55 18 38
+f 55 45 30
+f 55 46 45
+f 56 40 12
+f 56 12 19
+f 56 19 28
+f 56 41 40
+f 56 28 41
+f 57 43 30
+f 57 30 11
+f 57 11 25
+f 57 25 43
+f 58 44 31
+f 58 31 8
+f 58 8 44
+f 59 44 13
+f 59 13 42
+f 59 42 20
+f 59 31 44
+f 60 20 45
+f 60 59 20
+f 60 31 59
+f 60 46 31
+f 60 45 46
+f 61 27 8
+f 61 8 46
+f 62 38 27
+f 62 61 46
+f 62 27 61
+f 62 55 38
+f 62 46 55
+f 63 47 33
+f 63 33 21
+f 63 21 47
+f 64 47 34
+f 64 16 47
+f 64 34 50
+f 64 50 32
+f 64 32 16
\ No newline at end of file
diff --git a/apple/apple_19/collision/model_normalized_collision_12.obj b/apple/apple_19/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1cb9ada365f3804d72393d390b77dcf6b12c524c
--- /dev/null
+++ b/apple/apple_19/collision/model_normalized_collision_12.obj
@@ -0,0 +1,156 @@
+# https://github.com/mikedh/trimesh
+v -0.22952008 -0.28076690 -0.38688661
+v -0.19216618 -0.22670632 -0.44775927
+v -0.21471679 0.09848485 -0.37034080
+v -0.35668908 0.09550828 -0.36286702
+v -0.34923540 -0.10680956 -0.37099580
+v -0.20933947 0.09660349 -0.47823457
+v -0.19956528 -0.00757576 -0.35518929
+v -0.27748811 -0.18071199 -0.41248534
+v -0.29358924 -0.00756992 -0.44634537
+v -0.19414481 -0.24403518 -0.43621536
+v -0.29829759 -0.24514751 -0.34843661
+v -0.19956528 -0.00757576 -0.41579535
+v -0.37988145 -0.00761718 -0.35439709
+v -0.27761345 0.09514196 -0.44560568
+v -0.29082616 -0.10746027 -0.42795565
+v -0.22858002 -0.00635385 -0.47541092
+v -0.23393479 -0.24218827 -0.41406435
+v -0.31889310 -0.18222256 -0.37040278
+v -0.19451462 -0.17090744 -0.46217262
+v -0.33410188 -0.06414700 -0.40221745
+v -0.32178700 0.07893668 -0.41331834
+v -0.37027806 -0.09644411 -0.34927123
+v -0.26723635 0.08088857 -0.45707216
+v -0.31821598 -0.12133145 -0.40010605
+v -0.23303287 -0.18094662 -0.44299376
+v -0.20655907 -0.24102302 -0.43122457
+v -0.27430358 -0.20844604 -0.40004201
+v -0.29219433 -0.24110617 -0.35796425
+v -0.21352386 -0.00644430 -0.47660570
+v -0.25154570 -0.08008372 -0.45709809
+v -0.36507226 -0.03400256 -0.37244811
+v -0.29162659 -0.03445025 -0.44450211
+v -0.37127151 0.04987622 -0.36242133
+v -0.34959595 0.09358640 -0.37282870
+v -0.35500933 -0.13940520 -0.34873551
+v -0.36475649 -0.09486499 -0.35651314
+v -0.22219420 0.09489166 -0.47323805
+v -0.29221968 0.04886238 -0.44453848
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+v -0.29067871 -0.15285328 -0.41262338
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+v -0.34963323 -0.13727238 -0.35618359
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+v -0.24679113 -0.19560014 -0.42707682
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+v -0.20803042 -0.16983517 -0.45762637
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+v -0.30983603 -0.22769007 -0.34840796
+v -0.23741056 0.05072982 -0.47336443
+v -0.26716842 -0.03490260 -0.45764165
+v -0.34834101 0.06260135 -0.38663201
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+f 46 43 30
+f 46 30 19
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+f 47 17 27
+f 47 44 17
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+f 48 28 11
+f 48 18 27
+f 48 27 28
+f 49 21 9
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+f 49 31 13
+f 49 13 33
+f 49 33 34
+f 50 35 18
+f 50 11 7
+f 50 7 35
+f 50 48 11
+f 50 18 48
+f 51 39 9
+f 51 9 23
+f 51 23 6
+f 51 6 39
+f 52 32 9
+f 52 9 39
+f 52 39 30
+f 52 43 32
+f 52 30 43
+f 53 49 34
+f 53 34 21
+f 53 21 49
\ No newline at end of file
diff --git a/apple/apple_19/collision/model_normalized_collision_13.obj b/apple/apple_19/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82cc0a26eeaaa6478eb05c6dd83a8c007c6882b4
--- /dev/null
+++ b/apple/apple_19/collision/model_normalized_collision_13.obj
@@ -0,0 +1,138 @@
+# https://github.com/mikedh/trimesh
+v 0.22919375 -0.28622379 0.29754871
+v 0.36449210 -0.03672659 0.25878227
+v 0.26024547 -0.14146669 0.33837138
+v 0.25366421 0.09809972 0.33898761
+v 0.20952564 -0.00757576 0.26602284
+v 0.31723676 -0.00782360 0.31209896
+v 0.20255252 -0.20132856 0.35810633
+v 0.31902052 -0.21486401 0.25710643
+v 0.29562984 0.09691038 0.32003562
+v 0.33044953 -0.12502685 0.28235410
+v 0.27507720 -0.02201215 0.33897049
+v 0.20337217 -0.25899218 0.33250027
+v 0.20922610 -0.00765779 0.35440549
+v 0.30413329 -0.24298859 0.25675755
+v 0.25941694 0.09978332 0.33604475
+v 0.36663485 -0.00663457 0.26010829
+v 0.28575034 -0.10985949 0.32545252
+v 0.34582580 -0.05081449 0.28045115
+v 0.33448200 -0.17062132 0.25838732
+v 0.27212005 -0.21229138 0.30872146
+v 0.23054761 -0.14148618 0.35417458
+v 0.26153033 0.08048798 0.33793194
+v 0.27497851 -0.00799630 0.33874847
+v 0.20290042 -0.24277916 0.34235698
+v 0.29197039 -0.25953962 0.25874178
+v 0.36047372 -0.00614247 0.27014251
+v 0.31594585 -0.03572459 0.31119560
+v 0.35775939 -0.03606358 0.26976731
+v 0.31298313 -0.18207076 0.28281522
+v 0.34911976 -0.11111591 0.25874998
+v 0.24106003 -0.19671398 0.33799467
+v 0.21435789 -0.19861194 0.35266333
+v 0.23758573 -0.05415335 0.35350231
+v 0.24430758 -0.25396053 0.30968476
+v 0.27253006 -0.24159778 0.29455440
+v 0.33036289 -0.05076914 0.29527777
+v 0.32793388 -0.16854269 0.26915582
+v 0.30089184 -0.18443114 0.29388561
+v 0.34306212 -0.10903442 0.26937434
+v 0.21318363 -0.23849552 0.33959835
+v 0.20834100 -0.03762884 0.35598799
+v 0.24870480 0.08149677 0.34361407
+v 0.29809291 -0.23929071 0.26702249
+v 0.28599047 -0.25557491 0.26874934
+v 0.31611764 -0.12538901 0.29498227
+v 0.27036182 -0.16904663 0.32359589
+v 0.31242905 -0.21214526 0.26724207
+f 12 5 1
+f 13 4 5
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+f 14 5 2
+f 14 2 8
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+f 15 5 4
+f 15 4 9
+f 16 2 5
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+f 17 11 3
+f 21 3 11
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+f 23 11 6
+f 23 6 9
+f 23 9 22
+f 24 7 5
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+f 25 5 14
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+f 30 19 8
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+f 32 31 3
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+f 33 21 11
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+f 34 12 1
+f 35 20 34
+f 35 34 1
+f 36 27 10
+f 36 10 18
+f 36 18 27
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+f 37 29 8
+f 37 8 19
+f 38 29 10
+f 38 35 29
+f 38 20 35
+f 39 10 19
+f 39 19 30
+f 39 28 10
+f 39 30 2
+f 39 2 28
+f 40 32 7
+f 40 7 24
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+f 40 24 12
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+f 40 20 31
+f 41 33 13
+f 41 13 7
+f 41 7 33
+f 42 33 23
+f 42 23 22
+f 42 22 4
+f 42 4 13
+f 42 13 33
+f 43 25 14
+f 43 14 8
+f 44 35 1
+f 44 1 25
+f 44 43 35
+f 44 25 43
+f 45 38 10
+f 45 10 17
+f 45 17 38
+f 46 38 17
+f 46 17 3
+f 46 3 31
+f 46 31 20
+f 46 20 38
+f 47 43 8
+f 47 8 29
+f 47 29 35
+f 47 35 43
\ No newline at end of file
diff --git a/apple/apple_19/collision/model_normalized_collision_14.obj b/apple/apple_19/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b558e9100bc936e9c13907ad13e272374d839bc3
--- /dev/null
+++ b/apple/apple_19/collision/model_normalized_collision_14.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.26182520 0.22833261 0.29709894
+v 0.40654905 0.22886332 -0.16847338
+v 0.40416311 0.24321009 0.07877287
+v 0.23267330 0.43651004 0.02153488
+v 0.23982867 0.23484849 -0.24912868
+v 0.35948223 0.32667978 -0.09498403
+v 0.28465408 0.32475143 0.19450087
+v 0.39047081 0.22899952 0.13985813
+v 0.36187274 0.22747107 -0.28553940
+v 0.23272669 0.25803875 0.29902306
+v 0.41812241 0.24401377 -0.05135124
+v 0.34455077 0.34140276 0.02096456
+v 0.32769690 0.26785406 0.21009216
+v 0.36091209 0.22876839 0.19731061
+v 0.34316163 0.31282829 -0.19768861
+v 0.23807763 0.23341615 0.30839842
+v 0.23056050 0.40389290 -0.22756851
+v 0.23158166 0.35954339 0.21283685
+v 0.40276011 0.25266545 -0.13973262
+v 0.42262247 0.23055111 -0.00806014
+v 0.27343284 0.41366435 -0.09549523
+v 0.36010807 0.32661195 0.00587787
+v 0.28553318 0.38477690 0.07706347
+v 0.27082249 0.25080558 0.28064821
+v 0.38718834 0.23907823 0.13857594
+v 0.38765262 0.25150934 -0.19739193
+v 0.34313927 0.28014498 -0.25491801
+v 0.34379856 0.23360429 -0.30827008
+v 0.23231364 0.28680040 0.28251515
+v 0.23116213 0.41924316 0.09456679
+v 0.31543863 0.29474180 0.19487202
+v 0.38793744 0.28304225 -0.10972368
+v 0.37262933 0.29823387 -0.13976304
+v 0.42251902 0.23027151 -0.05154139
+v 0.40853551 0.23006283 0.08015243
+v 0.27318459 0.41419215 -0.00712618
+v 0.23295851 0.43644515 -0.12668849
+v 0.31470844 0.36964961 -0.13582221
+v 0.41835821 0.24387590 -0.00911661
+v 0.35871735 0.31318414 0.07752305
+v 0.25602489 0.38507556 0.13814087
+v 0.29901005 0.25367048 0.24997766
+v 0.25941260 0.24123184 0.29262921
+v 0.35750376 0.23691444 0.19475597
+v 0.39213098 0.22880865 -0.21489981
+v 0.40179104 0.24212864 -0.16692988
+v 0.24368784 0.38718944 -0.24124620
+v 0.35635039 0.25424879 -0.27089841
+v 0.35007531 0.22919909 -0.30280926
+v 0.24489462 0.25505063 0.29379093
+v 0.24059559 0.28118414 0.28073075
+v 0.25776036 0.41368087 0.05029908
+v 0.33077301 0.31008293 0.14954350
+v 0.35835327 0.31285731 -0.15224750
+v 0.28533533 0.39964919 0.01952898
+v 0.28522944 0.40065656 -0.12531803
+v 0.38883654 0.28400793 0.02115912
+v 0.38805477 0.26832194 0.07814262
+v 0.28552892 0.35350905 0.14903991
+v 0.24187138 0.41279749 0.09211187
+v 0.38704041 0.24181971 -0.21350854
+v 0.27193436 0.39848836 -0.16688017
+v 0.23364120 0.39298733 -0.24485023
+v 0.33891123 0.24584732 -0.30484624
+f 9 1 5
+f 9 2 8
+f 14 9 8
+f 14 1 9
+f 16 10 5
+f 16 5 1
+f 17 5 10
+f 19 11 2
+f 22 11 6
+f 22 6 21
+f 24 1 14
+f 25 14 8
+f 29 18 17
+f 29 17 10
+f 30 4 17
+f 30 17 18
+f 31 18 13
+f 31 7 18
+f 32 6 11
+f 32 11 19
+f 33 32 19
+f 33 6 32
+f 33 19 26
+f 34 20 8
+f 34 8 2
+f 34 2 11
+f 35 8 20
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+f 53 40 23
+f 53 7 31
+f 54 33 26
+f 54 26 15
+f 54 15 38
+f 54 38 6
+f 54 6 33
+f 55 12 36
+f 55 40 12
+f 55 23 40
+f 55 52 23
+f 55 36 52
+f 56 21 6
+f 56 6 38
+f 56 37 21
+f 57 39 22
+f 57 22 40
+f 57 3 39
+f 58 40 25
+f 58 25 3
+f 58 57 40
+f 58 3 57
+f 59 41 18
+f 59 18 7
+f 59 7 53
+f 59 53 23
+f 59 23 41
+f 60 41 23
+f 60 30 41
+f 60 52 30
+f 60 23 52
+f 61 46 45
+f 61 26 46
+f 61 48 26
+f 61 45 9
+f 61 9 48
+f 62 38 15
+f 62 15 47
+f 62 56 38
+f 62 47 17
+f 62 17 37
+f 62 37 56
+f 63 28 5
+f 63 5 17
+f 63 17 47
+f 64 47 27
+f 64 27 48
+f 64 63 47
+f 64 28 63
+f 64 49 28
+f 64 48 49
\ No newline at end of file
diff --git a/apple/apple_19/collision/model_normalized_collision_15.obj b/apple/apple_19/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..034289da3c554c3f1faf69a34de7c9b217e620b3
--- /dev/null
+++ b/apple/apple_19/collision/model_normalized_collision_15.obj
@@ -0,0 +1,162 @@
+# https://github.com/mikedh/trimesh
+v -0.32809183 -0.26070308 0.18583387
+v -0.34210250 -0.26901306 -0.23648429
+v -0.33592892 -0.00757576 -0.23397717
+v -0.41777543 -0.00814996 0.18601400
+v -0.42267495 -0.16775286 0.02142292
+v -0.33592892 -0.00757576 0.19026526
+v -0.37720751 -0.25521985 0.05164352
+v -0.39335942 -0.16583899 0.15038582
+v -0.41505718 -0.00644460 -0.28520842
+v -0.40919078 -0.19429656 -0.15558663
+v -0.37774766 -0.16562796 0.18044836
+v -0.43791687 -0.09469071 0.07933003
+v -0.36303005 -0.24143127 0.13960209
+v -0.40822333 -0.08514914 -0.28332255
+v -0.42321603 -0.16797155 -0.12534017
+v -0.37705021 -0.25416143 -0.13969099
+v -0.40684660 -0.07900486 0.18149675
+v -0.40851588 -0.18083981 0.07900491
+v -0.45662773 -0.00856539 0.06547622
+v -0.35037457 -0.25615066 0.15099587
+v -0.39236351 -0.19325334 -0.22894261
+v -0.45448059 -0.03476396 -0.12555421
+v -0.42332867 -0.09267931 0.13624174
+v -0.42274931 -0.15264073 0.06385515
+v -0.39178699 -0.18010338 0.13916332
+v -0.40749303 -0.19487167 0.05140064
+v -0.36409747 -0.25517802 0.10973341
+v -0.33401533 -0.25546514 0.18061601
+v -0.43872981 -0.09540892 -0.16909217
+v -0.37751815 -0.23888681 -0.18356784
+v -0.45451019 -0.00891550 -0.12506370
+v -0.45478362 -0.06485684 -0.00812743
+v -0.40720018 -0.12270018 0.15068944
+v -0.43898139 -0.01890272 0.13698294
+v -0.43825318 -0.12216666 0.02170664
+v -0.40679245 -0.15251604 0.12441973
+v -0.40707970 -0.15222484 -0.22862797
+v -0.43899366 -0.05030989 -0.19906595
+v -0.42350112 -0.13787750 -0.18403349
+v -0.36401378 -0.25431937 -0.19819603
+v -0.45365918 -0.03420125 0.06432832
+v -0.45487830 -0.06490879 -0.03623102
+v -0.42293428 -0.03386562 0.16689992
+v -0.43959799 -0.00840464 0.13700925
+v -0.43797412 -0.10721075 0.06387495
+v -0.42241267 -0.08041047 -0.24276937
+v -0.44007400 -0.00874042 -0.19936015
+v -0.40856672 -0.18304461 -0.18357601
+v -0.43788887 -0.12255994 -0.12555776
+v -0.35270608 -0.25670851 -0.22932570
+v -0.45396431 -0.04957232 0.03723557
+v -0.43781476 -0.08010453 -0.18403102
+v -0.42406601 -0.03520277 -0.25845795
+v -0.45386992 -0.04980869 -0.11032171
+v -0.42351888 -0.00870377 -0.25851957
+f 1 2 3
+f 6 1 3
+f 6 4 1
+f 7 2 1
+f 9 6 3
+f 9 4 6
+f 14 9 3
+f 14 3 2
+f 15 10 7
+f 15 7 5
+f 16 2 7
+f 16 7 10
+f 17 11 1
+f 17 1 4
+f 17 8 11
+f 20 11 8
+f 20 8 13
+f 21 14 2
+f 25 18 13
+f 25 13 8
+f 26 5 7
+f 26 7 18
+f 26 24 5
+f 26 18 24
+f 27 18 7
+f 27 13 18
+f 27 20 13
+f 27 7 1
+f 27 1 20
+f 28 20 1
+f 28 1 11
+f 28 11 20
+f 30 16 10
+f 30 10 21
+f 31 22 19
+f 31 19 9
+f 33 23 8
+f 33 8 17
+f 33 17 23
+f 34 12 23
+f 35 5 24
+f 35 15 5
+f 36 24 18
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+f 36 25 8
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+f 40 2 16
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+f 41 12 34
+f 42 32 19
+f 42 19 22
+f 42 35 32
+f 43 17 4
+f 43 4 34
+f 43 34 23
+f 43 23 17
+f 44 34 4
+f 44 19 34
+f 44 4 9
+f 44 9 19
+f 45 35 24
+f 45 12 41
+f 45 32 35
+f 45 24 36
+f 45 36 23
+f 45 23 12
+f 46 14 37
+f 46 39 29
+f 46 37 39
+f 47 31 9
+f 47 38 22
+f 47 22 31
+f 48 10 15
+f 48 15 39
+f 48 21 10
+f 48 39 37
+f 48 37 21
+f 49 39 15
+f 49 29 39
+f 49 15 35
+f 49 35 42
+f 50 40 21
+f 50 21 2
+f 50 2 40
+f 51 41 19
+f 51 19 32
+f 51 45 41
+f 51 32 45
+f 52 46 29
+f 52 29 38
+f 52 38 46
+f 53 46 38
+f 53 9 14
+f 53 14 46
+f 53 38 47
+f 54 49 42
+f 54 42 22
+f 54 22 29
+f 54 29 49
+f 55 53 47
+f 55 47 9
+f 55 9 53
\ No newline at end of file
diff --git a/apple/apple_19/collision/model_normalized_collision_16.obj b/apple/apple_19/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b960182972d0925affe11f0f92b0e3cb13946157
--- /dev/null
+++ b/apple/apple_19/collision/model_normalized_collision_16.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v -0.20879970 -0.26185807 0.31749628
+v -0.21471679 -0.26515152 0.19026526
+v -0.21471679 -0.00757576 0.19026526
+v -0.34014843 -0.00570773 0.28128726
+v -0.33925328 -0.24328675 0.18357774
+v -0.21270349 -0.00771711 0.32830436
+v -0.20703408 -0.23057229 0.32992267
+v -0.32809183 -0.26070308 0.18583387
+v -0.30691042 -0.17190337 0.27934993
+v -0.41777543 -0.00814996 0.18601400
+v -0.24847142 -0.15486635 0.32464503
+v -0.27758847 -0.19876249 0.29283424
+v -0.33388095 -0.21288423 0.22293122
+v -0.38197086 -0.00620526 0.23734274
+v -0.41214097 -0.04984815 0.18381893
+v -0.28254915 -0.00745367 0.31017357
+v -0.27696576 -0.12526143 0.31027450
+v -0.21984732 -0.25957384 0.31116220
+v -0.26244614 -0.18361509 0.30799905
+v -0.33403541 -0.24032502 0.19577888
+v -0.27315591 -0.25606617 0.26544265
+v -0.35117053 -0.04960447 0.26604747
+v -0.38243143 -0.15262407 0.18289576
+v -0.40776714 -0.04915226 0.19413439
+v -0.24323711 -0.02418834 0.32418457
+v -0.22752424 -0.00774033 0.32609040
+v -0.29140545 -0.15676511 0.29388160
+v -0.23262338 -0.19898215 0.32384541
+v -0.24431233 -0.25437218 0.29523351
+v -0.31776041 -0.19737057 0.25221197
+v -0.31770731 -0.23906670 0.22453479
+v -0.33837610 -0.03570791 0.27884915
+v -0.39303669 -0.07760194 0.20794967
+v -0.41220112 -0.00804165 0.19788232
+v -0.39651717 -0.10862729 0.18335354
+v -0.25240782 -0.11471272 0.32268176
+v -0.21797982 -0.22861307 0.32353682
+v -0.36240377 -0.16582528 0.20963991
+v -0.31782783 -0.25429052 0.20945724
+v -0.36286663 -0.10709617 0.23632283
+v -0.38044736 -0.03636493 0.23592757
+v -0.39127384 -0.10689589 0.19611599
+v -0.36512386 -0.05147437 0.25087649
+v -0.37709388 -0.15017667 0.19525825
+f 5 3 2
+f 6 3 4
+f 7 1 2
+f 7 2 3
+f 7 3 6
+f 8 5 2
+f 8 2 1
+f 11 7 6
+f 14 4 3
+f 14 3 10
+f 15 10 3
+f 16 4 11
+f 17 11 4
+f 18 1 7
+f 19 9 12
+f 20 13 5
+f 20 5 8
+f 21 8 1
+f 21 1 18
+f 22 4 14
+f 23 15 3
+f 23 3 5
+f 23 5 13
+f 24 10 15
+f 25 11 6
+f 26 6 4
+f 26 4 16
+f 26 25 6
+f 26 16 25
+f 27 11 17
+f 27 19 11
+f 27 9 19
+f 28 19 12
+f 28 7 11
+f 28 11 19
+f 29 12 9
+f 29 9 21
+f 29 21 18
+f 29 18 12
+f 30 21 9
+f 31 30 13
+f 31 21 30
+f 32 17 4
+f 32 4 22
+f 32 27 17
+f 32 22 9
+f 32 9 27
+f 34 14 10
+f 34 10 24
+f 35 24 15
+f 35 15 23
+f 36 25 16
+f 36 16 11
+f 36 11 25
+f 37 18 7
+f 37 7 28
+f 37 28 12
+f 37 12 18
+f 38 30 9
+f 38 13 30
+f 39 8 21
+f 39 21 31
+f 39 31 13
+f 39 20 8
+f 39 13 20
+f 40 38 9
+f 40 33 38
+f 41 14 34
+f 41 34 24
+f 41 24 33
+f 42 33 24
+f 42 24 35
+f 42 35 23
+f 42 38 33
+f 43 40 9
+f 43 9 22
+f 43 22 14
+f 43 14 41
+f 43 41 33
+f 43 33 40
+f 44 42 23
+f 44 38 42
+f 44 23 13
+f 44 13 38
\ No newline at end of file
diff --git a/apple/apple_19/collision/model_normalized_collision_17.obj b/apple/apple_19/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23983e0688d4236776f8814f2b589ef0833e1fef
--- /dev/null
+++ b/apple/apple_19/collision/model_normalized_collision_17.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v 0.07177282 -0.10425216 0.47532376
+v 0.12138266 -0.08458280 0.46047776
+v 0.08518965 -0.03766552 0.45399937
+v 0.00747019 0.01664753 0.30613888
+v 0.03102762 -0.05632458 0.33739471
+v 0.06475096 0.00829249 0.30446262
+v 0.06474128 -0.03878729 0.44859339
+v 0.10836627 -0.06606456 0.47975477
+v 0.08222642 -0.10587438 0.44881315
+v 0.05862044 -0.10272042 0.45690573
+v 0.04196030 0.00817094 0.35324731
+v 0.00717263 -0.00463690 0.30854376
+v 0.06797102 -0.04615849 0.35140368
+v 0.10770611 -0.07879563 0.47955423
+v 0.07456494 -0.07607315 0.48088709
+v 0.12198015 -0.06942144 0.47103790
+v 0.08971546 -0.10063483 0.46633904
+v 0.03043937 -0.01118130 0.37946002
+v 0.05530050 -0.10003085 0.43265704
+v 0.03171923 0.01475595 0.31393730
+v 0.07447226 -0.02245822 0.42976968
+v 0.05783730 -0.00710785 0.31179233
+v 0.07912307 -0.10229151 0.47600028
+v 0.07996037 -0.06491900 0.47817430
+v 0.12246199 -0.07983176 0.46804364
+v 0.09218644 -0.10074110 0.45303702
+v 0.01313638 0.00097496 0.33402343
+v 0.04033947 -0.00644522 0.38996083
+v 0.06883389 -0.05130288 0.46162104
+v 0.05870802 -0.08997027 0.45405673
+v 0.06134385 -0.00919046 0.40035491
+v 0.02400881 0.00685859 0.34847063
+v 0.04517317 -0.01723871 0.40493423
+f 10 9 1
+f 12 4 6
+f 13 6 2
+f 13 9 5
+f 13 2 9
+f 15 14 8
+f 15 10 1
+f 16 3 8
+f 16 2 6
+f 16 8 14
+f 19 5 9
+f 19 9 10
+f 19 12 5
+f 19 10 12
+f 20 11 6
+f 20 6 4
+f 20 4 11
+f 21 16 6
+f 21 3 16
+f 21 7 3
+f 22 12 6
+f 22 5 12
+f 22 13 5
+f 22 6 13
+f 23 15 1
+f 23 14 15
+f 23 1 9
+f 23 9 17
+f 23 17 2
+f 24 15 8
+f 24 8 3
+f 24 3 7
+f 25 16 14
+f 25 2 16
+f 25 23 2
+f 25 14 23
+f 26 17 9
+f 26 9 2
+f 26 2 17
+f 27 12 10
+f 27 10 18
+f 27 4 12
+f 28 7 21
+f 29 18 15
+f 29 7 18
+f 29 24 7
+f 29 15 24
+f 30 18 10
+f 30 10 15
+f 30 15 18
+f 31 21 6
+f 31 6 11
+f 31 28 21
+f 31 11 28
+f 32 27 18
+f 32 4 27
+f 32 18 28
+f 32 28 11
+f 32 11 4
+f 33 28 18
+f 33 18 7
+f 33 7 28
\ No newline at end of file
diff --git a/apple/apple_19/collision/model_normalized_collision_18.obj b/apple/apple_19/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2eff4b12ef47cc4c950925ed67bd4ca5af59f90
--- /dev/null
+++ b/apple/apple_19/collision/model_normalized_collision_18.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v -0.21471679 0.09848485 -0.26428020
+v -0.21446305 0.09836604 -0.47579583
+v -0.23855064 0.26166094 -0.38592117
+v -0.35148774 0.22697956 -0.25859383
+v -0.40528108 0.09662831 -0.26224344
+v -0.21471679 0.23484849 -0.26428020
+v -0.36653121 0.09377331 -0.34736182
+v -0.39781102 0.12369867 -0.25982689
+v -0.20908415 0.16904549 -0.46273445
+v -0.25334427 0.09528826 -0.46010806
+v -0.39712768 0.09441984 -0.28746427
+v -0.31679908 0.20961180 -0.34372162
+v -0.38116055 0.16817575 -0.25888412
+v -0.20957885 0.22853828 -0.43431188
+v -0.23381657 0.15084041 -0.45755792
+v -0.39391561 0.10867451 -0.28589363
+v -0.31853018 0.22191820 -0.32856725
+v -0.26212421 0.18107967 -0.42748779
+v -0.39388155 0.12225743 -0.27371724
+v -0.37701245 0.13655625 -0.29924508
+v -0.34741159 0.22480414 -0.27217330
+v -0.28961208 0.22263444 -0.36922557
+v -0.21998114 0.22650800 -0.42980685
+v -0.30394398 0.15046008 -0.40179802
+v -0.27606735 0.10989161 -0.44372498
+v -0.33178516 0.16407004 -0.35877396
+v -0.36320245 0.10733174 -0.34551683
+v -0.37700238 0.16653496 -0.27257622
+v -0.27436900 0.22256460 -0.38428406
+v -0.22059102 0.16574932 -0.45836729
+v -0.28898315 0.17946082 -0.40007529
+v -0.25231835 0.10995942 -0.45765961
+v -0.30549332 0.12284254 -0.41411766
+v -0.33661585 0.09422577 -0.38963313
+v -0.34647799 0.15084319 -0.34378269
+v -0.28969379 0.12259047 -0.42855566
+v -0.27761345 0.09514196 -0.44560568
+v -0.33394861 0.10673872 -0.38721324
+f 6 3 4
+f 6 4 1
+f 8 5 1
+f 9 1 2
+f 10 2 1
+f 10 1 7
+f 11 7 1
+f 11 1 5
+f 13 8 1
+f 13 1 4
+f 14 6 1
+f 14 1 9
+f 14 3 6
+f 15 9 2
+f 15 2 10
+f 16 11 5
+f 16 7 11
+f 19 16 5
+f 19 5 8
+f 19 8 13
+f 21 4 3
+f 21 3 17
+f 21 17 12
+f 22 17 3
+f 22 12 17
+f 23 18 3
+f 23 3 14
+f 25 18 15
+f 26 12 22
+f 27 7 16
+f 27 16 20
+f 28 19 13
+f 28 13 4
+f 28 4 21
+f 28 21 12
+f 28 12 26
+f 28 20 16
+f 28 16 19
+f 29 22 3
+f 29 3 18
+f 29 18 22
+f 30 23 14
+f 30 14 9
+f 30 9 15
+f 30 15 18
+f 30 18 23
+f 31 22 18
+f 31 18 24
+f 31 26 22
+f 31 24 26
+f 32 25 15
+f 32 15 10
+f 32 10 25
+f 33 24 18
+f 34 10 7
+f 34 7 27
+f 35 27 20
+f 35 26 27
+f 35 28 26
+f 35 20 28
+f 36 33 18
+f 36 18 25
+f 37 25 10
+f 37 10 34
+f 37 34 33
+f 37 36 25
+f 37 33 36
+f 38 34 27
+f 38 27 26
+f 38 26 24
+f 38 24 33
+f 38 33 34
\ No newline at end of file
diff --git a/apple/apple_19/collision/model_normalized_collision_19.obj b/apple/apple_19/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d5436e95102a026479b1389fcba50f87c86481f
--- /dev/null
+++ b/apple/apple_19/collision/model_normalized_collision_19.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.16212758 -0.29064604 0.33514002
+v 0.20337217 -0.25899218 0.33250027
+v 0.11795859 -0.18793644 0.38630624
+v 0.19414372 0.09860902 0.35401859
+v 0.01477951 -0.06195485 0.33278650
+v 0.19082705 -0.12924834 0.36948623
+v 0.17410088 -0.21481459 0.36852835
+v 0.18821728 -0.27414031 0.33249517
+v 0.21038989 0.09801908 0.35270862
+v 0.01363146 -0.27557517 0.37113491
+v 0.01396304 -0.15175720 0.38547556
+v 0.18673484 -0.18617427 0.36887317
+v 0.14497211 -0.24023247 0.36927872
+v 0.19929068 -0.25448289 0.33819947
+v 0.20920123 0.09865968 0.35282993
+v 0.20052803 -0.21452340 0.35515060
+v 0.11786780 -0.15974142 0.38610531
+v 0.13339317 -0.29462663 0.34034363
+v 0.01662471 -0.08451224 0.35562610
+v 0.02869444 -0.21890368 0.38603658
+v 0.01187023 -0.20386171 0.38696008
+v 0.18516185 -0.23995953 0.35181718
+v 0.18520522 -0.27030983 0.33676108
+v 0.20749921 -0.02374191 0.35529600
+v 0.10272047 -0.14458626 0.38619639
+v 0.10064061 -0.25706321 0.36865884
+v 0.10199763 -0.20211489 0.38567419
+v 0.01215429 -0.26125886 0.37627269
+v 0.13056962 -0.28839089 0.34467357
+f 8 5 2
+f 8 1 5
+f 9 2 5
+f 12 6 3
+f 12 3 7
+f 13 7 3
+f 14 8 2
+f 15 9 5
+f 15 5 4
+f 16 6 12
+f 16 14 2
+f 16 12 7
+f 17 3 6
+f 17 6 9
+f 17 9 15
+f 18 10 5
+f 18 5 1
+f 18 1 13
+f 19 11 4
+f 19 4 5
+f 19 5 11
+f 21 11 5
+f 21 20 3
+f 22 7 13
+f 22 16 7
+f 22 14 16
+f 23 13 1
+f 23 1 8
+f 23 8 14
+f 23 22 13
+f 23 14 22
+f 24 9 6
+f 24 6 16
+f 24 16 2
+f 24 2 9
+f 25 17 15
+f 25 15 4
+f 25 4 11
+f 25 11 21
+f 25 21 3
+f 25 3 17
+f 27 13 3
+f 27 3 20
+f 27 26 13
+f 28 21 5
+f 28 5 10
+f 28 20 21
+f 28 27 20
+f 28 10 26
+f 28 26 27
+f 29 18 13
+f 29 13 26
+f 29 26 10
+f 29 10 18
\ No newline at end of file
diff --git a/apple/apple_19/collision/model_normalized_collision_2.obj b/apple/apple_19/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f666f1758c2cc88312f2528835f7a421422732f1
--- /dev/null
+++ b/apple/apple_19/collision/model_normalized_collision_2.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.11380307 -0.47330030 0.06385911
+v 0.38009170 -0.26001025 -0.17072998
+v 0.23247875 -0.25727686 0.31484777
+v -0.25049254 -0.25857286 0.28641219
+v -0.34751757 -0.26292296 -0.23253027
+v -0.36963561 -0.25828622 -0.17031024
+v -0.04620173 -0.39828763 0.26907670
+v 0.34242771 -0.31356966 0.10822625
+v 0.10086811 -0.45767641 -0.22767928
+v 0.36461583 -0.25726437 -0.22954748
+v -0.35388229 -0.25713096 0.14092052
+v 0.14282370 -0.41206639 0.21119162
+v -0.07581233 -0.26064219 0.37153259
+v -0.17643778 -0.45851300 -0.03803848
+v 0.37602734 -0.25929643 0.10865240
+v 0.27283605 -0.39946304 -0.09560628
+v -0.35583161 -0.25866562 -0.21554556
+v 0.18661129 -0.42736590 -0.22808950
+v -0.32318275 -0.25750357 0.19759276
+v 0.06861421 -0.45937731 0.15209319
+v 0.08412577 -0.36957922 0.29601104
+v 0.27137947 -0.33792887 0.19592926
+v 0.05604320 -0.25954848 0.37436694
+v -0.14732425 -0.31373599 0.32212681
+v -0.03062523 -0.48911480 -0.12533840
+v -0.26041639 -0.40104213 -0.10977160
+v 0.38932073 -0.26929055 0.02057419
+v 0.31932796 -0.25816652 0.22648944
+v 0.39330468 -0.25906035 -0.09590322
+v 0.22770940 -0.43031408 0.03580829
+v 0.32928303 -0.32415854 -0.19850811
+v -0.33523839 -0.28501379 -0.22874178
+v 0.14063926 -0.47350359 -0.08092497
+v -0.21715773 -0.41522592 0.12270469
+v 0.14026317 -0.45820027 0.09468618
+v 0.15461600 -0.35452553 0.28281043
+v 0.04103986 -0.42784303 0.22683599
+v -0.05884497 -0.32889524 0.33799424
+v -0.16227022 -0.25983893 0.34425312
+v -0.01585446 -0.49155143 0.05068070
+v -0.16072581 -0.43027990 -0.22858121
+v -0.33318514 -0.32877894 0.02113504
+v 0.37238843 -0.28330022 0.06571514
+v 0.35797004 -0.31407333 0.03554122
+v 0.25506142 -0.28028166 0.28134543
+v 0.31158649 -0.29782255 0.19632924
+v 0.39347132 -0.25976277 0.02148157
+v 0.28678328 -0.36792034 0.10971614
+v 0.35747130 -0.28279209 -0.19884587
+v 0.34312677 -0.32904887 -0.13815068
+v 0.25654440 -0.38229608 -0.22635523
+v -0.36335323 -0.26976639 -0.16867338
+v 0.14088828 -0.45771942 -0.18504479
+v 0.04227606 -0.49019508 -0.12520201
+v 0.14079951 -0.47358544 -0.00803431
+v 0.20180465 -0.44348873 -0.12449943
+v -0.27374859 -0.34164156 0.17841545
+v -0.19067078 -0.38266176 0.22350540
+v -0.24724098 -0.41455295 0.03488407
+v 0.11369113 -0.45715671 0.12429520
+v 0.11255057 -0.38273344 0.26752613
+v 0.16988536 -0.29690064 0.32720063
+v 0.19853175 -0.35242583 0.25331974
+v 0.08335685 -0.44261688 0.18168875
+f 11 10 6
+f 11 3 10
+f 17 10 5
+f 17 6 10
+f 18 9 5
+f 18 5 10
+f 19 4 3
+f 19 3 11
+f 23 3 4
+f 28 15 10
+f 28 10 3
+f 29 2 10
+f 29 10 15
+f 32 17 5
+f 37 21 7
+f 38 7 21
+f 38 24 7
+f 38 13 24
+f 38 23 13
+f 38 21 23
+f 39 23 4
+f 39 13 23
+f 39 24 13
+f 39 4 24
+f 40 14 25
+f 40 34 14
+f 40 37 7
+f 40 20 37
+f 40 1 20
+f 41 25 14
+f 41 14 26
+f 41 26 32
+f 41 9 25
+f 41 32 5
+f 41 5 9
+f 42 11 6
+f 43 27 15
+f 43 15 8
+f 44 30 16
+f 44 43 8
+f 44 27 43
+f 45 28 3
+f 46 22 8
+f 46 8 15
+f 46 15 28
+f 46 45 22
+f 46 28 45
+f 47 29 15
+f 47 15 27
+f 47 27 29
+f 48 8 22
+f 48 22 12
+f 48 35 30
+f 48 12 35
+f 48 44 8
+f 48 30 44
+f 49 31 10
+f 49 10 2
+f 50 2 29
+f 50 29 27
+f 50 27 44
+f 50 44 16
+f 50 49 2
+f 50 31 49
+f 51 18 10
+f 51 10 31
+f 51 50 16
+f 51 31 50
+f 52 6 17
+f 52 17 32
+f 52 32 26
+f 52 42 6
+f 52 26 42
+f 53 9 18
+f 54 25 9
+f 54 53 33
+f 54 9 53
+f 54 40 25
+f 55 54 33
+f 55 1 40
+f 55 40 54
+f 55 35 1
+f 55 30 35
+f 56 16 30
+f 56 55 33
+f 56 30 55
+f 56 51 16
+f 56 18 51
+f 56 53 18
+f 56 33 53
+f 57 19 11
+f 57 11 42
+f 57 4 19
+f 58 7 24
+f 58 57 34
+f 58 24 4
+f 58 4 57
+f 58 40 7
+f 58 34 40
+f 59 26 14
+f 59 14 34
+f 59 42 26
+f 59 57 42
+f 59 34 57
+f 60 20 1
+f 60 1 35
+f 60 35 12
+f 61 36 21
+f 61 12 36
+f 61 37 12
+f 61 21 37
+f 62 23 21
+f 62 21 36
+f 62 3 23
+f 62 45 3
+f 63 36 12
+f 63 12 22
+f 63 22 45
+f 63 62 36
+f 63 45 62
+f 64 37 20
+f 64 12 37
+f 64 60 12
+f 64 20 60
\ No newline at end of file
diff --git a/apple/apple_19/collision/model_normalized_collision_20.obj b/apple/apple_19/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e72d3ff66a03b74add9513937769992076dcbf1c
--- /dev/null
+++ b/apple/apple_19/collision/model_normalized_collision_20.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.01255594 0.23484849 0.17511375
+v 0.01253732 0.23469643 -0.47591587
+v 0.01347209 0.49226780 0.06742689
+v -0.07588872 0.47360591 0.10907927
+v -0.38499608 0.22894507 0.08158542
+v -0.11841987 0.42807528 -0.26942064
+v 0.01160912 0.46266468 0.16818296
+v 0.01290647 0.28466497 -0.45963603
+v -0.14840020 0.22732275 -0.46170352
+v -0.07293763 0.48887179 -0.09505247
+v -0.00100639 0.47432268 0.14040062
+v -0.35758007 0.23011910 0.17122929
+v -0.00271971 0.23061976 -0.47758495
+v -0.36716708 0.22707737 0.15357946
+v -0.33875299 0.22826938 -0.28982893
+v -0.10353572 0.31087182 -0.43163334
+v -0.07277785 0.49022431 0.02169424
+v 0.01153572 0.45887615 -0.24197083
+v 0.01093171 0.47448735 0.14000243
+v -0.01628429 0.49004706 0.06677236
+v -0.08555630 0.45700674 0.15082786
+v -0.04643745 0.24482316 -0.47352670
+v -0.00297937 0.24423065 -0.47331694
+v -0.27474183 0.37089159 -0.12562072
+v -0.36808751 0.22780733 -0.21440674
+v -0.20118647 0.32360912 -0.35868990
+v 0.01197648 0.49142883 -0.12552661
+v -0.06167567 0.47372646 -0.18359805
+v -0.03194136 0.41352549 -0.32984373
+v -0.06175103 0.49019323 0.03648835
+v -0.04553782 0.47324039 0.12412534
+v -0.04530925 0.45769332 0.16661213
+v -0.21852925 0.41409551 0.06652497
+v -0.04679442 0.23081758 -0.47751694
+v -0.04768086 0.28408849 -0.45874027
+v -0.14355542 0.45919967 -0.14011311
+v -0.38425897 0.22863873 -0.14149080
+v -0.31697195 0.29703546 -0.22562543
+v -0.29346735 0.22546543 -0.36197288
+v -0.10387019 0.38522116 -0.35500316
+v -0.20546607 0.23965189 -0.43065521
+v -0.04656377 0.44430089 -0.27012387
+v -0.00114209 0.47461459 -0.19898348
+v -0.01670831 0.48989591 -0.12528987
+v 0.01162540 0.41416398 -0.32988539
+v -0.21749710 0.38206082 0.16566042
+v -0.10139567 0.44360905 0.16676987
+v -0.14767382 0.45905315 0.06644926
+v -0.33595345 0.31040860 0.05205549
+v -0.10470737 0.26900651 -0.45689011
+v -0.18947035 0.41284498 -0.21150584
+v -0.13240695 0.45794559 -0.16822908
+v -0.20333611 0.42833142 -0.11024498
+v -0.15785834 0.45954205 0.02100797
+v -0.36202791 0.23983369 -0.21347636
+v -0.33331117 0.31284963 -0.11022125
+v -0.32355748 0.22565436 -0.31673010
+v -0.28967457 0.29419505 -0.28626669
+v -0.16006052 0.35676441 -0.35559823
+v -0.24588051 0.23758953 -0.39920596
+v -0.20957885 0.22853828 -0.43431188
+v -0.07282137 0.45734971 -0.22678463
+v -0.08726019 0.39654451 -0.34407731
+v 0.01105652 0.47461960 -0.19913231
+f 7 1 3
+f 8 1 2
+f 8 3 1
+f 12 1 7
+f 13 2 1
+f 13 1 9
+f 14 9 1
+f 14 1 12
+f 19 11 7
+f 19 7 3
+f 19 3 11
+f 20 11 3
+f 20 4 11
+f 23 8 2
+f 23 2 13
+f 23 22 8
+f 23 13 22
+f 27 17 3
+f 27 10 17
+f 27 3 8
+f 30 17 4
+f 30 4 20
+f 30 20 3
+f 30 3 17
+f 31 11 4
+f 31 4 21
+f 32 7 11
+f 32 31 21
+f 32 11 31
+f 34 22 13
+f 34 13 9
+f 35 16 8
+f 35 8 22
+f 37 25 14
+f 37 14 5
+f 39 9 14
+f 40 29 16
+f 43 18 42
+f 44 28 10
+f 44 10 27
+f 44 43 28
+f 44 27 43
+f 45 8 16
+f 45 16 29
+f 45 27 8
+f 45 18 27
+f 45 42 18
+f 45 29 42
+f 47 12 7
+f 47 7 32
+f 47 46 12
+f 47 32 21
+f 48 21 4
+f 48 4 17
+f 48 47 21
+f 48 33 46
+f 48 46 47
+f 49 33 24
+f 49 5 14
+f 49 46 33
+f 49 14 12
+f 49 12 46
+f 49 37 5
+f 50 35 22
+f 50 16 35
+f 50 41 16
+f 50 9 41
+f 50 34 9
+f 50 22 34
+f 51 38 24
+f 52 51 36
+f 52 6 51
+f 52 36 10
+f 52 10 28
+f 53 24 33
+f 53 51 24
+f 53 36 51
+f 54 17 10
+f 54 10 36
+f 54 48 17
+f 54 36 53
+f 54 53 33
+f 54 33 48
+f 55 38 15
+f 55 15 25
+f 55 25 37
+f 56 24 38
+f 56 49 24
+f 56 37 49
+f 56 55 37
+f 56 38 55
+f 57 25 15
+f 57 39 14
+f 57 14 25
+f 58 26 39
+f 58 51 26
+f 58 38 51
+f 58 39 57
+f 58 57 15
+f 58 15 38
+f 59 6 40
+f 59 51 6
+f 59 26 51
+f 59 40 16
+f 59 41 26
+f 59 16 41
+f 60 39 26
+f 60 26 41
+f 61 41 9
+f 61 9 39
+f 61 60 41
+f 61 39 60
+f 62 42 6
+f 62 43 42
+f 62 28 43
+f 62 52 28
+f 62 6 52
+f 63 40 6
+f 63 6 42
+f 63 42 29
+f 63 29 40
+f 64 43 27
+f 64 27 18
+f 64 18 43
\ No newline at end of file
diff --git a/apple/apple_19/collision/model_normalized_collision_21.obj b/apple/apple_19/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa3c6ddb9ef6fca7a751b12e34df93888396bf8c
--- /dev/null
+++ b/apple/apple_19/collision/model_normalized_collision_21.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.23248174 0.22883874 0.31371025
+v 0.23982867 0.23484849 0.17511375
+v 0.20204201 0.40603553 0.16889624
+v -0.08796169 0.44798825 0.16874368
+v -0.35758007 0.23011910 0.17122929
+v 0.05509743 0.38712360 0.27927097
+v 0.23563950 0.38050012 0.17171267
+v -0.35338588 0.22707634 0.18427565
+v -0.35215206 0.24038357 0.16822382
+v 0.09980230 0.45056916 0.16933893
+v 0.16771113 0.33953026 0.28026780
+v -0.12062769 0.23488323 0.33997069
+v -0.16006190 0.41712714 0.16816421
+v -0.03014520 0.42894228 0.22415179
+v 0.10088891 0.28897965 0.33755912
+v 0.22677615 0.32527075 0.24982858
+v 0.12639371 0.41474842 0.22087221
+v 0.10148994 0.22988423 0.35723045
+v -0.25920212 0.31025946 0.22312991
+v -0.04543569 0.44462979 0.19606518
+v 0.06871019 0.42982389 0.22190173
+v -0.08631287 0.39982447 0.25071276
+v 0.11198880 0.31289042 0.32322056
+v -0.04365740 0.33264782 0.32301203
+v 0.22973857 0.27019761 0.29378298
+v 0.18368521 0.38616600 0.22080919
+v 0.11108301 0.36892538 0.28115776
+v 0.12785024 0.42830523 0.19608650
+v -0.20845919 0.23054274 0.31185004
+v 0.20404983 0.22997278 0.32935213
+v -0.26370125 0.34193297 0.16848743
+v -0.30389992 0.29446149 0.18138252
+v 0.02610754 0.39950205 0.26823259
+v 0.08245411 0.44247363 0.19533954
+v 0.08340656 0.41403446 0.23665117
+v -0.14627254 0.41230502 0.19565281
+v -0.08598292 0.42818677 0.20824364
+v 0.01216430 0.25926728 0.35385007
+v 0.06871445 0.32787990 0.32366885
+v 0.19942465 0.29899630 0.29262786
+v 0.22774653 0.35538359 0.21996731
+v 0.22884004 0.37098299 0.19649538
+v 0.14038084 0.36908452 0.26638955
+v 0.12588948 0.32845712 0.30742450
+v 0.19864745 0.40121327 0.18122751
+v -0.33780279 0.22772564 0.20899415
+v -0.10492978 0.27139984 0.33911593
+v 0.15840978 0.24440222 0.33927074
+v 0.22987853 0.24186084 0.30913284
+v -0.30753779 0.29794139 0.16814564
+v -0.34780587 0.23741516 0.18124854
+v -0.26061906 0.33818615 0.18188156
+v -0.02960146 0.39961761 0.26658186
+v -0.04402225 0.38446765 0.28091670
+v -0.17395692 0.35434936 0.25160171
+v -0.08598788 0.44295562 0.18162687
+v -0.10091850 0.41249603 0.22304134
+v 0.04246405 0.30467263 0.33854613
+v -0.03045072 0.23542279 0.35525321
+v 0.20034446 0.24248985 0.32563647
+v 0.17057281 0.29824082 0.30764473
+v 0.21212285 0.38368069 0.19498649
+v -0.23367403 0.25855216 0.29250670
+v -0.29012193 0.26539787 0.23876311
+f 7 1 2
+f 7 2 3
+f 8 5 2
+f 8 2 1
+f 9 3 2
+f 9 2 5
+f 9 5 8
+f 10 3 4
+f 13 4 3
+f 18 8 1
+f 20 10 4
+f 21 20 14
+f 22 14 20
+f 25 1 7
+f 27 17 6
+f 28 3 10
+f 28 17 26
+f 29 18 12
+f 30 18 1
+f 33 21 14
+f 33 6 21
+f 34 10 20
+f 34 20 21
+f 34 28 10
+f 34 21 17
+f 34 17 28
+f 35 21 6
+f 35 6 17
+f 35 17 21
+f 36 4 13
+f 37 22 20
+f 39 6 24
+f 39 27 6
+f 39 23 27
+f 39 15 23
+f 40 25 16
+f 40 16 11
+f 41 25 7
+f 41 16 25
+f 41 26 11
+f 41 11 16
+f 42 7 3
+f 42 41 7
+f 42 26 41
+f 43 26 17
+f 43 17 27
+f 43 27 11
+f 43 11 26
+f 44 27 23
+f 44 11 27
+f 45 28 26
+f 45 3 28
+f 46 8 18
+f 46 18 29
+f 47 29 12
+f 47 38 24
+f 48 15 18
+f 48 18 30
+f 48 23 15
+f 49 30 1
+f 49 1 25
+f 50 31 13
+f 50 9 32
+f 50 13 3
+f 50 3 9
+f 51 32 9
+f 51 9 8
+f 51 46 32
+f 51 8 46
+f 52 32 19
+f 52 50 32
+f 52 31 50
+f 52 36 13
+f 52 13 31
+f 53 33 14
+f 53 14 22
+f 54 24 6
+f 54 6 33
+f 54 33 53
+f 54 53 22
+f 55 22 36
+f 55 54 22
+f 55 24 54
+f 55 52 19
+f 55 36 52
+f 56 37 20
+f 56 20 4
+f 56 4 36
+f 56 36 37
+f 57 37 36
+f 57 36 22
+f 57 22 37
+f 58 38 18
+f 58 18 15
+f 58 15 39
+f 58 39 24
+f 58 24 38
+f 59 12 18
+f 59 18 38
+f 59 47 12
+f 59 38 47
+f 60 25 40
+f 60 49 25
+f 60 30 49
+f 60 48 30
+f 60 23 48
+f 61 40 11
+f 61 11 44
+f 61 44 23
+f 61 60 40
+f 61 23 60
+f 62 45 26
+f 62 26 42
+f 62 42 3
+f 62 3 45
+f 63 46 29
+f 63 55 19
+f 63 29 47
+f 63 47 24
+f 63 24 55
+f 64 19 32
+f 64 32 46
+f 64 63 19
+f 64 46 63
\ No newline at end of file
diff --git a/apple/apple_19/collision/model_normalized_collision_22.obj b/apple/apple_19/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc4f1ee4158877e12ab7c840c61a248aa743e3d6
--- /dev/null
+++ b/apple/apple_19/collision/model_normalized_collision_22.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.12885102 -0.44950018 -0.23034917
+v 0.36942246 -0.24690344 -0.23156638
+v 0.34605304 -0.28524327 -0.22824216
+v -0.35902274 -0.24549068 -0.23104948
+v -0.13508931 -0.24567290 -0.46119569
+v 0.36461583 -0.25726437 -0.22954748
+v -0.23548183 -0.38602680 -0.22733937
+v 0.33304687 -0.24108532 -0.31793264
+v -0.35270608 -0.25670851 -0.22932570
+v 0.22896814 -0.40095991 -0.22825100
+v -0.05862522 -0.41404207 -0.32872623
+v -0.33794490 -0.24171508 -0.28688088
+v 0.35741644 -0.25235936 -0.25709569
+v -0.33523839 -0.28501379 -0.22874178
+v -0.01665838 -0.46401104 -0.22895172
+v 0.28423730 -0.30956818 -0.31494926
+v -0.20146079 -0.34129579 -0.35447341
+v 0.17390821 -0.24320313 -0.44784251
+v 0.36134547 -0.24320898 -0.25899314
+v -0.33245789 -0.25340579 -0.28366343
+v 0.05612576 -0.46305063 -0.22940645
+v -0.14842007 -0.43019178 -0.24192521
+v 0.31487868 -0.31331828 -0.25767691
+v 0.15627553 -0.38245267 -0.34135184
+v -0.11793978 -0.32740078 -0.41274175
+v -0.22329339 -0.24425943 -0.42009312
+v -0.24592065 -0.36860108 -0.25564019
+v 0.28900847 -0.24140104 -0.37510273
+v -0.35506873 -0.24301746 -0.24459525
+v 0.17336500 -0.43217726 -0.22953451
+v 0.01436893 -0.44381886 -0.28661066
+v -0.14950494 -0.43384180 -0.22983584
+v -0.08803122 -0.44444795 -0.25604760
+v -0.14509217 -0.39824799 -0.31320286
+v 0.25831737 -0.36938018 -0.25576270
+v 0.29734467 -0.28270344 -0.33005467
+v 0.31201152 -0.29751616 -0.28433489
+v 0.08457897 -0.30075353 -0.44353332
+v -0.17467273 -0.29988677 -0.41318624
+v -0.28663497 -0.26787818 -0.34341896
+v -0.17376813 -0.41242607 -0.25507251
+v 0.25975961 -0.24192439 -0.40203243
+v 0.18229923 -0.39835653 -0.30008099
+v 0.10066192 -0.42737695 -0.30119565
+v -0.10433150 -0.44928479 -0.22960088
+v -0.06131397 -0.44306499 -0.27113075
+v -0.14728092 -0.41168170 -0.28593778
+v -0.07278482 -0.42894683 -0.29937240
+v -0.10405347 -0.38417575 -0.35580309
+v -0.20381203 -0.38165101 -0.28515141
+v 0.29833239 -0.26852481 -0.34112671
+v -0.08838983 -0.29756213 -0.44322457
+v 0.13005754 -0.24493561 -0.46093353
+v 0.18485431 -0.29557419 -0.41292216
+v -0.14581329 -0.36963680 -0.35543514
+v -0.23082995 -0.26552071 -0.40044742
+v -0.13579130 -0.25845063 -0.45738086
+v -0.30954787 -0.24265305 -0.33307785
+v -0.21401337 -0.33972763 -0.34287959
+v -0.30568312 -0.28060704 -0.29917617
+v 0.21342502 -0.32430080 -0.37143750
+v 0.19649248 -0.41298923 -0.25423555
+v 0.24127898 -0.34074328 -0.32777893
+v 0.11515848 -0.44472572 -0.25663053
+f 6 2 4
+f 9 6 4
+f 9 3 6
+f 10 3 7
+f 13 6 3
+f 13 2 6
+f 14 7 3
+f 14 3 9
+f 14 9 4
+f 15 10 7
+f 19 13 8
+f 19 2 13
+f 21 10 15
+f 23 3 10
+f 23 13 3
+f 26 18 5
+f 26 12 18
+f 27 7 14
+f 28 12 8
+f 29 4 2
+f 29 2 19
+f 29 12 20
+f 29 20 14
+f 29 14 4
+f 29 19 8
+f 29 8 12
+f 30 21 1
+f 30 10 21
+f 31 21 15
+f 35 23 10
+f 35 16 23
+f 36 23 16
+f 37 8 13
+f 37 13 23
+f 37 36 8
+f 37 23 36
+f 41 7 27
+f 41 32 7
+f 41 22 32
+f 42 18 12
+f 42 12 28
+f 44 24 43
+f 44 38 24
+f 44 31 11
+f 44 11 38
+f 45 15 7
+f 45 7 32
+f 45 33 15
+f 45 32 22
+f 45 22 33
+f 46 31 15
+f 46 15 33
+f 47 33 22
+f 47 22 41
+f 48 47 34
+f 48 33 47
+f 48 46 33
+f 48 11 31
+f 48 31 46
+f 49 25 11
+f 49 48 34
+f 49 11 48
+f 50 17 34
+f 50 41 27
+f 50 47 41
+f 50 34 47
+f 51 36 28
+f 51 28 8
+f 51 8 36
+f 52 38 11
+f 52 11 25
+f 53 5 18
+f 53 18 38
+f 54 38 18
+f 54 24 38
+f 54 18 42
+f 55 39 25
+f 55 17 39
+f 55 25 49
+f 55 49 34
+f 55 34 17
+f 56 39 17
+f 56 26 39
+f 56 40 26
+f 56 17 40
+f 57 39 26
+f 57 26 5
+f 57 38 52
+f 57 53 38
+f 57 5 53
+f 57 52 25
+f 57 25 39
+f 58 20 12
+f 58 12 26
+f 58 26 40
+f 59 40 17
+f 59 50 27
+f 59 17 50
+f 60 27 14
+f 60 14 20
+f 60 58 40
+f 60 20 58
+f 60 59 27
+f 60 40 59
+f 61 54 42
+f 61 24 54
+f 61 43 24
+f 61 42 28
+f 61 28 36
+f 62 10 30
+f 62 43 35
+f 62 35 10
+f 63 16 35
+f 63 35 43
+f 63 43 61
+f 63 61 36
+f 63 36 16
+f 64 1 21
+f 64 21 31
+f 64 31 44
+f 64 44 43
+f 64 43 62
+f 64 62 30
+f 64 30 1
\ No newline at end of file
diff --git a/apple/apple_19/collision/model_normalized_collision_23.obj b/apple/apple_19/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5ad0840de044eadf7f8ee29d9c6a8b51d68677d
--- /dev/null
+++ b/apple/apple_19/collision/model_normalized_collision_23.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.01255594 -0.00757576 -0.26428020
+v 0.02298665 -0.00917011 -0.41267579
+v 0.01255594 0.09848485 -0.26428020
+v -0.09350467 0.09848485 -0.26428020
+v -0.09884115 -0.00532069 -0.43827878
+v -0.09350467 -0.00757576 -0.26428020
+v -0.01858108 0.10573230 -0.44892421
+v -0.03208565 -0.00852111 -0.43007705
+v 0.01232709 0.09996707 -0.44331429
+v -0.09549683 0.10069910 -0.47131820
+v -0.09871365 0.07205789 -0.46378319
+v -0.06865854 0.10455011 -0.46247753
+f 1 2 3
+f 1 3 4
+f 6 2 1
+f 6 1 4
+f 6 4 5
+f 7 4 3
+f 8 6 5
+f 8 2 6
+f 9 7 3
+f 9 3 2
+f 9 2 8
+f 10 9 8
+f 10 7 9
+f 11 5 4
+f 11 4 10
+f 11 10 8
+f 11 8 5
+f 12 10 4
+f 12 4 7
+f 12 7 10
\ No newline at end of file
diff --git a/apple/apple_19/collision/model_normalized_collision_24.obj b/apple/apple_19/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..534f990a1b15cf3ee785a1d1d4f85de72de67fbc
--- /dev/null
+++ b/apple/apple_19/collision/model_normalized_collision_24.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.33592892 -0.00757576 0.15996223
+v -0.33592892 -0.00757576 0.06905314
+v -0.33592892 0.15909091 0.06905314
+v -0.37916060 0.18112552 0.18019429
+v -0.45582246 -0.00765906 0.06875205
+v -0.44271912 -0.00848687 0.12636608
+v -0.44448552 0.09519965 0.06629219
+v -0.43145782 -0.00807336 0.15527874
+v -0.41295414 0.17345131 0.07659019
+v -0.43912935 0.05190548 0.12556103
+v -0.42449247 0.12234038 0.12564126
+v -0.42243965 0.09382771 0.15145029
+v -0.40955437 0.15214909 0.13755158
+v -0.43846214 0.07902268 0.11005255
+v -0.40930309 0.13690066 0.15247487
+v -0.43855630 0.09366050 0.09530169
+v -0.40090244 0.15476206 0.15535747
+f 1 2 3
+f 1 3 4
+f 6 5 2
+f 6 2 1
+f 7 3 2
+f 7 2 5
+f 8 6 1
+f 8 1 4
+f 9 4 3
+f 9 3 7
+f 10 7 5
+f 10 5 6
+f 10 6 8
+f 11 9 7
+f 12 10 8
+f 12 8 4
+f 13 4 9
+f 13 9 11
+f 14 7 10
+f 14 12 11
+f 14 10 12
+f 15 12 4
+f 15 13 11
+f 15 11 12
+f 16 14 11
+f 16 11 7
+f 16 7 14
+f 17 15 4
+f 17 4 13
+f 17 13 15
\ No newline at end of file
diff --git a/apple/apple_19/collision/model_normalized_collision_25.obj b/apple/apple_19/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de11f5062c6f2df45fcfe704dcb6b33582958578
--- /dev/null
+++ b/apple/apple_19/collision/model_normalized_collision_25.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.23982867 -0.25000000 -0.23397717
+v 0.26524116 -0.26912447 -0.37829619
+v 0.23982867 -0.00757576 -0.35518929
+v -0.42798603 -0.00538136 -0.24339485
+v -0.35902274 -0.24549068 -0.23104948
+v -0.38318598 -0.00794390 -0.34814873
+v 0.23982867 -0.00757576 -0.23397717
+v -0.40810324 -0.10739103 -0.27330328
+v -0.30436587 -0.23926272 -0.34501763
+v -0.38160954 -0.21038911 -0.22926993
+v -0.40807194 -0.03443032 -0.29973433
+v -0.33400122 -0.19377315 -0.34517446
+v -0.42505962 -0.08306782 -0.23339948
+v -0.40801305 -0.00890209 -0.30064909
+v -0.37887866 -0.10660848 -0.33002672
+v -0.39300418 -0.13650326 -0.28412729
+v -0.33284373 -0.23849763 -0.29904119
+v -0.41149079 -0.13860631 -0.22981508
+v -0.40828110 -0.08031369 -0.28540566
+v -0.41783700 -0.00812545 -0.27662447
+v -0.37815733 -0.06480472 -0.34539586
+v -0.39244789 -0.18173922 -0.24129437
+v -0.34681414 -0.16639719 -0.34402271
+v -0.34716053 -0.23804383 -0.27164120
+v -0.36411645 -0.12181161 -0.34525957
+v -0.39579830 -0.18387275 -0.22967574
+v -0.37807907 -0.20815289 -0.24163366
+f 5 2 1
+f 6 3 2
+f 6 4 3
+f 7 3 4
+f 7 1 2
+f 7 2 3
+f 9 2 5
+f 10 5 1
+f 10 1 7
+f 12 6 2
+f 12 2 9
+f 13 7 4
+f 14 4 6
+f 14 6 11
+f 16 8 15
+f 17 12 9
+f 17 9 5
+f 18 10 7
+f 18 7 13
+f 18 13 8
+f 19 13 11
+f 19 8 13
+f 19 15 8
+f 20 13 4
+f 20 11 13
+f 20 14 11
+f 20 4 14
+f 21 11 6
+f 21 19 11
+f 21 15 19
+f 22 16 12
+f 22 8 16
+f 23 12 16
+f 24 17 5
+f 24 22 12
+f 24 12 17
+f 25 21 6
+f 25 6 12
+f 25 12 23
+f 25 15 21
+f 25 23 16
+f 25 16 15
+f 26 10 18
+f 26 18 8
+f 26 8 22
+f 27 24 5
+f 27 5 10
+f 27 22 24
+f 27 26 22
+f 27 10 26
\ No newline at end of file
diff --git a/apple/apple_19/collision/model_normalized_collision_26.obj b/apple/apple_19/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf221320fc605c0c54e5cee64d568a554cd054d2
--- /dev/null
+++ b/apple/apple_19/collision/model_normalized_collision_26.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v 0.26526681 -0.27527603 0.27605232
+v 0.42223643 -0.05042252 0.13975704
+v 0.36663485 -0.00663457 0.26010829
+v 0.25498018 -0.00757576 0.26602284
+v 0.25498018 -0.26515152 0.14481072
+v 0.25498018 -0.00757576 0.14481072
+v 0.34412045 -0.23908922 0.21027964
+v 0.42666915 -0.00659745 0.14130461
+v 0.37763954 -0.00622621 0.24239055
+v 0.37602704 -0.22899328 0.13895531
+v 0.32908281 -0.19761337 0.25323372
+v 0.42201519 -0.00648782 0.15455224
+v 0.40267338 -0.04883642 0.19356622
+v 0.40705281 -0.12546376 0.13913004
+v 0.36384986 -0.25743626 0.13939962
+v 0.34193240 -0.15419980 0.25348135
+v 0.29956229 -0.25534177 0.25305968
+v 0.41767397 -0.04960547 0.15332516
+v 0.40580784 -0.00633558 0.19586011
+v 0.37154455 -0.19697671 0.18269626
+v 0.34187834 -0.25237839 0.19632901
+v 0.35796259 -0.07960371 0.25492628
+v 0.35865310 -0.19897784 0.20882834
+v 0.32852873 -0.22768786 0.23766057
+v 0.38692155 -0.13948102 0.18264624
+v 0.37154486 -0.22727986 0.15239335
+v 0.39216685 -0.18578894 0.13946648
+v 0.31328758 -0.25446865 0.23675437
+v 0.35765808 -0.16949828 0.22355516
+v 0.37369962 -0.04913024 0.23985101
+v 0.38746697 -0.18460646 0.15286503
+f 1 3 4
+f 5 1 4
+f 6 5 4
+f 8 2 6
+f 9 6 4
+f 9 4 3
+f 12 8 6
+f 13 9 3
+f 14 10 6
+f 14 6 2
+f 15 5 6
+f 15 6 10
+f 15 1 5
+f 16 3 1
+f 16 1 11
+f 17 11 1
+f 18 2 8
+f 18 8 12
+f 18 12 13
+f 18 14 2
+f 18 13 14
+f 19 13 12
+f 19 9 13
+f 19 12 6
+f 19 6 9
+f 21 15 7
+f 21 1 15
+f 22 3 16
+f 23 11 7
+f 23 7 20
+f 24 17 7
+f 24 7 11
+f 24 11 17
+f 25 14 13
+f 25 23 20
+f 25 13 23
+f 26 20 7
+f 26 10 20
+f 26 15 10
+f 26 7 15
+f 27 20 10
+f 27 10 14
+f 28 17 1
+f 28 1 21
+f 28 21 7
+f 28 7 17
+f 29 22 16
+f 29 13 22
+f 29 23 13
+f 29 16 11
+f 29 11 23
+f 30 22 13
+f 30 13 3
+f 30 3 22
+f 31 25 20
+f 31 20 27
+f 31 27 14
+f 31 14 25
\ No newline at end of file
diff --git a/apple/apple_19/collision/model_normalized_collision_27.obj b/apple/apple_19/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e4021c33d56f6b735cda4fa9ce5bd73a9a8cc44
--- /dev/null
+++ b/apple/apple_19/collision/model_normalized_collision_27.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v 0.36648992 0.24476096 -0.25810376
+v 0.33229192 0.22675661 -0.33051208
+v 0.26827376 0.31092689 -0.32718131
+v 0.20663944 0.41023248 -0.24610131
+v 0.20952564 0.23484849 -0.24912868
+v 0.26015369 0.37370531 -0.24216365
+v 0.32885450 0.26588711 -0.29736888
+v 0.20492451 0.22981720 -0.43556640
+v 0.21314694 0.38689144 -0.28412829
+v 0.33303428 0.29961234 -0.24240574
+v 0.21679298 0.40580038 -0.24367701
+v 0.32740459 0.23899964 -0.32708824
+v 0.21683144 0.22750292 -0.43074954
+v 0.20133492 0.35972644 -0.33135533
+v 0.25655488 0.35399272 -0.28227256
+v 0.32908196 0.29623228 -0.25549026
+v 0.21369120 0.40152538 -0.25668374
+v 0.28519147 0.26711869 -0.35533404
+v 0.20269621 0.24253208 -0.43046579
+v 0.20439153 0.40522124 -0.25889496
+v 0.24397941 0.31032323 -0.35647967
+v 0.22659838 0.38473092 -0.27019647
+v 0.31392852 0.29638101 -0.28238109
+v 0.28887436 0.24007570 -0.37166737
+v 0.21434439 0.24032594 -0.42588405
+v 0.20470440 0.39024104 -0.28731113
+v 0.20321514 0.27113305 -0.41620193
+v 0.25673829 0.36937246 -0.25493109
+v 0.29177301 0.22899744 -0.37575734
+v 0.22635558 0.25235042 -0.41310170
+v 0.25581849 0.28316698 -0.36837526
+v 0.24224866 0.29802881 -0.36833538
+v 0.21141071 0.26769827 -0.41337539
+f 5 2 1
+f 10 6 5
+f 10 5 1
+f 11 4 5
+f 11 5 6
+f 12 7 1
+f 12 1 2
+f 13 2 5
+f 13 5 8
+f 16 10 1
+f 16 1 7
+f 16 6 10
+f 17 4 11
+f 17 11 6
+f 18 7 12
+f 19 8 5
+f 19 5 14
+f 20 14 5
+f 20 5 4
+f 20 4 17
+f 21 14 9
+f 21 3 18
+f 21 15 3
+f 21 9 15
+f 22 15 9
+f 22 17 6
+f 22 9 17
+f 23 16 7
+f 23 3 15
+f 23 15 6
+f 23 6 16
+f 23 18 3
+f 23 7 18
+f 24 18 12
+f 24 12 2
+f 25 13 8
+f 25 8 19
+f 26 9 14
+f 26 14 20
+f 26 20 17
+f 26 17 9
+f 27 19 14
+f 27 14 21
+f 27 25 19
+f 28 22 6
+f 28 6 15
+f 28 15 22
+f 29 24 2
+f 29 2 13
+f 30 25 27
+f 30 24 29
+f 30 29 13
+f 30 13 25
+f 31 18 24
+f 31 24 30
+f 32 21 18
+f 32 18 31
+f 32 27 21
+f 32 31 30
+f 33 32 30
+f 33 30 27
+f 33 27 32
\ No newline at end of file
diff --git a/apple/apple_19/collision/model_normalized_collision_28.obj b/apple/apple_19/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..771efbbaf8c234f1cc45173486dc5ee61b8cc1cf
--- /dev/null
+++ b/apple/apple_19/collision/model_normalized_collision_28.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.09350467 -0.00757576 -0.26428020
+v -0.07838148 0.00743485 -0.42044732
+v -0.09350467 0.09848485 -0.26428020
+v -0.40528108 0.09662831 -0.26224344
+v -0.41392038 -0.00848588 -0.28834868
+v -0.09350467 0.09848485 -0.37034080
+v -0.41127230 0.07896157 -0.25917997
+v -0.37323582 -0.00780934 -0.36407721
+v -0.42212897 -0.00786334 -0.26281154
+v -0.35668908 0.09550828 -0.36286702
+v -0.40719931 0.06269844 -0.28498031
+v -0.40708722 0.07778616 -0.27296020
+v -0.39150244 0.09284921 -0.29986516
+v -0.37766459 0.06219561 -0.34524416
+v -0.36571356 0.07844415 -0.35814026
+v -0.38318598 -0.00794390 -0.34814873
+v -0.37648367 0.09212402 -0.32947027
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 8 2 1
+f 8 1 5
+f 9 5 1
+f 9 1 7
+f 10 6 2
+f 10 2 8
+f 10 4 6
+f 11 9 7
+f 11 5 9
+f 12 11 7
+f 12 7 4
+f 12 4 11
+f 13 11 4
+f 13 4 10
+f 14 5 11
+f 14 11 13
+f 15 10 8
+f 15 8 14
+f 16 14 8
+f 16 8 5
+f 16 5 14
+f 17 15 14
+f 17 14 13
+f 17 13 10
+f 17 10 15
\ No newline at end of file
diff --git a/apple/apple_19/collision/model_normalized_collision_29.obj b/apple/apple_19/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dbc5262869839daf5140ce7e33f023e184997c78
--- /dev/null
+++ b/apple/apple_19/collision/model_normalized_collision_29.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.25498018 -0.00757576 -0.24912868
+v 0.24925800 -0.00706829 -0.46316204
+v 0.25498018 0.23484849 -0.24912868
+v 0.14891957 0.23484849 -0.24912868
+v 0.14891957 -0.00757576 -0.24912868
+v 0.14749365 0.23275805 -0.45735484
+v 0.24701847 0.22739433 -0.41537111
+v 0.14624315 0.21615109 -0.46180218
+v 0.15105938 -0.00522456 -0.46156500
+v 0.22957588 0.14015828 -0.45853433
+v 0.24511361 0.09484617 -0.45920737
+v 0.17296567 0.21412881 -0.45658835
+v 0.24507275 0.16733265 -0.44176977
+v 0.18714628 0.22694490 -0.44470534
+v 0.18797607 0.19885171 -0.45614149
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 6 4 3
+f 7 6 3
+f 7 3 2
+f 8 5 4
+f 8 4 6
+f 9 8 2
+f 9 2 5
+f 9 5 8
+f 10 2 8
+f 11 2 10
+f 12 10 8
+f 12 8 6
+f 13 11 10
+f 13 7 2
+f 13 2 11
+f 14 12 6
+f 14 6 7
+f 14 7 13
+f 15 13 10
+f 15 10 12
+f 15 14 13
+f 15 12 14
\ No newline at end of file
diff --git a/apple/apple_19/collision/model_normalized_collision_3.obj b/apple/apple_19/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c74da403aee9f948eb1a07a4a93170ec97d9420f
--- /dev/null
+++ b/apple/apple_19/collision/model_normalized_collision_3.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.26524116 -0.26912447 -0.37829619
+v 0.22651848 -0.23991091 -0.42821420
+v 0.23751738 -0.00752452 -0.46569422
+v -0.03689487 0.03896380 -0.40802783
+v -0.22952008 -0.28076690 -0.38688661
+v 0.23982867 -0.00757576 -0.35518929
+v 0.23046046 -0.13976014 -0.45670270
+v 0.01277710 -0.24349767 -0.47380691
+v 0.01657022 0.04163065 -0.40548364
+v -0.19956528 -0.00757576 -0.35518929
+v 0.23163863 -0.19871600 -0.44237650
+v 0.14454661 -0.24385824 -0.45782845
+v 0.16195520 -0.15852371 -0.47518645
+v -0.22858002 -0.00635385 -0.47541092
+v 0.18614806 -0.21384188 -0.45744501
+v 0.07218376 -0.22925403 -0.47317592
+v -0.13459697 -0.19966784 -0.47441268
+v 0.16589177 -0.11620088 -0.47614427
+v -0.17443333 -0.00458061 -0.47549814
+v -0.25294507 -0.00992749 -0.46729231
+v 0.11691942 -0.20220085 -0.47365943
+v 0.20065896 -0.19823439 -0.45596877
+v -0.14839444 -0.24450551 -0.45769891
+v -0.02441846 0.03557638 -0.41527788
+v -0.22126838 -0.14032141 -0.45890924
+v -0.10578817 -0.22813110 -0.47297860
+v -0.01698120 -0.24338772 -0.47319690
+v -0.22845647 -0.02108071 -0.47415352
+v -0.19237978 -0.19980081 -0.45615829
+v -0.24446554 -0.15008043 -0.44548598
+v -0.20412639 -0.25501917 -0.42411153
+v -0.18915403 -0.23854318 -0.44226728
+f 6 1 3
+f 7 3 1
+f 8 1 5
+f 9 6 3
+f 10 5 1
+f 10 1 6
+f 10 9 4
+f 10 6 9
+f 11 7 1
+f 11 1 2
+f 12 2 1
+f 12 1 8
+f 13 3 7
+f 15 11 2
+f 15 2 12
+f 16 12 8
+f 16 8 13
+f 18 3 13
+f 18 17 14
+f 18 13 8
+f 18 8 17
+f 19 18 14
+f 19 3 18
+f 20 10 4
+f 20 4 14
+f 20 5 10
+f 21 15 12
+f 21 13 15
+f 21 16 13
+f 21 12 16
+f 22 15 13
+f 22 13 7
+f 22 7 11
+f 22 11 15
+f 24 19 14
+f 24 14 4
+f 24 4 9
+f 24 9 3
+f 24 3 19
+f 26 23 17
+f 26 17 8
+f 27 8 5
+f 27 5 23
+f 27 26 8
+f 27 23 26
+f 28 25 20
+f 28 20 14
+f 28 14 17
+f 28 17 25
+f 29 25 17
+f 29 17 23
+f 30 5 20
+f 30 20 25
+f 30 25 29
+f 31 23 5
+f 31 5 30
+f 32 29 23
+f 32 23 31
+f 32 31 30
+f 32 30 29
\ No newline at end of file
diff --git a/apple/apple_19/collision/model_normalized_collision_30.obj b/apple/apple_19/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8c06f6ad2b6ba27eddc859da1e3b4c91434c2bf
--- /dev/null
+++ b/apple/apple_19/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.25498018 -0.00757576 0.19026526
+v 0.25498018 -0.00757576 -0.24912868
+v 0.25498018 0.23484849 0.19026526
+v 0.01255594 0.23484849 0.19026526
+v -0.01220938 -0.00581289 0.22035646
+v 0.25498018 0.23484849 -0.24912868
+v 0.01255594 -0.00757576 -0.24912868
+v 0.01255594 0.23484849 -0.24912868
+f 1 2 3
+f 5 1 3
+f 5 3 4
+f 6 3 2
+f 6 4 3
+f 7 2 1
+f 7 1 5
+f 7 6 2
+f 8 7 5
+f 8 5 4
+f 8 4 6
+f 8 6 7
\ No newline at end of file
diff --git a/apple/apple_19/collision/model_normalized_collision_31.obj b/apple/apple_19/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a4f176dfe5e175d0ac0124214d2b5096dfd559c
--- /dev/null
+++ b/apple/apple_19/collision/model_normalized_collision_31.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.14891957 -0.00757576 -0.24912868
+v 0.14891957 -0.00757576 -0.35518929
+v 0.14891957 0.23484849 -0.24912868
+v 0.01255594 0.23484849 -0.24912868
+v 0.01255594 -0.00757576 -0.24912868
+v 0.01255594 0.23484849 -0.35518929
+v 0.14891957 0.23484849 -0.35518929
+v 0.04034365 -0.00514319 -0.40098420
+v 0.03769154 0.02037405 -0.39899530
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 6 4 3
+f 6 5 4
+f 7 6 3
+f 7 3 2
+f 8 2 5
+f 8 7 2
+f 9 8 5
+f 9 5 6
+f 9 6 7
+f 9 7 8
\ No newline at end of file
diff --git a/apple/apple_19/collision/model_normalized_collision_4.obj b/apple/apple_19/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b18e3157b5b3260f3e1f945e70ff46143415c649
--- /dev/null
+++ b/apple/apple_19/collision/model_normalized_collision_4.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.01229981 -0.00848648 0.31133540
+v 0.01255594 -0.00757576 -0.26428020
+v 0.01242542 0.23517771 0.35977365
+v -0.26998960 0.25703465 0.26233510
+v -0.45679790 -0.00898169 -0.11057621
+v 0.01255594 0.23484849 -0.26428020
+v -0.28254915 -0.00745367 0.31017357
+v 0.01412653 0.17953980 0.35562186
+v -0.35148774 0.22697956 -0.25859383
+v -0.20548855 0.19913815 0.32164523
+v -0.42584284 -0.00833866 0.16793325
+v -0.21270349 -0.00771711 0.32830436
+v 0.01255594 0.23484849 0.17511375
+v -0.42212897 -0.00786334 -0.26281154
+v -0.12062769 0.23488323 0.33997069
+v -0.32544877 0.12649216 0.27801303
+v -0.39328624 0.22539928 0.02251988
+v -0.22752424 -0.00774033 0.32609040
+v -0.01679131 0.19057711 0.35543847
+v -0.42776671 -0.00856811 -0.24486981
+v -0.03045072 0.23542279 0.35525321
+v -0.25154006 0.24381581 0.28624801
+v -0.27978490 0.09614328 0.30795029
+v -0.34014843 -0.00570773 0.28128726
+v -0.42297366 0.15117973 -0.11038728
+v -0.45578954 0.06711198 0.00757850
+v -0.39334435 0.22566209 -0.06664865
+v -0.39184818 0.18143059 0.15149133
+v -0.22747919 0.06733223 0.32447143
+v -0.17764411 0.22919350 0.32403682
+v -0.26522671 0.13980996 0.30728393
+v -0.29408556 0.19870636 0.27707002
+v -0.39508059 0.04890234 0.22190546
+v -0.33952829 0.06641381 0.27778460
+v -0.43913655 0.05161761 -0.18425973
+v -0.45662773 -0.00856539 0.06547622
+v -0.43877497 0.12316471 0.05346346
+v -0.37697766 0.22480181 -0.18372880
+v -0.36263315 0.22459898 0.16669537
+v -0.22066491 0.22945573 0.30654790
+v -0.29526693 0.13970247 0.29162887
+v -0.29111698 0.22445305 0.26423379
+v -0.39419316 -0.00552984 0.22294604
+v -0.37834574 0.15336363 0.20644708
+v -0.34967239 0.07949070 0.26749384
+v -0.44007400 -0.00874042 -0.19936015
+v -0.45591748 0.06670528 -0.03583452
+v -0.42390333 0.05176840 -0.24371296
+v -0.40813087 0.19650681 -0.05148203
+v -0.39236539 0.20896963 0.09542571
+v -0.45481507 0.02162313 0.06506231
+v -0.40885892 0.09420190 0.18243724
+v -0.39352611 0.21051064 -0.14073475
+v -0.37763969 0.22435757 0.12581537
+v -0.24992765 0.22956357 0.29183003
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+v -0.45512361 0.05148218 -0.06608069
+v -0.43910638 0.00634506 -0.19911557
+v -0.40764774 0.09292276 -0.25817818
+v -0.40818214 0.19595852 0.02254828
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+f 6 4 3
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+f 9 4 6
+f 12 1 8
+f 13 8 6
+f 13 6 3
+f 13 3 8
+f 14 9 6
+f 14 6 2
+f 18 7 11
+f 18 11 1
+f 18 1 12
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+f 21 3 4
+f 21 4 15
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+f 22 15 4
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+f 29 23 7
+f 29 7 18
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+f 31 23 10
+f 34 24 23
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+f 40 30 22
+f 40 10 30
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+f 41 23 31
+f 41 31 32
+f 42 32 22
+f 42 22 4
+f 43 33 11
+f 43 11 24
+f 43 24 33
+f 45 33 24
+f 45 24 34
+f 45 34 16
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+f 46 2 5
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+f 47 36 26
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+f 51 36 11
+f 52 28 37
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+f 53 25 49
+f 54 39 4
+f 54 4 17
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+f 54 50 28
+f 54 28 39
+f 55 40 22
+f 55 22 32
+f 55 32 31
+f 55 31 40
+f 56 41 32
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+f 57 42 4
+f 57 4 39
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+f 58 56 32
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+f 58 32 42
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+f 59 25 35
+f 60 47 37
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+f 61 35 5
+f 61 5 47
+f 61 59 35
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+f 62 46 35
+f 62 35 48
+f 62 48 20
+f 62 20 46
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+f 63 14 48
+f 63 38 9
+f 63 53 38
+f 63 25 53
+f 63 48 35
+f 63 35 25
+f 64 49 37
+f 64 17 49
+f 64 50 17
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\ No newline at end of file
diff --git a/apple/apple_19/collision/model_normalized_collision_5.obj b/apple/apple_19/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f18f91c2ceedaa1f69c8bc8604aa27ba5bcf6fcf
--- /dev/null
+++ b/apple/apple_19/collision/model_normalized_collision_5.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.01215429 -0.26125886 0.37627269
+v 0.01255594 -0.26515152 0.22056829
+v 0.01334021 -0.00737982 0.32639003
+v -0.21745402 0.03860492 0.32660850
+v -0.21471679 -0.26515152 0.22056829
+v -0.00001485 -0.00305932 0.23022139
+v 0.01396304 -0.15175720 0.38547556
+v -0.10819592 -0.27935737 0.35531433
+v -0.17036035 0.03817523 0.32195040
+v -0.21471679 -0.00757576 0.22056829
+v -0.18808155 0.03886892 0.32615375
+v 0.01439838 -0.08884582 0.35894334
+v -0.20351547 -0.25742982 0.32251690
+v -0.13494910 -0.18947513 0.36969215
+v -0.21215770 0.03719991 0.32763403
+v -0.20993213 -0.10287315 0.33752379
+v -0.13630787 -0.27560643 0.34925364
+v -0.03077085 -0.23047949 0.38641010
+v -0.09071440 -0.13271994 0.37000329
+v -0.18023522 -0.14780399 0.35500397
+v -0.20278628 -0.21343952 0.33862385
+v -0.08907546 -0.26033660 0.36910249
+v 0.01184050 -0.21898358 0.38629115
+v -0.03113844 -0.19037415 0.38511723
+v -0.00110253 -0.15223467 0.38444273
+v -0.14458593 -0.25791451 0.35481190
+v -0.17735244 -0.18799173 0.35389259
+v -0.10516568 -0.27313153 0.35981622
+v -0.13200225 -0.21763499 0.36830148
+v -0.00288954 -0.23132729 0.38639880
+v -0.18871116 -0.24175297 0.33724990
+v -0.13374428 -0.26958854 0.35375575
+f 6 3 2
+f 7 1 2
+f 8 5 2
+f 8 2 1
+f 9 3 6
+f 10 5 4
+f 10 9 6
+f 10 4 9
+f 10 6 2
+f 10 2 5
+f 11 7 3
+f 11 9 4
+f 11 3 9
+f 12 7 2
+f 12 2 3
+f 12 3 7
+f 15 11 4
+f 15 7 11
+f 16 4 5
+f 16 5 13
+f 17 13 5
+f 17 5 8
+f 19 15 4
+f 19 4 14
+f 20 14 4
+f 20 4 16
+f 21 20 16
+f 21 16 13
+f 22 1 18
+f 23 1 7
+f 23 7 18
+f 24 18 7
+f 24 14 18
+f 24 19 14
+f 25 7 15
+f 25 15 19
+f 25 24 7
+f 25 19 24
+f 26 13 17
+f 27 14 20
+f 27 20 21
+f 28 8 1
+f 28 1 22
+f 29 22 18
+f 29 18 14
+f 29 26 22
+f 29 14 27
+f 29 27 21
+f 29 21 26
+f 30 23 18
+f 30 18 1
+f 30 1 23
+f 31 26 21
+f 31 21 13
+f 31 13 26
+f 32 17 8
+f 32 8 28
+f 32 26 17
+f 32 28 22
+f 32 22 26
\ No newline at end of file
diff --git a/apple/apple_19/collision/model_normalized_collision_6.obj b/apple/apple_19/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98657b9a6ebc02934797d3cd4582ab72026309de
--- /dev/null
+++ b/apple/apple_19/collision/model_normalized_collision_6.obj
@@ -0,0 +1,159 @@
+# https://github.com/mikedh/trimesh
+v 0.31723676 -0.00782360 0.31209896
+v 0.41529551 -0.00710834 0.17278943
+v 0.34549366 0.22605021 0.22141198
+v 0.01242542 0.23517771 0.35977365
+v -0.01220938 -0.00581289 0.22035646
+v 0.21491675 0.22686454 0.32461799
+v 0.35785495 0.08175194 0.26941955
+v 0.10513849 -0.01668350 0.34390284
+v 0.01255594 0.23484849 0.19026526
+v 0.25498018 0.23484849 0.17511375
+v 0.25405120 -0.00783018 0.34909654
+v 0.36047372 -0.00614247 0.27014251
+v 0.40820058 0.12605814 0.16908879
+v 0.27621129 0.14100230 0.32231561
+v 0.25498018 -0.00757576 0.17511375
+v 0.01229981 -0.00848648 0.31133540
+v -0.00240681 0.09912979 0.31093922
+v 0.37670556 0.22902383 0.16734814
+v 0.15782597 0.20105709 0.35319279
+v 0.15438166 -0.01001101 0.35602913
+v 0.33239596 -0.00671559 0.29779377
+v 0.38871388 0.05208537 0.22488306
+v 0.37455794 0.15245479 0.22273127
+v 0.31648202 0.05158211 0.31020391
+v 0.31420038 0.18140328 0.28082599
+v 0.01412653 0.17953980 0.35562186
+v 0.28667553 0.22531856 0.28300744
+v 0.12931728 0.22836282 0.35189465
+v 0.21890081 0.18499103 0.33685283
+v 0.19251474 -0.00808499 0.35640070
+v 0.40580784 -0.00633558 0.19586011
+v 0.40222126 0.09454125 0.19671263
+v 0.37289689 0.18206469 0.20974961
+v 0.33160714 0.07953829 0.29461146
+v 0.34384174 0.13918711 0.26809067
+v -0.00033016 0.10622482 0.32017030
+v 0.24427204 0.22644868 0.30809323
+v 0.29989993 0.20883228 0.28114206
+v 0.24373938 0.19572782 0.32232271
+v 0.24638110 0.12600387 0.33848167
+v 0.17314715 0.17084883 0.35370601
+v 0.38837034 -0.00615659 0.22478387
+v 0.40273430 0.12494843 0.18179100
+v 0.37279127 0.11052521 0.23892392
+v 0.37112276 0.22680240 0.17953798
+v 0.39246682 0.18462841 0.16871440
+v 0.30142208 0.12415155 0.30852654
+v 0.32827836 0.18077926 0.26542517
+v 0.35780048 0.19727445 0.22148863
+v 0.34623590 0.09454044 0.27884078
+v 0.31332254 0.21108869 0.26556991
+v 0.25824706 0.21100049 0.30702044
+v 0.38724453 0.18285439 0.18148368
+v 0.35794640 0.16702910 0.23675305
+f 8 2 1
+f 10 9 4
+f 11 8 1
+f 12 1 2
+f 15 8 5
+f 15 2 8
+f 15 5 9
+f 15 13 2
+f 16 5 8
+f 17 9 5
+f 17 4 9
+f 17 5 16
+f 18 13 15
+f 18 15 9
+f 18 9 10
+f 18 10 4
+f 20 8 11
+f 21 12 7
+f 21 1 12
+f 22 7 12
+f 24 1 21
+f 24 14 11
+f 24 11 1
+f 26 16 8
+f 26 20 4
+f 26 8 20
+f 27 3 18
+f 28 19 6
+f 28 6 4
+f 28 4 19
+f 29 6 19
+f 30 4 20
+f 30 20 11
+f 31 12 2
+f 32 22 31
+f 32 31 2
+f 32 2 13
+f 32 7 22
+f 34 24 21
+f 34 21 7
+f 35 7 23
+f 36 17 16
+f 36 16 26
+f 36 26 4
+f 36 4 17
+f 37 27 18
+f 37 18 4
+f 37 4 6
+f 38 3 27
+f 38 14 25
+f 39 29 14
+f 39 6 29
+f 39 37 6
+f 39 14 38
+f 40 11 14
+f 40 14 29
+f 41 19 4
+f 41 4 30
+f 41 30 11
+f 41 11 40
+f 41 40 29
+f 41 29 19
+f 42 31 22
+f 42 22 12
+f 42 12 31
+f 43 32 13
+f 43 23 32
+f 44 32 23
+f 44 23 7
+f 44 7 32
+f 45 33 18
+f 45 18 3
+f 45 3 33
+f 46 13 18
+f 47 14 24
+f 47 24 34
+f 47 25 14
+f 47 35 25
+f 48 3 25
+f 48 25 35
+f 49 33 3
+f 49 48 35
+f 49 3 48
+f 49 23 33
+f 50 34 7
+f 50 7 35
+f 50 47 34
+f 50 35 47
+f 51 38 25
+f 51 25 3
+f 51 3 38
+f 52 27 37
+f 52 37 39
+f 52 39 38
+f 52 38 27
+f 53 33 23
+f 53 23 43
+f 53 43 13
+f 53 13 46
+f 53 46 18
+f 53 18 33
+f 54 49 35
+f 54 35 23
+f 54 23 49
\ No newline at end of file
diff --git a/apple/apple_19/collision/model_normalized_collision_7.obj b/apple/apple_19/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f52577b8c69854c96d1e65a89b62077b4a1efc98
--- /dev/null
+++ b/apple/apple_19/collision/model_normalized_collision_7.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.36384986 -0.25743626 0.13939962
+v 0.44870517 -0.06433105 -0.13901382
+v 0.41713199 0.15509842 0.13599867
+v 0.25498018 0.23484849 0.17511375
+v 0.25498018 -0.26515152 -0.23397717
+v 0.38835415 0.22689361 -0.22684404
+v 0.41529551 -0.00710834 0.17278943
+v 0.37231340 -0.25583478 -0.21197623
+v 0.25498018 -0.26515152 0.14481072
+v 0.44967555 0.12589811 -0.09677021
+v 0.37051397 0.26117466 0.14217078
+v 0.25498018 0.23484849 -0.23397717
+v 0.43246511 -0.13838242 0.03564314
+v 0.38851329 -0.25684779 -0.14073652
+v 0.43412334 -0.04999003 -0.21334645
+v 0.25498018 -0.00757576 0.17511375
+v 0.44932209 0.05191624 0.06500466
+v 0.41892739 0.22807752 -0.10927865
+v 0.40324735 0.15535561 0.16686936
+v 0.41649668 -0.12261322 -0.22771195
+v 0.40258769 -0.16944720 0.12255052
+v 0.36461583 -0.25726437 -0.22954748
+v 0.38730196 -0.25721017 0.06593331
+v 0.41830823 -0.19889499 -0.09586586
+v 0.44944586 0.03635285 -0.17015825
+v 0.43389572 0.18392089 0.02187200
+v 0.43420532 0.06741053 0.12302813
+v 0.43336636 -0.04970233 0.10805832
+v 0.44801217 -0.06444226 0.03470354
+v 0.41747453 0.15528927 -0.22635014
+v 0.40265551 0.22731983 -0.18236183
+v 0.38602215 0.22789369 0.15062304
+v 0.36702431 0.24358065 0.16988390
+v 0.43321255 -0.07995229 -0.19968438
+v 0.40289847 -0.21110205 -0.16894389
+v 0.38948600 -0.19749939 0.13788933
+v 0.38729575 -0.21098854 -0.22723364
+v 0.40329057 -0.21217476 0.08116919
+v 0.44934942 -0.09465432 -0.05318189
+v 0.40325088 -0.24209611 -0.03731596
+v 0.44889879 -0.00631508 -0.16958402
+v 0.44868141 0.12568844 0.00664077
+v 0.41754748 0.22845514 0.03623189
+v 0.44923694 0.09564303 0.04968694
+v 0.41804743 0.05169147 0.16760500
+v 0.43246540 -0.09486368 0.07988143
+v 0.41752782 -0.07988232 0.13812292
+v 0.43304671 -0.00575004 0.12311611
+v 0.44881818 -0.00620470 0.06473115
+v 0.43215729 0.18255649 -0.12470264
+v 0.43225799 0.14016874 -0.18304871
+v 0.43405937 0.08140122 -0.21369368
+v 0.40212198 0.19598383 -0.22629998
+v 0.40139243 0.18251346 0.15072283
+v 0.37383100 0.23773767 0.16512362
+v 0.36594160 0.25797406 0.15411476
+v 0.44855175 -0.04914742 -0.15413152
+v 0.43342870 -0.12333196 -0.15457820
+v 0.40273670 -0.22612071 -0.14047200
+v 0.37323329 -0.24171614 -0.22752788
+v 0.40251910 -0.18357633 -0.21292272
+v 0.38870227 -0.24266110 0.09384016
+v 0.44920680 -0.07941124 -0.11145238
+v 0.41867547 -0.19913319 0.00785389
+f 9 4 5
+f 9 1 7
+f 12 5 4
+f 12 11 6
+f 12 4 11
+f 16 9 7
+f 16 7 4
+f 16 4 9
+f 20 5 12
+f 22 14 5
+f 22 8 14
+f 22 5 20
+f 23 9 5
+f 23 5 14
+f 23 1 9
+f 26 10 18
+f 30 20 12
+f 30 12 6
+f 31 6 11
+f 31 11 18
+f 33 4 7
+f 33 7 19
+f 34 20 15
+f 36 7 1
+f 37 22 20
+f 37 35 8
+f 38 21 36
+f 39 29 13
+f 39 25 10
+f 39 10 17
+f 40 23 14
+f 41 15 25
+f 42 10 26
+f 43 26 18
+f 43 18 11
+f 43 11 32
+f 43 32 3
+f 43 3 26
+f 44 27 17
+f 44 3 27
+f 44 17 10
+f 44 10 42
+f 44 42 26
+f 44 26 3
+f 45 19 7
+f 45 7 27
+f 45 27 3
+f 45 3 19
+f 46 29 28
+f 46 13 29
+f 46 38 13
+f 46 21 38
+f 47 28 7
+f 47 46 28
+f 47 21 46
+f 47 36 21
+f 47 7 36
+f 48 27 7
+f 48 7 28
+f 49 28 29
+f 49 48 28
+f 49 17 27
+f 49 27 48
+f 49 39 17
+f 49 29 39
+f 50 18 10
+f 50 31 18
+f 50 30 31
+f 51 10 25
+f 51 50 10
+f 51 30 50
+f 52 25 15
+f 52 15 20
+f 52 20 30
+f 52 51 25
+f 52 30 51
+f 53 31 30
+f 53 30 6
+f 53 6 31
+f 54 32 19
+f 54 19 3
+f 54 3 32
+f 55 33 19
+f 55 19 32
+f 55 32 11
+f 55 11 33
+f 56 33 11
+f 56 11 4
+f 56 4 33
+f 57 34 15
+f 57 2 34
+f 57 41 2
+f 57 15 41
+f 58 34 2
+f 58 20 34
+f 59 14 8
+f 59 8 35
+f 59 40 14
+f 59 24 40
+f 59 58 24
+f 59 35 58
+f 60 37 8
+f 60 8 22
+f 60 22 37
+f 61 37 20
+f 61 35 37
+f 61 58 35
+f 61 20 58
+f 62 38 36
+f 62 36 1
+f 62 1 23
+f 62 23 38
+f 63 25 39
+f 63 41 25
+f 63 2 41
+f 63 58 2
+f 63 39 24
+f 63 24 58
+f 64 38 23
+f 64 23 40
+f 64 13 38
+f 64 39 13
+f 64 40 24
+f 64 24 39
\ No newline at end of file
diff --git a/apple/apple_19/collision/model_normalized_collision_8.obj b/apple/apple_19/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..696fd66063790c8ae04ddff8759f1c779af6996f
--- /dev/null
+++ b/apple/apple_19/collision/model_normalized_collision_8.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.01255594 -0.26515152 0.22056829
+v 0.01255594 -0.26515152 -0.23397717
+v 0.01255594 -0.00757576 -0.23397717
+v -0.33592892 -0.00757576 0.19026526
+v -0.34210250 -0.26901306 -0.23648429
+v -0.00001485 -0.00305932 0.23022139
+v -0.32809183 -0.26070308 0.18583387
+v -0.33592892 -0.00757576 -0.23397717
+v -0.21471679 -0.26515152 0.22056829
+v -0.21471679 -0.00757576 0.22056829
+f 1 2 3
+f 5 2 1
+f 5 3 2
+f 6 1 3
+f 7 4 5
+f 8 5 4
+f 8 3 5
+f 8 6 3
+f 8 4 6
+f 9 7 5
+f 9 5 1
+f 9 1 6
+f 9 4 7
+f 10 9 6
+f 10 6 4
+f 10 4 9
\ No newline at end of file
diff --git a/apple/apple_19/collision/model_normalized_collision_9.obj b/apple/apple_19/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..922ac26736beae9403afb945de3e4ec099a216c5
--- /dev/null
+++ b/apple/apple_19/collision/model_normalized_collision_9.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.23982867 0.23484849 0.17511375
+v 0.23964943 0.26346984 -0.39508842
+v 0.22718303 0.44358177 0.00476466
+v 0.01347209 0.49226780 0.06742689
+v 0.01255594 0.23484849 -0.35518929
+v 0.06942815 0.44418614 -0.27058608
+v 0.17611755 0.39523173 0.21519190
+v 0.22845750 0.44456699 -0.08050216
+v 0.23982867 0.23484849 -0.24912868
+v 0.01255594 0.23484849 0.17511375
+v 0.01162540 0.41416398 -0.32988539
+v 0.22977830 0.38744778 0.16695410
+v 0.09802323 0.46010958 0.15138246
+v 0.22745872 0.39961790 -0.24057523
+v 0.09971704 0.49069815 -0.06688579
+v 0.13627946 0.40659727 0.22491678
+v 0.01197648 0.49142883 -0.12552661
+v 0.14057465 0.38200113 -0.34260224
+v 0.01187989 0.40384069 -0.34781347
+v 0.17024377 0.45841918 0.07789694
+v 0.22795696 0.42850707 -0.16820027
+v 0.15642829 0.47496400 0.02053323
+v 0.12885039 0.41904873 0.21396904
+v 0.01168645 0.44676909 -0.27306602
+v 0.09943498 0.47314918 -0.16829293
+v 0.01127224 0.47824789 0.12585899
+v 0.19740805 0.35421987 -0.34234422
+v 0.14055477 0.42832207 -0.27065774
+v 0.08427547 0.39739599 -0.34367610
+v 0.05685766 0.42888503 -0.29944997
+v 0.22717139 0.42860415 0.07720987
+v 0.22747980 0.41479846 -0.21028678
+v 0.20093915 0.45792235 0.00475193
+v 0.15683784 0.47404190 -0.09502983
+v 0.09903645 0.49082134 0.00608901
+v 0.11332007 0.47247230 0.09301576
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+v 0.01136011 0.47822449 -0.18490038
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\ No newline at end of file
diff --git a/apple/apple_19/model.xml b/apple/apple_19/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..d232e8bbdba68c1be2cf41af92c3ec90d878d7f0
--- /dev/null
+++ b/apple/apple_19/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="apple_11">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="Material_35.001" texture="image0" specular="0.5" shininess="0.25"/>
+  </asset>
+  <worldbody>
+    <body>
+      <body name="object">
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_0_vis" conaffinity="0" contype="0" group="1" material="Material_35.001"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_22._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_23._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_21._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_20._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_24._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_30._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_18._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_19._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_31._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_25._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_27._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_26._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_9._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_8._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_6._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_7._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_5._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_4._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_0._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_1._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_3._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_2._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_17._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_16._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_28._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_14._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_15._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_29._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_11._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_10._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_12._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_13._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+      </body>
+      <site rgba="0 0 0 0" size="0.005" pos="-0.00024928225 2.507294999999882e-05 -0.033476419900000005" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="-0.00024928225 2.507294999999882e-05 0.033662096300000006" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.031477288500000006 0.034458746 9.283819999999971e-05" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/apple/apple_19/visual/material.mtl b/apple/apple_19/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fbcf6b4b1af9257e08a0fd6e283841743ce8fad5
--- /dev/null
+++ b/apple/apple_19/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/apple/apple_19/visual/model_normalized_0.obj b/apple/apple_19/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5fcb57f970199fa066fc75ddd5e362080ac7836
--- /dev/null
+++ b/apple/apple_19/visual/model_normalized_0.obj
@@ -0,0 +1,4255 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v 0.42576993 -0.11665889 -0.20353135
+v 0.43832199 -0.12260524 -0.13077832
+v 0.41172682 -0.20682240 -0.13986601
+v 0.39854517 -0.19928763 -0.21031557
+v 0.41043170 -0.11267823 -0.25715621
+v 0.38344856 -0.19315801 -0.26121298
+v 0.37232511 -0.25583938 -0.21193746
+v 0.35721602 -0.24990711 -0.26198571
+v 0.38543268 -0.26326573 -0.14163840
+v 0.38387059 -0.10224037 -0.32351150
+v 0.35535530 -0.18227872 -0.32725733
+v 0.33269197 -0.23351696 -0.32829090
+v 0.34442868 -0.08601112 -0.38697023
+v 0.31499236 -0.16337174 -0.39201427
+v 0.29250798 -0.21480973 -0.39326240
+v 0.27503133 -0.14379271 -0.43465038
+v 0.29908654 -0.06305774 -0.43374400
+v 0.25207467 -0.19450585 -0.43480875
+v 0.19866912 -0.04316266 -0.47141145
+v 0.17908777 -0.09996314 -0.47500100
+v 0.10784398 -0.07384759 -0.45834488
+v 0.12353743 -0.01421141 -0.45617141
+v 0.13884403 -0.14948326 -0.47848762
+v 0.08470010 -0.10937898 -0.46268931
+v 0.01275859 -0.02066906 -0.42001896
+v 0.03853206 -0.03446032 -0.40364073
+v 0.00498971 -0.05445420 -0.39660925
+v -0.00885455 -0.03147265 -0.41529980
+v 0.04137206 0.01149981 -0.39947612
+v 0.02070746 -0.00037596 -0.43858279
+v -0.00544109 -0.01431117 -0.44224098
+v 0.01072376 -0.00026752 -0.44743441
+v -0.01095301 -0.02659665 -0.44077670
+v -0.00235479 -0.02966083 -0.45420971
+v -0.00134895 -0.02406501 -0.45770339
+v -0.00769967 -0.02302534 -0.46024944
+v -0.00810580 -0.03478370 -0.45987678
+v -0.01683470 -0.02708499 -0.44755972
+v -0.01730536 -0.01361919 -0.44943196
+v -0.05128954 -0.01505218 -0.41922672
+v -0.03924497 0.00176064 -0.41221112
+v -0.00549183 -0.01424332 -0.45669705
+v -0.00892630 -0.00633529 -0.44640206
+v -0.00217241 -0.00056907 -0.44225027
+v -0.00907567 0.02031095 -0.42582460
+v -0.00217241 -0.00056907 -0.44225027
+v -0.00892630 -0.00633529 -0.44640206
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\ No newline at end of file
diff --git a/apple/apple_20/collision/model_normalized_collision_0.obj b/apple/apple_20/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..655c812fe63971f6eee91af918bab7e9351ddfb4
--- /dev/null
+++ b/apple/apple_20/collision/model_normalized_collision_0.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.09646143 -0.41998365 0.06463887
+v 0.13823176 -0.36322432 -0.24333761
+v 0.13134684 -0.24147173 0.18939394
+v -0.08077438 -0.24147173 0.18939394
+v -0.08663986 -0.37414159 -0.24461406
+v -0.08077438 -0.24147173 -0.23484848
+v -0.08780007 -0.37411927 0.20314749
+v 0.12669093 -0.39060867 0.15379070
+v 0.09831217 -0.42045393 -0.09605634
+v 0.13134684 -0.24147173 -0.23484848
+v 0.12659576 -0.37897550 0.18306560
+v -0.01936093 -0.40537315 0.15121374
+v 0.12985725 -0.41489906 -0.09754483
+v 0.03773408 -0.40396759 0.15182432
+v -0.07901056 -0.42025321 0.06512220
+v 0.12636908 -0.40454838 0.10796976
+v 0.11220845 -0.41983956 0.03629134
+v 0.03856571 -0.41964281 0.09414523
+v 0.11297340 -0.38983947 0.16838473
+v 0.05389955 -0.39041132 0.18343539
+v -0.03364496 -0.42038635 0.09437501
+v -0.07785107 -0.42019020 -0.08008701
+v -0.07959286 -0.39893162 0.15628308
+v 0.11287545 -0.41974055 -0.08123830
+v 0.11109027 -0.40406911 0.12297636
+v 0.06892838 -0.38912423 0.18300276
+v -0.06265894 -0.41993657 -0.09519341
+v -0.07960757 -0.40815334 0.12440819
+f 6 4 3
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+f 10 6 3
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+f 10 5 6
+f 11 8 2
+f 11 2 3
+f 11 3 7
+f 13 9 2
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+f 16 2 8
+f 17 1 9
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+f 19 8 11
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+f 21 1 18
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+f 22 15 5
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+f 28 23 7
+f 28 7 15
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\ No newline at end of file
diff --git a/apple/apple_20/collision/model_normalized_collision_1.obj b/apple/apple_20/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a59ac7d1d3efdd8c34ae896727796823f00326f
--- /dev/null
+++ b/apple/apple_20/collision/model_normalized_collision_1.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.06513121 -0.33524378 -0.34831560
+v 0.19595834 -0.21336815 -0.35903656
+v 0.19195290 -0.01419900 -0.35606061
+v -0.36338486 -0.01459938 -0.35441540
+v -0.21540702 -0.11994228 -0.49142069
+v -0.35341887 -0.14694502 -0.35107587
+v 0.15479987 -0.27985327 -0.34967935
+v 0.11280052 -0.11887114 -0.47880883
+v 0.07148559 -0.01406575 -0.48965253
+v -0.17978564 -0.28208360 -0.40553622
+v -0.32112894 -0.10094360 -0.43493118
+v 0.21553068 -0.01952188 -0.43950844
+v 0.11971495 -0.21583228 -0.44409906
+v -0.28514709 -0.01590367 -0.46062030
+v 0.05063059 -0.19405303 -0.48985660
+v -0.16548027 -0.31608588 -0.35004198
+v -0.35090190 -0.11587579 -0.37819334
+v -0.30752241 -0.18532559 -0.40810592
+v 0.14663753 -0.21722568 -0.41820839
+v 0.09344047 -0.28490149 -0.40282615
+v 0.10759248 -0.16193500 -0.47296387
+v -0.24564418 -0.01753414 -0.47422901
+v -0.33819057 -0.01530359 -0.40607888
+v -0.26889766 -0.13379269 -0.47331991
+v 0.06552500 -0.15011639 -0.49015878
+v -0.10919153 -0.24704229 -0.45881936
+v -0.07963306 -0.31383777 -0.39173720
+v -0.33456438 -0.15861917 -0.39194128
+v -0.33119076 -0.19182206 -0.35306031
+v 0.17638622 -0.18713348 -0.40434311
+v 0.12674724 -0.30686277 -0.34938086
+v 0.06501607 -0.24262485 -0.46072743
+v 0.08980147 -0.24638932 -0.44562329
+v 0.09272408 -0.18977689 -0.47374995
+v -0.22874950 -0.07824977 -0.48923783
+v -0.30876012 -0.06080345 -0.44574771
+v -0.35210135 -0.01503030 -0.37967164
+v -0.29659527 -0.15666037 -0.44464989
+v 0.06555603 -0.16366045 -0.48904874
+v -0.01566447 -0.20566384 -0.48797123
+v -0.21430621 -0.17059095 -0.47447720
+v -0.16388392 -0.29855741 -0.38905995
+v -0.07951544 -0.33457514 -0.35013015
+v -0.14959151 -0.28552876 -0.41662647
+v -0.33375664 -0.13053493 -0.40757871
+v -0.34916684 -0.14564353 -0.36518014
+v -0.34243314 -0.17380340 -0.35201214
+v -0.32395506 -0.18712582 -0.37929120
+v 0.17809189 -0.20325590 -0.39056036
+v 0.10820115 -0.29938392 -0.37361423
+v -0.00446283 -0.25903045 -0.45996873
+v 0.14981791 -0.27496615 -0.36066702
+v 0.03459473 -0.28613262 -0.43224000
+v 0.05094135 -0.22927730 -0.47363085
+v -0.18977575 -0.08088062 -0.48994609
+v -0.25656663 -0.03300066 -0.47430820
+v -0.26904674 -0.06287846 -0.47358738
+v -0.23034988 -0.10489404 -0.48995834
+v -0.32096828 -0.09010203 -0.43503477
+v -0.29362525 -0.10143924 -0.46084579
+v -0.30805643 -0.15374880 -0.43397533
+v -0.26851110 -0.18871656 -0.44624123
+v 0.02426734 -0.20618323 -0.48922034
+v -0.24197503 -0.15900017 -0.47340373
+f 6 3 4
+f 7 2 3
+f 7 6 1
+f 7 3 6
+f 9 4 3
+f 12 3 2
+f 12 9 3
+f 12 8 9
+f 16 1 6
+f 17 6 4
+f 21 8 12
+f 21 12 13
+f 21 15 8
+f 22 14 9
+f 23 4 9
+f 23 9 14
+f 23 11 17
+f 25 9 8
+f 25 15 5
+f 25 5 9
+f 30 19 13
+f 30 13 12
+f 30 12 2
+f 31 7 1
+f 33 13 19
+f 34 21 13
+f 34 15 21
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+f 35 22 9
+f 36 23 14
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+f 53 20 1
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+f 54 32 53
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+f 61 45 11
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+f 62 10 18
+f 62 18 38
+f 62 38 24
+f 62 44 10
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+f 63 40 5
+f 63 5 15
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+f 63 54 51
+f 63 51 40
+f 64 24 5
+f 64 5 41
+f 64 62 24
+f 64 41 26
+f 64 26 62
\ No newline at end of file
diff --git a/apple/apple_20/collision/model_normalized_collision_10.obj b/apple/apple_20/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f5899f86fc03c8f67e642a84fe49d0d525dc5fa
--- /dev/null
+++ b/apple/apple_20/collision/model_normalized_collision_10.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.12845040 -0.22302616 -0.43164661
+v 0.25415192 -0.02127108 -0.38653242
+v 0.01013471 -0.01419900 -0.35606061
+v 0.00912963 0.31274403 -0.35233496
+v 0.00730923 0.20563016 -0.47593828
+v 0.22820294 0.18994273 -0.34733863
+v 0.15710629 -0.20841618 -0.41254758
+v 0.14166156 0.04393949 -0.48846101
+v 0.06981029 -0.12073035 -0.48692072
+v 0.00587414 0.09951065 -0.48276955
+v 0.09560038 0.29154176 -0.34694336
+v 0.17884436 -0.06844359 -0.45819630
+v 0.18024913 -0.17508509 -0.40765490
+v 0.19488146 0.09933547 -0.44592877
+v 0.11140161 -0.20684643 -0.45469396
+v 0.00767588 0.30655365 -0.36258250
+v 0.01690057 -0.01454639 -0.43836573
+v 0.12807760 0.05690220 -0.49003082
+v 0.05332593 0.30755396 -0.34811714
+v 0.16953091 0.24819180 -0.34660411
+v 0.14027711 -0.02618062 -0.48812859
+v 0.17635258 -0.11326765 -0.44422313
+v 0.23698039 0.16731726 -0.35569154
+v 0.19371800 -0.01127399 -0.46190012
+v 0.00690333 0.28814091 -0.39155609
+v 0.09096520 -0.04253682 -0.49046068
+v 0.15176739 0.09988472 -0.47238974
+v 0.14956485 0.19713577 -0.41520922
+v 0.10990221 -0.13236094 -0.47788614
+v 0.11925763 -0.18920620 -0.45746692
+v 0.14687271 -0.17227785 -0.44377970
+v 0.19308059 0.15373108 -0.41554293
+v 0.19281020 0.05747413 -0.46036682
+v 0.16752094 -0.04063285 -0.47377584
+v 0.04789585 0.25856987 -0.41709902
+v 0.07635520 -0.02568661 -0.48913142
+v 0.11576745 -0.04160203 -0.49029115
+v 0.16646292 0.07312490 -0.47419319
+v 0.13929555 0.11248820 -0.47322842
+v 0.22325411 0.18473726 -0.35732359
+v 0.10758342 -0.19135135 -0.46408568
+v 0.17438344 -0.17232867 -0.41692841
+v 0.15106937 -0.20485438 -0.42144160
+v 0.12123167 -0.20510118 -0.44876959
+v 0.22494760 0.15914972 -0.37585193
+v 0.02146019 0.28623068 -0.38987147
+v 0.06285168 0.28698530 -0.37271239
+v 0.07724650 0.21348501 -0.44514593
+v 0.12300360 0.27151719 -0.35721019
+v 0.17816763 0.09835413 -0.45901060
+v 0.02190260 0.20414904 -0.47410590
+v 0.12275498 -0.13124288 -0.47255748
+v 0.22020974 0.17108071 -0.37185485
+v 0.05197957 0.30066527 -0.35854341
+v 0.12053770 0.18434481 -0.44348050
+v 0.12595009 0.27766259 -0.34775729
+v 0.10752767 0.24177874 -0.40172946
+v 0.07735755 0.25718710 -0.40195851
+v 0.17809545 0.12817708 -0.44439152
+v 0.04751952 0.22961864 -0.44627697
+v 0.10559534 0.21380884 -0.42935004
+v 0.06323574 0.20289348 -0.45884940
+v 0.14943085 0.22666495 -0.38591447
+v 0.10801155 0.17198281 -0.45721918
+f 6 3 2
+f 7 3 1
+f 13 2 3
+f 13 3 7
+f 15 1 3
+f 15 3 9
+f 16 3 4
+f 17 10 9
+f 17 9 3
+f 17 3 10
+f 18 10 5
+f 19 4 3
+f 19 3 11
+f 19 16 4
+f 20 11 3
+f 20 3 6
+f 21 18 8
+f 22 12 2
+f 23 6 2
+f 23 2 14
+f 24 21 8
+f 24 2 12
+f 25 10 3
+f 25 3 16
+f 25 5 10
+f 25 16 19
+f 26 10 18
+f 29 9 21
+f 30 12 22
+f 31 30 22
+f 33 14 2
+f 33 2 24
+f 34 24 12
+f 34 21 24
+f 34 29 21
+f 35 5 25
+f 36 26 9
+f 36 9 10
+f 36 10 26
+f 37 21 9
+f 37 9 26
+f 37 26 18
+f 37 18 21
+f 38 8 18
+f 38 18 27
+f 38 33 24
+f 38 24 8
+f 39 27 18
+f 40 28 20
+f 40 20 6
+f 40 32 28
+f 40 6 23
+f 41 15 9
+f 41 9 29
+f 41 30 15
+f 41 34 12
+f 41 12 30
+f 42 31 22
+f 42 13 7
+f 42 22 2
+f 42 2 13
+f 43 7 1
+f 43 42 7
+f 43 31 42
+f 44 1 15
+f 44 15 30
+f 44 30 31
+f 44 43 1
+f 44 31 43
+f 45 23 14
+f 45 14 32
+f 46 35 25
+f 46 25 19
+f 47 19 11
+f 50 38 27
+f 50 14 33
+f 50 33 38
+f 50 27 39
+f 51 39 18
+f 51 18 5
+f 52 41 29
+f 52 29 34
+f 52 34 41
+f 53 40 23
+f 53 23 45
+f 53 45 32
+f 53 32 40
+f 54 46 19
+f 54 19 47
+f 54 47 35
+f 54 35 46
+f 56 11 20
+f 56 20 49
+f 56 47 11
+f 58 35 47
+f 58 56 49
+f 58 47 56
+f 58 57 35
+f 58 49 57
+f 59 32 14
+f 59 14 50
+f 59 50 39
+f 59 55 28
+f 59 28 32
+f 60 51 5
+f 60 5 35
+f 60 35 57
+f 61 55 48
+f 61 28 55
+f 61 57 28
+f 61 60 57
+f 61 48 60
+f 62 48 55
+f 62 60 48
+f 62 51 60
+f 63 57 49
+f 63 49 20
+f 63 20 28
+f 63 28 57
+f 64 59 39
+f 64 55 59
+f 64 62 55
+f 64 39 51
+f 64 51 62
\ No newline at end of file
diff --git a/apple/apple_20/collision/model_normalized_collision_11.obj b/apple/apple_20/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0388a53a86cc3f4a60a9dafc15d0467353d651ee
--- /dev/null
+++ b/apple/apple_20/collision/model_normalized_collision_11.obj
@@ -0,0 +1,159 @@
+# https://github.com/mikedh/trimesh
+v 0.05445614 -0.40004031 0.15604545
+v 0.20161893 -0.24812981 0.29519144
+v 0.04103691 -0.31614344 0.29663060
+v -0.19779311 -0.23498091 0.31658613
+v -0.20198650 -0.24147173 0.18939394
+v 0.09806694 -0.23467883 0.34208875
+v -0.13638375 -0.34286879 0.23873981
+v 0.12448433 -0.36068859 0.22506655
+v 0.13134684 -0.24147173 0.18939394
+v 0.12786228 -0.31866559 0.27904431
+v -0.07765014 -0.26110795 0.33850141
+v -0.06191547 -0.36003344 0.23677578
+v -0.19872793 -0.35679123 0.15635913
+v 0.12659576 -0.37897550 0.18306560
+v 0.18341927 -0.23559366 0.31261340
+v 0.09743378 -0.27271718 0.32390795
+v 0.18735065 -0.29369398 0.27082481
+v 0.06887071 -0.35895061 0.24069577
+v -0.13950184 -0.23445104 0.34439947
+v -0.11817843 -0.31556345 0.28052885
+v -0.09212251 -0.39569711 0.15462358
+v -0.18111354 -0.36748903 0.15429442
+v -0.19212485 -0.31406529 0.23850441
+v -0.20423760 -0.35160310 0.16097809
+v 0.05389955 -0.39041132 0.18343539
+v 0.06688149 -0.31790236 0.29308677
+v 0.05356059 -0.26333901 0.33739215
+v 0.12736635 -0.26269171 0.32222676
+v -0.10556812 -0.27235974 0.32390210
+v -0.17787793 -0.25944055 0.30857970
+v -0.01805830 -0.30215241 0.31051701
+v -0.07582538 -0.38941016 0.17970574
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+v -0.17856874 -0.30014582 0.26519727
+v -0.19219919 -0.34363680 0.19226415
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+v 0.05991320 -0.39289573 0.17433879
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+v 0.11249651 -0.28751926 0.30833834
+v 0.16835417 -0.26227711 0.30572059
+v -0.13604499 -0.24251636 0.33959027
+v -0.11986048 -0.30224842 0.29352625
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+v -0.07572177 -0.37386656 0.20980594
+v -0.13606094 -0.37335593 0.17935152
+v -0.14823014 -0.31503844 0.26491138
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+v 0.18370528 -0.28705330 0.27846876
+v 0.18434958 -0.24696266 0.30667249
+v -0.15018865 -0.27200454 0.30874519
+v -0.09076190 -0.39124640 0.16817697
+v -0.15078085 -0.37338102 0.16697952
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+f 13 5 9
+f 14 1 9
+f 15 2 9
+f 15 9 4
+f 15 4 6
+f 17 10 8
+f 17 8 14
+f 17 14 9
+f 17 9 2
+f 18 8 10
+f 18 3 12
+f 19 6 4
+f 20 7 12
+f 22 13 9
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+f 24 4 5
+f 24 5 13
+f 24 23 4
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+f 26 18 10
+f 26 3 18
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+f 27 19 11
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+f 30 19 4
+f 31 20 12
+f 31 12 3
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+f 32 21 1
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+f 39 26 10
+f 39 16 26
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+f 41 29 11
+f 41 11 19
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+f 42 29 41
+f 42 30 20
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+f 43 3 27
+f 43 27 31
+f 44 12 7
+f 44 7 32
+f 44 32 25
+f 44 25 12
+f 45 32 7
+f 46 34 7
+f 46 7 20
+f 46 20 34
+f 47 34 30
+f 47 30 4
+f 47 4 23
+f 47 23 34
+f 48 35 24
+f 48 45 7
+f 48 7 35
+f 48 24 13
+f 48 13 22
+f 49 40 28
+f 49 28 10
+f 50 17 2
+f 50 2 40
+f 50 40 49
+f 50 49 10
+f 50 10 17
+f 51 40 2
+f 51 2 15
+f 51 15 40
+f 52 42 41
+f 52 41 30
+f 52 30 42
+f 53 45 33
+f 53 33 21
+f 53 21 32
+f 53 32 45
+f 54 22 33
+f 54 33 45
+f 54 48 22
+f 54 45 48
\ No newline at end of file
diff --git a/apple/apple_20/collision/model_normalized_collision_12.obj b/apple/apple_20/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4367cfee71c96aa7f950425e91a794d48015c555
--- /dev/null
+++ b/apple/apple_20/collision/model_normalized_collision_12.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v 0.34742474 -0.01434656 0.25252545
+v 0.41510391 -0.01413966 0.14271284
+v 0.36476652 0.19155566 0.13919292
+v 0.01013471 0.19792221 0.26515152
+v 0.01013471 -0.01419900 0.14393940
+v 0.25619568 0.19012049 0.24930909
+v 0.37079373 0.09924337 0.20672772
+v 0.17075850 -0.01774368 0.27800174
+v 0.39020247 0.14697614 0.13781264
+v 0.01013471 0.19792221 0.14393940
+v 0.37175432 0.04314227 0.22188906
+v 0.31615660 0.08412384 0.26152836
+v 0.33104124 0.15649208 0.21630882
+v 0.02484561 -0.00316803 0.26891208
+v 0.40564291 0.10415956 0.13898992
+v 0.35824412 0.15375129 0.19080836
+v 0.37742116 0.17463876 0.13787677
+v 0.37286676 -0.01390797 0.22390429
+v 0.34494086 0.05818504 0.24793475
+v 0.30734535 -0.01305688 0.27998863
+v 0.30058095 0.18936380 0.21750494
+v 0.33093879 0.09904034 0.24580661
+v 0.11616534 0.15252202 0.29534662
+v 0.38486710 0.12979779 0.16528977
+v 0.40052198 0.07371401 0.16519663
+v 0.35824028 0.18407595 0.16035482
+v 0.35752280 0.05729409 0.23582223
+v 0.33145214 -0.01407834 0.26668432
+v 0.29250244 0.07245474 0.27631693
+v 0.40123591 0.10199175 0.15233378
+v 0.37292861 0.17146236 0.15066018
+v 0.40454173 -0.01376358 0.16791226
+v 0.38534327 0.07277943 0.19392854
+v 0.32972044 0.04301653 0.26299953
+v 0.30637003 0.04356766 0.27642443
+v 0.21828716 0.14921401 0.27739225
+v 0.38525200 0.14501634 0.15077766
+f 6 3 4
+f 8 5 2
+f 8 2 1
+f 10 5 4
+f 10 4 3
+f 14 4 5
+f 14 5 8
+f 15 2 5
+f 15 5 9
+f 16 13 7
+f 17 9 5
+f 17 5 10
+f 17 10 3
+f 18 11 1
+f 18 1 2
+f 21 3 6
+f 21 6 13
+f 21 13 16
+f 22 13 6
+f 22 6 12
+f 22 12 19
+f 22 19 7
+f 22 7 13
+f 23 14 8
+f 23 4 14
+f 23 8 20
+f 23 6 4
+f 24 16 7
+f 25 2 15
+f 26 21 16
+f 26 3 21
+f 27 11 7
+f 27 7 19
+f 27 19 1
+f 27 1 11
+f 28 20 8
+f 28 8 1
+f 29 12 6
+f 30 15 9
+f 30 9 24
+f 30 25 15
+f 30 24 7
+f 31 16 24
+f 31 26 16
+f 31 17 3
+f 31 3 26
+f 32 18 2
+f 32 2 25
+f 32 11 18
+f 33 7 11
+f 33 32 25
+f 33 11 32
+f 33 30 7
+f 33 25 30
+f 34 28 1
+f 34 1 19
+f 34 19 12
+f 35 29 23
+f 35 23 20
+f 35 20 28
+f 35 28 34
+f 35 34 12
+f 35 12 29
+f 36 29 6
+f 36 6 23
+f 36 23 29
+f 37 31 24
+f 37 24 9
+f 37 9 17
+f 37 17 31
\ No newline at end of file
diff --git a/apple/apple_20/collision/model_normalized_collision_13.obj b/apple/apple_20/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b135fdb8d3c1bd05b41d3e77e70c52a702c6c541
--- /dev/null
+++ b/apple/apple_20/collision/model_normalized_collision_13.obj
@@ -0,0 +1,120 @@
+# https://github.com/mikedh/trimesh
+v 0.00916085 -0.23450314 0.35523920
+v 0.01013471 -0.24147173 0.21969697
+v 0.01013471 0.19792221 0.21969697
+v -0.19454934 0.19020573 0.34101252
+v -0.23297051 -0.27970028 0.25034608
+v 0.00587708 0.19400132 0.35593942
+v -0.17807446 -0.10418472 0.38483026
+v -0.20198650 0.19792221 0.21969697
+v 0.00832632 -0.13589495 0.38037089
+v -0.15062025 -0.21625496 0.35096212
+v -0.21613013 -0.14988017 0.35449046
+v -0.10980080 0.19367339 0.36806175
+v 0.00906225 -0.20349455 0.36877348
+v -0.10800721 -0.22999782 0.35215433
+v -0.19582152 0.09003201 0.36736440
+v -0.15277147 -0.14728684 0.38266916
+v -0.21277535 -0.20441586 0.33136742
+v -0.05311310 0.19519889 0.36848186
+v -0.16253851 -0.22887877 0.33852237
+v -0.07983162 -0.17335654 0.38319478
+v -0.18295494 -0.05977954 0.38380924
+v -0.16580336 0.14869223 0.36733294
+v -0.21215427 -0.14662258 0.35844017
+v -0.12077766 -0.20138928 0.36664237
+v -0.21692413 -0.18072084 0.34057590
+v -0.19303926 -0.18530915 0.35391341
+v -0.03791830 0.17970644 0.36865274
+v -0.19374169 -0.22870983 0.32287669
+v -0.05030522 -0.17374497 0.38367710
+v -0.12410802 -0.15949805 0.38299637
+v -0.11182937 0.02937293 0.38441952
+v -0.17688499 0.18759852 0.35107966
+v -0.16846124 -0.00004380 0.38341726
+v -0.16367677 -0.13002790 0.38345861
+v -0.20872393 -0.19814479 0.33765799
+v -0.16643316 -0.17192651 0.36837918
+v -0.01092628 -0.09132008 0.38295579
+v -0.00793487 -0.14713058 0.38320476
+v -0.13667660 0.17613265 0.36788148
+v -0.19244329 0.16199952 0.35391875
+v -0.15301999 0.02904329 0.38325070
+f 1 2 3
+f 5 2 1
+f 8 3 2
+f 8 2 5
+f 8 5 4
+f 9 3 6
+f 11 4 5
+f 12 8 4
+f 13 1 3
+f 13 3 9
+f 14 5 1
+f 15 4 11
+f 18 6 3
+f 18 3 8
+f 18 8 12
+f 19 14 10
+f 19 5 14
+f 23 7 21
+f 23 21 15
+f 23 15 11
+f 24 10 14
+f 24 14 1
+f 24 1 20
+f 25 11 5
+f 25 5 17
+f 26 16 23
+f 26 23 11
+f 26 11 25
+f 26 19 10
+f 27 6 18
+f 28 19 17
+f 28 17 5
+f 28 5 19
+f 29 20 1
+f 29 1 13
+f 29 7 20
+f 30 20 7
+f 30 7 16
+f 30 24 20
+f 30 16 24
+f 31 18 12
+f 31 27 18
+f 31 7 29
+f 32 12 4
+f 33 22 15
+f 33 15 21
+f 33 21 7
+f 33 7 31
+f 34 23 16
+f 34 16 7
+f 34 7 23
+f 35 26 25
+f 35 25 17
+f 35 17 19
+f 35 19 26
+f 36 24 16
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+f 36 26 10
+f 36 10 24
+f 37 9 6
+f 37 6 27
+f 37 27 31
+f 38 29 13
+f 38 13 9
+f 38 9 37
+f 38 37 31
+f 38 31 29
+f 39 32 22
+f 39 12 32
+f 40 32 4
+f 40 4 15
+f 40 15 22
+f 40 22 32
+f 41 33 31
+f 41 31 12
+f 41 12 39
+f 41 39 22
+f 41 22 33
\ No newline at end of file
diff --git a/apple/apple_20/collision/model_normalized_collision_14.obj b/apple/apple_20/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c78acb6c2142939078b325cae29f8baed811b74
--- /dev/null
+++ b/apple/apple_20/collision/model_normalized_collision_14.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v 0.01424416 0.00953172 0.27696129
+v 0.25252740 0.15244600 0.26508502
+v 0.00401971 0.15450028 0.35859553
+v 0.01396072 0.32132907 0.28705200
+v 0.09786540 0.32769281 0.25687697
+v 0.00108659 0.05155665 0.31866610
+v 0.01739134 0.01144392 0.26277463
+v 0.07830912 0.26617011 0.30642799
+v 0.00705165 0.29545865 0.31260036
+v 0.07849910 0.04515135 0.27409208
+v 0.00255293 0.09715537 0.34485679
+v 0.24827480 0.18024151 0.25795459
+v 0.08396812 0.33029449 0.26014219
+v 0.00957188 0.01576903 0.28013270
+v 0.03374985 0.22476352 0.33791288
+v 0.00036061 0.06899019 0.33180048
+v 0.07837399 0.29369651 0.29087126
+v 0.24810520 0.15003559 0.26773615
+v 0.07252556 0.04165828 0.26074488
+v 0.16695120 0.24943585 0.27568551
+v 0.01391989 0.01657863 0.26639910
+v 0.00628278 0.23682891 0.34352532
+v 0.03369673 0.26767773 0.32233839
+v 0.08070290 0.32352136 0.26679314
+v 0.00468881 0.16645439 0.35778269
+v 0.20214055 0.25399747 0.25564392
+v 0.22691382 0.20765977 0.26072227
+v 0.06271219 0.23528039 0.32301107
+v 0.16704323 0.27992449 0.26161264
+v 0.03488225 0.29305570 0.30542597
+v 0.02038792 0.23505019 0.34012011
+v 0.09343398 0.30381023 0.27790984
+v 0.12685041 0.31192963 0.25628187
+v 0.23214938 0.20958182 0.25695216
+v 0.19686574 0.24918285 0.26069225
+v 0.15317280 0.26397142 0.27503829
+v 0.17141557 0.28249556 0.25691771
+v 0.12284323 0.30550884 0.26352881
+f 10 6 1
+f 13 7 4
+f 13 5 7
+f 13 4 9
+f 14 9 4
+f 14 6 9
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+f 14 1 6
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+f 16 11 3
+f 18 10 2
+f 18 6 10
+f 18 16 6
+f 18 11 16
+f 18 3 11
+f 19 2 10
+f 19 12 2
+f 19 7 5
+f 19 10 1
+f 19 1 7
+f 20 18 2
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+f 21 14 4
+f 21 4 7
+f 21 7 14
+f 22 9 3
+f 23 8 17
+f 23 9 22
+f 24 13 9
+f 24 9 17
+f 25 18 15
+f 25 3 18
+f 25 22 3
+f 27 20 2
+f 27 2 12
+f 28 20 8
+f 28 15 20
+f 29 17 8
+f 30 23 17
+f 30 17 9
+f 30 9 23
+f 31 23 22
+f 31 8 23
+f 31 28 8
+f 31 15 28
+f 31 25 15
+f 31 22 25
+f 32 24 17
+f 32 5 13
+f 32 13 24
+f 32 17 29
+f 33 26 19
+f 33 19 5
+f 34 12 19
+f 34 19 26
+f 34 27 12
+f 35 20 27
+f 35 29 20
+f 35 26 29
+f 35 34 26
+f 35 27 34
+f 36 29 8
+f 36 8 20
+f 36 20 29
+f 37 33 29
+f 37 29 26
+f 37 26 33
+f 38 32 29
+f 38 29 33
+f 38 33 5
+f 38 5 32
\ No newline at end of file
diff --git a/apple/apple_20/collision/model_normalized_collision_15.obj b/apple/apple_20/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c90fd310a338b26ccd060cc727935cdb59e9482
--- /dev/null
+++ b/apple/apple_20/collision/model_normalized_collision_15.obj
@@ -0,0 +1,186 @@
+# https://github.com/mikedh/trimesh
+v 0.00587708 0.19400132 0.35593942
+v 0.01013471 0.19792221 0.20454546
+v 0.01031811 0.38831994 0.20046661
+v -0.07714679 0.38149778 0.19804176
+v -0.34635761 0.17908082 0.18591636
+v -0.08037146 0.26282631 0.33811455
+v 0.00801716 0.27812103 0.32266817
+v -0.19709703 0.17769759 0.34616742
+v -0.24994518 0.30542941 0.18294787
+v -0.03367528 0.33224764 0.28208360
+v 0.01050744 0.38153506 0.21140714
+v -0.00963998 0.22459339 0.35336784
+v -0.20198650 0.18277070 0.18939394
+v -0.21046352 0.33713683 0.18497883
+v -0.29285556 0.20282527 0.25381577
+v -0.02286434 0.26117514 0.33956668
+v -0.00723889 0.33413047 0.28066144
+v -0.06199470 0.36160757 0.23846798
+v 0.00538711 0.25144841 0.33687947
+v -0.15316345 0.19323611 0.35769112
+v -0.32515327 0.17580964 0.22621830
+v -0.34106498 0.19140853 0.18347629
+v -0.19857988 0.34277855 0.18578732
+v -0.16262341 0.30551970 0.27935418
+v -0.09294960 0.23443696 0.35221344
+v 0.00939789 0.36552954 0.23869252
+v -0.07640221 0.37613697 0.21108928
+v 0.00531481 0.20928733 0.35260853
+v -0.27965752 0.17593678 0.28329407
+v -0.34145281 0.17654751 0.19868031
+v -0.32502973 0.21829015 0.18295430
+v -0.17920320 0.31549398 0.25359518
+v -0.13454744 0.28775202 0.31017771
+v -0.21909854 0.24745809 0.29262548
+v -0.03742229 0.23595574 0.35184435
+v -0.11982863 0.33182925 0.26624309
+v -0.13805487 0.36605830 0.19899476
+v -0.33624859 0.18901106 0.19614700
+v -0.27659421 0.27449493 0.19643114
+v -0.20876708 0.33220671 0.19639052
+v -0.12007922 0.27717212 0.32213580
+v -0.17759442 0.24409622 0.32378203
+v -0.26149300 0.18978702 0.29525725
+v -0.20408460 0.27220196 0.28178869
+v -0.13329044 0.34611613 0.23677619
+v -0.13396414 0.36218951 0.21098193
+v -0.32093766 0.21523805 0.19612754
+v -0.32046828 0.18848993 0.22315452
+v -0.28128923 0.27625445 0.18347846
+v -0.24796363 0.27184431 0.23913260
+v -0.24777757 0.30238074 0.19297163
+v -0.13819034 0.21907079 0.35246762
+v -0.26521324 0.17647146 0.29837585
+v -0.20374433 0.21696809 0.32268068
+v -0.20673943 0.25801778 0.29343467
+v -0.29103766 0.24542745 0.20803116
+v -0.26165994 0.24549000 0.25017534
+v -0.21793563 0.31805368 0.20848336
+v -0.16384928 0.23229822 0.33620683
+v -0.20832530 0.17758120 0.34009097
+v -0.13490732 0.24585225 0.33702276
+v -0.15205682 0.20684814 0.35324917
+v -0.20724539 0.18765805 0.33604423
+f 7 1 2
+f 8 2 1
+f 11 7 2
+f 11 2 3
+f 13 2 8
+f 14 3 2
+f 14 13 9
+f 14 2 13
+f 17 16 7
+f 17 10 6
+f 17 6 16
+f 19 16 12
+f 19 7 16
+f 20 8 1
+f 20 1 12
+f 22 13 5
+f 23 4 3
+f 23 3 14
+f 25 16 6
+f 25 20 12
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+f 26 7 11
+f 26 11 3
+f 26 3 18
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+f 31 13 22
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+f 55 42 24
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+f 57 15 34
+f 57 34 50
+f 58 50 32
+f 58 32 40
+f 58 51 50
+f 58 40 51
+f 59 41 42
+f 59 42 8
+f 60 43 53
+f 60 53 29
+f 60 29 8
+f 61 59 52
+f 61 52 41
+f 61 41 59
+f 62 59 8
+f 62 8 20
+f 62 20 52
+f 62 52 59
+f 63 54 43
+f 63 43 60
+f 63 42 54
+f 63 60 8
+f 63 8 42
\ No newline at end of file
diff --git a/apple/apple_20/collision/model_normalized_collision_16.obj b/apple/apple_20/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d30bebcc9f3f73814a22f13abca2b7d0dc913d9
--- /dev/null
+++ b/apple/apple_20/collision/model_normalized_collision_16.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v 0.11113641 -0.38197317 -0.22994400
+v 0.25415192 -0.02127108 -0.38653242
+v 0.20710441 0.16761918 -0.23484848
+v -0.18683498 0.16761918 -0.23484848
+v -0.18330987 -0.30851141 -0.35194719
+v 0.22007279 0.17657009 -0.36764910
+v 0.15472432 -0.36275783 -0.22813435
+v 0.13396466 -0.30455984 -0.34489009
+v -0.18258863 -0.35200225 -0.23112921
+v -0.18683498 0.16761918 -0.35606061
+v 0.19195290 -0.21116870 -0.23484848
+v 0.07831633 -0.33093609 -0.34560064
+v 0.19595834 -0.21336815 -0.35903656
+v -0.01758398 -0.37364143 -0.27261191
+v -0.15132075 -0.36472671 -0.23028413
+v 0.20710441 -0.01419900 -0.23484848
+v 0.15286631 -0.34266456 -0.26947290
+v 0.06728093 -0.34499056 -0.33129394
+v -0.09271587 -0.37804564 -0.22974999
+v -0.17929211 -0.32809952 -0.30400351
+v 0.13697035 -0.31487832 -0.32955271
+v 0.15252523 -0.35797023 -0.24115391
+v 0.03911685 -0.37457902 -0.27183156
+v 0.09348707 -0.37620597 -0.25623565
+v -0.06361886 -0.34377046 -0.33340328
+v -0.15298880 -0.32756604 -0.33302237
+v 0.14946763 -0.28949895 -0.34471198
+v 0.09248365 -0.34370017 -0.31454529
+v -0.12259500 -0.32705456 -0.34797185
+v -0.06330858 -0.37357235 -0.25770446
+v -0.14976277 -0.36057588 -0.24398393
+v 0.14756719 -0.31784835 -0.31365534
+v -0.16548027 -0.31608588 -0.35004198
+v -0.10705609 -0.34225757 -0.31848538
+v -0.09166571 -0.37366019 -0.24290711
+f 6 3 2
+f 6 4 3
+f 7 3 4
+f 9 4 5
+f 10 5 4
+f 10 4 6
+f 10 6 2
+f 10 2 5
+f 11 7 2
+f 12 5 2
+f 13 2 7
+f 13 12 2
+f 13 8 12
+f 15 4 9
+f 16 11 2
+f 16 2 3
+f 16 3 7
+f 16 7 11
+f 17 13 7
+f 19 1 7
+f 19 7 4
+f 19 4 15
+f 19 14 1
+f 20 15 9
+f 20 9 5
+f 21 12 8
+f 21 18 12
+f 22 17 7
+f 22 7 1
+f 23 1 14
+f 24 23 18
+f 24 1 23
+f 24 22 1
+f 24 17 22
+f 25 12 18
+f 25 23 14
+f 25 18 23
+f 26 20 5
+f 27 21 8
+f 27 8 13
+f 28 21 17
+f 28 18 21
+f 28 24 18
+f 28 17 24
+f 29 5 12
+f 29 12 25
+f 30 25 14
+f 30 14 19
+f 31 15 20
+f 31 20 26
+f 31 19 15
+f 32 27 13
+f 32 13 17
+f 32 17 21
+f 32 21 27
+f 33 29 26
+f 33 26 5
+f 33 5 29
+f 34 29 25
+f 34 26 29
+f 34 25 30
+f 35 31 26
+f 35 19 31
+f 35 26 34
+f 35 34 30
+f 35 30 19
\ No newline at end of file
diff --git a/apple/apple_20/collision/model_normalized_collision_17.obj b/apple/apple_20/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ed9f36528d892d8a5ab83d145d526cde61a460d
--- /dev/null
+++ b/apple/apple_20/collision/model_normalized_collision_17.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v -0.36717240 0.07970908 0.21380288
+v -0.30804711 0.07671009 -0.15909091
+v -0.35210436 0.08672103 0.23387506
+v -0.32423070 0.19130718 0.21512884
+v -0.41074596 0.11634556 -0.08017981
+v -0.34145281 0.17654751 0.19868031
+v -0.41301985 0.07285326 -0.12476514
+v -0.34425066 0.20406355 -0.17103623
+v -0.41233121 0.13103016 0.04999115
+v -0.41241659 0.07323546 0.10802732
+v -0.38066109 0.08778257 -0.22923684
+v -0.39503254 0.15935629 -0.06460769
+v -0.38009195 0.17315285 0.10726920
+v -0.39751491 0.07268992 -0.18431221
+v -0.37927841 0.15924203 -0.13871965
+v -0.34662656 0.16366593 -0.23231524
+v -0.40989940 0.12841351 -0.05083799
+v -0.39584439 0.15864305 0.06463964
+v -0.38063377 0.17486461 -0.10862938
+v -0.39546063 0.14296053 0.10734250
+v -0.38361455 0.07328955 -0.23014275
+v -0.39465787 0.11377207 -0.15377583
+v -0.34449247 0.17759032 -0.21637738
+v -0.40970671 0.08782793 0.10712486
+v -0.37790019 0.08214993 -0.24233223
+v -0.39430587 0.08733064 -0.18367928
+v -0.40980052 0.08724019 -0.12396767
+v -0.36325242 0.14364296 -0.21268650
+v -0.36517132 0.17149345 -0.16763022
+v -0.36422943 0.12901846 -0.22831507
+v -0.34931157 0.17164907 -0.21257022
+v -0.35144566 0.15772468 -0.22850807
+f 1 2 3
+f 3 2 4
+f 6 1 3
+f 6 3 4
+f 8 4 2
+f 9 5 7
+f 10 2 1
+f 10 9 7
+f 13 6 4
+f 13 4 8
+f 14 10 7
+f 14 2 10
+f 17 12 5
+f 17 5 9
+f 17 9 12
+f 18 12 9
+f 19 13 8
+f 19 18 13
+f 19 12 18
+f 19 5 12
+f 20 1 6
+f 20 6 13
+f 20 18 9
+f 20 13 18
+f 21 14 11
+f 21 2 14
+f 22 19 15
+f 22 5 19
+f 23 8 2
+f 23 2 16
+f 24 20 9
+f 24 9 10
+f 24 10 1
+f 24 1 20
+f 25 16 2
+f 25 2 21
+f 25 21 11
+f 26 14 7
+f 26 22 11
+f 26 11 14
+f 27 7 5
+f 27 5 22
+f 27 26 7
+f 27 22 26
+f 29 19 8
+f 29 8 23
+f 29 15 19
+f 29 28 22
+f 29 22 15
+f 30 11 22
+f 30 22 28
+f 30 25 11
+f 31 29 23
+f 31 23 16
+f 32 28 29
+f 32 30 28
+f 32 16 25
+f 32 25 30
+f 32 31 16
+f 32 29 31
\ No newline at end of file
diff --git a/apple/apple_20/collision/model_normalized_collision_18.obj b/apple/apple_20/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43e042677d575714d984fe83e9a04f9f1e955eee
--- /dev/null
+++ b/apple/apple_20/collision/model_normalized_collision_18.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v 0.12783123 -0.40912907 0.08061518
+v 0.25583312 -0.25393741 -0.24677034
+v 0.22721195 -0.37514764 0.05111048
+v 0.18948582 -0.23977238 0.30680608
+v 0.13134684 -0.24147173 -0.23484848
+v 0.22939239 -0.23548432 0.28286010
+v 0.12950171 -0.40838225 -0.14053813
+v 0.14664225 -0.25866917 0.31658411
+v 0.22601439 -0.35919585 0.12373599
+v 0.20069874 -0.23705942 0.30073952
+v 0.22226453 -0.36209708 -0.13800469
+v 0.17254748 -0.40425923 0.04979540
+v 0.13823176 -0.36322432 -0.24333761
+v 0.12530491 -0.34930850 0.24039062
+v 0.22764082 -0.37430999 -0.08137232
+v 0.19509829 -0.37416989 0.13843980
+v 0.19855382 -0.37374293 -0.15224569
+v 0.12884098 -0.32366408 0.27386193
+v 0.16753399 -0.40446321 -0.08088196
+v 0.18603950 -0.38839627 0.10708078
+v 0.19601178 -0.33041003 0.22285164
+v 0.16768460 -0.38762017 -0.15179242
+v 0.21326587 -0.37362238 -0.12452398
+v 0.19647982 -0.33638850 -0.22734390
+v 0.18614473 -0.26466232 0.29708983
+v 0.14258063 -0.40576321 0.08035409
+v 0.19644175 -0.38948175 0.08132554
+v 0.12659576 -0.37897550 0.18306560
+v 0.22348989 -0.33002986 0.19226136
+v 0.18430309 -0.31457468 0.25270700
+v 0.13826939 -0.40570612 -0.13801652
+v 0.22186311 -0.31549735 -0.22311003
+v 0.19490271 -0.26169053 0.29348748
+v 0.12773809 -0.39455127 0.13983125
+v 0.16822609 -0.34370026 0.22120993
+v 0.20977831 -0.35948406 0.15073141
+v 0.15425766 -0.31741792 0.26710810
+v 0.22620576 -0.24767123 0.27943396
+v 0.18219286 -0.38818064 -0.12479332
+v 0.18368222 -0.30344153 0.26400071
+v 0.14165030 -0.39125384 0.13851603
+v 0.14042647 -0.37508029 0.18130630
+v 0.16984717 -0.37247822 0.16497954
+v 0.17076496 -0.38798555 0.12209591
+f 6 2 5
+f 8 4 5
+f 9 3 2
+f 9 2 6
+f 10 6 5
+f 10 5 4
+f 10 4 6
+f 13 7 5
+f 13 5 2
+f 14 7 1
+f 14 5 7
+f 15 11 2
+f 15 2 3
+f 15 3 12
+f 18 8 5
+f 18 5 14
+f 19 15 12
+f 19 12 1
+f 19 1 7
+f 22 13 17
+f 23 17 11
+f 23 11 15
+f 23 15 19
+f 24 17 13
+f 24 13 2
+f 24 11 17
+f 25 4 8
+f 25 8 18
+f 26 1 12
+f 26 12 20
+f 27 20 12
+f 27 12 3
+f 27 3 9
+f 27 9 16
+f 27 16 20
+f 28 14 1
+f 29 9 6
+f 30 14 21
+f 31 22 17
+f 31 7 13
+f 31 13 22
+f 31 17 23
+f 31 19 7
+f 32 24 2
+f 32 2 11
+f 32 11 24
+f 33 6 4
+f 33 4 25
+f 34 26 20
+f 34 1 26
+f 34 28 1
+f 35 21 14
+f 36 29 21
+f 36 21 16
+f 36 16 9
+f 36 9 29
+f 37 25 18
+f 37 18 14
+f 37 14 30
+f 38 29 6
+f 38 6 33
+f 38 30 21
+f 38 21 29
+f 39 31 23
+f 39 23 19
+f 39 19 31
+f 40 33 25
+f 40 38 33
+f 40 30 38
+f 40 37 30
+f 40 25 37
+f 41 34 20
+f 41 28 34
+f 42 35 14
+f 42 14 28
+f 43 16 21
+f 43 21 35
+f 43 35 42
+f 43 42 28
+f 43 28 41
+f 44 41 20
+f 44 20 16
+f 44 43 41
+f 44 16 43
\ No newline at end of file
diff --git a/apple/apple_20/collision/model_normalized_collision_19.obj b/apple/apple_20/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d6e1002ea4c4dd10ba5f38513ff808e1c430b96
--- /dev/null
+++ b/apple/apple_20/collision/model_normalized_collision_19.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.22943785 0.09435245 0.49996379
+v 0.23521605 0.09754033 0.47015088
+v 0.22790578 0.12263843 0.47921438
+v 0.20513867 0.12212774 0.48321994
+v 0.07252556 0.04165828 0.26074488
+v 0.22523726 0.11217453 0.49410606
+v 0.23498599 0.10407972 0.48734469
+v 0.08932294 0.04346684 0.26519800
+v 0.09850614 0.06262737 0.32828733
+v 0.08523160 0.09524956 0.26299520
+v 0.21205609 0.11146685 0.49537024
+v 0.23575781 0.09713825 0.48868319
+v 0.23550074 0.10970770 0.46727216
+v 0.09262569 0.04866001 0.29334571
+v 0.22362891 0.12845774 0.46387382
+v 0.06849951 0.09467523 0.27840375
+v 0.17711462 0.09958110 0.44930058
+v 0.08065325 0.04967614 0.28602840
+v 0.07191426 0.09016111 0.26618155
+v 0.18629575 0.09093329 0.45192324
+v 0.21910176 0.10198629 0.49628332
+v 0.13396878 0.08964689 0.39035501
+v 0.08532675 0.05511428 0.30157027
+v 0.13403786 0.08401135 0.38748491
+v 0.08627418 0.06718979 0.30695465
+f 6 3 4
+f 7 6 1
+f 7 3 6
+f 10 8 5
+f 11 6 4
+f 11 1 6
+f 12 7 1
+f 12 8 2
+f 12 1 8
+f 13 3 7
+f 13 2 8
+f 13 8 10
+f 13 12 2
+f 13 7 12
+f 14 8 1
+f 14 5 8
+f 14 1 9
+f 15 4 3
+f 15 13 10
+f 15 3 13
+f 16 15 10
+f 16 4 15
+f 17 11 4
+f 18 5 14
+f 19 16 10
+f 19 10 5
+f 19 5 16
+f 20 9 1
+f 21 1 11
+f 21 11 17
+f 21 20 1
+f 21 17 20
+f 22 16 9
+f 22 17 4
+f 22 4 16
+f 23 16 5
+f 23 5 18
+f 23 18 14
+f 23 14 9
+f 24 20 17
+f 24 9 20
+f 24 22 9
+f 24 17 22
+f 25 23 9
+f 25 9 16
+f 25 16 23
\ No newline at end of file
diff --git a/apple/apple_20/collision/model_normalized_collision_2.obj b/apple/apple_20/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63ccc443f742be2eca59f7be24da37af8d668734
--- /dev/null
+++ b/apple/apple_20/collision/model_normalized_collision_2.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.18448878 0.29520221 0.23858890
+v 0.22041400 0.30134088 -0.23311298
+v 0.15280878 0.40682738 0.02151960
+v -0.09339727 0.40735383 0.12366441
+v -0.29647641 0.26445136 -0.18527947
+v 0.09481074 0.39107956 0.16759367
+v 0.21346957 0.37663282 0.03666885
+v 0.21733454 0.29707520 0.21384822
+v -0.21407923 0.31765793 0.21399258
+v -0.07939614 0.37714423 -0.22683057
+v 0.00910374 0.42342885 0.09625157
+v 0.19544637 0.36266747 -0.15129498
+v 0.16659189 0.39046514 0.09430346
+v 0.15287811 0.34716812 0.20490586
+v 0.05224044 0.29739601 0.29835027
+v -0.19102579 0.37733329 0.09358772
+v -0.22085066 0.29905696 -0.24661536
+v -0.06434566 0.39162021 0.18210515
+v -0.06123412 0.42347943 -0.08151838
+v 0.20976957 0.37726515 -0.06413455
+v 0.08383619 0.37575110 -0.22525732
+v 0.14230364 0.40668058 0.06601274
+v 0.21094476 0.34702392 0.14900968
+v 0.18013202 0.31769415 0.22080011
+v 0.00928774 0.30221512 0.30749683
+v 0.15653950 0.29569218 0.25459812
+v -0.16178709 0.37591549 0.15200941
+v -0.30268374 0.26936035 -0.15711819
+v -0.27297047 0.26751426 -0.23179957
+v -0.03304323 0.40618472 0.15379265
+v -0.06247563 0.42321929 0.06469559
+v -0.17691070 0.37544367 -0.12225442
+v 0.08289581 0.42260517 -0.05166328
+v 0.20973634 0.34625425 -0.16587037
+v 0.18374530 0.39092020 -0.05045405
+v 0.12418023 0.36126355 -0.22464389
+v 0.05321958 0.40606518 -0.15319166
+v 0.18294403 0.39132729 0.03664819
+v 0.09559806 0.40551281 0.12469761
+v 0.21228671 0.36209003 0.10751168
+v 0.18065186 0.37495471 0.12200691
+v 0.18063928 0.30586295 0.23287774
+v 0.19510577 0.33264081 0.19043192
+v -0.14810667 0.36327176 0.19562553
+v 0.00939789 0.36552954 0.23869252
+v 0.06420394 0.33587783 0.26328524
+v -0.19302326 0.34766318 0.18201744
+v -0.16484048 0.39148644 0.07943653
+v -0.29584339 0.27900292 -0.15460223
+v -0.28299755 0.26570885 -0.21514435
+v -0.03207009 0.42266145 0.09488507
+v -0.09135885 0.39318054 0.16605443
+v 0.03806572 0.40588576 0.15130467
+v -0.07464659 0.40800608 -0.13936144
+v -0.16022360 0.34507042 -0.22574200
+v -0.24841108 0.31636854 -0.16705671
+v 0.03793065 0.42296401 -0.09534186
+v 0.08177306 0.42216523 0.05090026
+v 0.20968687 0.36191823 -0.12332301
+v 0.15322953 0.40668075 -0.00719634
+v 0.11024034 0.40764944 -0.12501008
+v 0.20939661 0.31584130 -0.22273215
+v 0.05336921 0.39052238 -0.19746847
+v 0.12365346 0.37572581 0.17755807
+f 8 5 2
+f 8 1 5
+f 8 2 7
+f 20 7 2
+f 21 17 10
+f 21 2 17
+f 22 13 7
+f 25 5 15
+f 26 15 5
+f 26 5 1
+f 28 25 9
+f 28 5 25
+f 29 17 2
+f 31 11 19
+f 35 7 20
+f 36 2 21
+f 38 22 7
+f 38 7 3
+f 38 3 22
+f 39 6 13
+f 39 13 22
+f 40 23 8
+f 40 8 7
+f 40 7 13
+f 41 13 6
+f 41 40 13
+f 41 23 40
+f 42 1 8
+f 42 8 24
+f 42 26 1
+f 42 24 14
+f 43 23 14
+f 43 14 24
+f 43 24 8
+f 43 8 23
+f 44 9 25
+f 45 44 25
+f 45 18 44
+f 45 30 18
+f 46 15 26
+f 46 6 45
+f 46 45 25
+f 46 25 15
+f 46 42 14
+f 46 26 42
+f 47 27 16
+f 47 16 9
+f 47 44 27
+f 47 9 44
+f 48 27 4
+f 48 16 27
+f 48 4 31
+f 48 31 19
+f 48 32 16
+f 48 19 32
+f 49 28 9
+f 49 9 16
+f 49 5 28
+f 50 29 2
+f 50 2 5
+f 50 5 49
+f 51 30 11
+f 51 4 30
+f 51 31 4
+f 51 11 31
+f 52 30 4
+f 52 18 30
+f 52 44 18
+f 52 4 27
+f 52 27 44
+f 53 11 30
+f 53 39 11
+f 53 6 39
+f 53 45 6
+f 53 30 45
+f 54 32 19
+f 54 10 32
+f 55 32 10
+f 55 10 17
+f 56 17 29
+f 56 50 49
+f 56 29 50
+f 56 49 16
+f 56 16 32
+f 56 55 17
+f 56 32 55
+f 57 19 11
+f 57 11 33
+f 57 54 19
+f 57 37 54
+f 58 22 3
+f 58 3 33
+f 58 33 11
+f 58 39 22
+f 58 11 39
+f 59 20 2
+f 59 2 34
+f 59 34 12
+f 59 12 20
+f 60 3 7
+f 60 7 35
+f 60 33 3
+f 61 35 20
+f 61 20 12
+f 61 60 35
+f 61 33 60
+f 61 36 21
+f 61 12 36
+f 61 57 33
+f 61 37 57
+f 62 34 2
+f 62 2 36
+f 62 36 12
+f 62 12 34
+f 63 21 10
+f 63 54 37
+f 63 10 54
+f 63 61 21
+f 63 37 61
+f 64 41 6
+f 64 14 23
+f 64 23 41
+f 64 46 14
+f 64 6 46
\ No newline at end of file
diff --git a/apple/apple_20/collision/model_normalized_collision_20.obj b/apple/apple_20/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7922abde9c252f9c5422bbedc86c693560fa9130
--- /dev/null
+++ b/apple/apple_20/collision/model_normalized_collision_20.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.23740744 -0.24147173 0.00757576
+v 0.25583312 -0.25393741 -0.24677034
+v 0.25578312 0.34982185 0.00876111
+v -0.20198650 0.30398282 0.00757576
+v -0.20198650 -0.24147173 -0.23484848
+v -0.20198650 -0.24147173 0.00757576
+v 0.27326055 0.22344035 -0.26052615
+v -0.20644604 0.31187773 -0.23885322
+v 0.22041400 0.30134088 -0.23311298
+f 6 1 3
+f 6 3 4
+f 6 5 2
+f 6 2 1
+f 7 1 2
+f 7 3 1
+f 7 2 5
+f 8 6 4
+f 8 5 6
+f 8 7 5
+f 8 4 3
+f 9 8 3
+f 9 3 7
+f 9 7 8
\ No newline at end of file
diff --git a/apple/apple_20/collision/model_normalized_collision_21.obj b/apple/apple_20/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b608ebff94c07427131bda64a46b9c99bd189db5
--- /dev/null
+++ b/apple/apple_20/collision/model_normalized_collision_21.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.01013471 -0.24147173 0.21969697
+v 0.01013471 -0.24147173 0.00757576
+v 0.01013471 0.30398282 0.00757576
+v -0.21407923 0.31765793 0.21399258
+v -0.23297051 -0.27970028 0.25034608
+v -0.20198650 -0.24147173 0.00757576
+v 0.01013471 0.30398282 0.20454546
+v -0.20198650 0.30398282 0.00757576
+v 0.01013471 0.19792221 0.21969697
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 6 2 5
+f 7 1 3
+f 7 3 4
+f 8 4 3
+f 8 3 6
+f 8 6 5
+f 8 5 4
+f 9 5 1
+f 9 1 7
+f 9 7 4
+f 9 4 5
\ No newline at end of file
diff --git a/apple/apple_20/collision/model_normalized_collision_22.obj b/apple/apple_20/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4f4ce055563915c9c3829e1b1c140f8f9e25aa5
--- /dev/null
+++ b/apple/apple_20/collision/model_normalized_collision_22.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.22929223 -0.36511653 0.09476755
+v 0.36150993 -0.20453509 -0.09471141
+v 0.36034489 -0.20398331 0.12495706
+v 0.23391976 -0.20938803 0.29107980
+v 0.23569075 -0.21014028 -0.30921683
+v 0.25332619 -0.28488961 0.22266923
+v 0.31120202 -0.30475171 0.00755289
+v 0.22736219 -0.25051478 -0.28865462
+v 0.26831290 -0.20448667 -0.26952536
+v 0.26556148 -0.33267918 0.12150014
+v 0.31643148 -0.20475579 0.21051620
+v 0.22822945 -0.29300032 0.23912262
+v 0.37712648 -0.20475282 0.03648108
+v 0.23118335 -0.22259152 -0.30556923
+v 0.22977080 -0.37002074 -0.09675397
+v 0.29931931 -0.20414072 -0.22546504
+v 0.24218686 -0.20681047 -0.30280476
+v 0.30947430 -0.25987747 0.16456432
+v 0.31148457 -0.28659635 0.10690715
+v 0.25443074 -0.36115268 0.03660413
+v 0.23826589 -0.23417429 0.27752613
+v 0.24372503 -0.20665847 0.28437377
+v 0.25442510 -0.31567337 0.17766783
+v 0.22784743 -0.30684571 -0.22762915
+v 0.22939239 -0.23548432 0.28286010
+v 0.34045247 -0.25802003 -0.04993131
+v 0.37725368 -0.20471934 0.00806267
+v 0.26435839 -0.21782197 -0.26659594
+v 0.29687207 -0.24366437 0.20818909
+v 0.35441668 -0.21596218 0.12326559
+v 0.34142141 -0.25973152 0.05028482
+v 0.24072324 -0.35847162 0.09323667
+v 0.26736305 -0.34731075 0.05240919
+v 0.25216316 -0.36195452 -0.02098997
+v 0.25090523 -0.27524187 0.23488407
+v 0.28201998 -0.22996415 0.23561228
+v 0.22915987 -0.32200881 0.19726587
+v 0.26563763 -0.30311353 0.17871653
+v 0.22971490 -0.35137014 0.13878570
+v 0.32572364 -0.24450751 -0.13596348
+v 0.28245099 -0.31576857 -0.10950264
+v 0.35492978 -0.23134966 -0.06479936
+v 0.37072473 -0.21662383 0.00793739
+v 0.23881091 -0.21808412 -0.29948049
+v 0.27969595 -0.24370236 -0.22210014
+v 0.31210093 -0.21757064 0.20717100
+v 0.35572716 -0.22926937 0.09267742
+v 0.29784798 -0.31718815 0.03726496
+v 0.23889717 -0.28852083 0.23385979
+v 0.25454937 -0.32883708 0.15021423
+v 0.24067155 -0.34520059 0.13597531
+v 0.34614872 -0.20446750 -0.13849639
+v 0.31062213 -0.30422004 -0.02010385
+v 0.33980119 -0.24598593 -0.09282838
+v 0.22931414 -0.35427234 -0.14076752
+v 0.28070411 -0.28964249 -0.16445065
+v 0.29760839 -0.31618495 -0.03590580
+v 0.37083509 -0.21648246 0.03573562
+v 0.23748928 -0.30086138 -0.22346847
+v 0.29458235 -0.21717709 -0.22282461
+v 0.33904358 -0.23097388 -0.12214194
+v 0.31073976 -0.27379234 -0.12079426
+v 0.26672319 -0.33099778 -0.10990213
+v 0.29479224 -0.25857551 -0.17900061
+f 14 4 5
+f 16 3 2
+f 16 11 3
+f 16 9 11
+f 17 5 4
+f 19 18 10
+f 20 1 15
+f 22 11 9
+f 22 4 21
+f 22 17 4
+f 22 9 17
+f 24 12 8
+f 24 1 12
+f 24 15 1
+f 25 8 12
+f 25 14 8
+f 25 4 14
+f 25 21 4
+f 25 12 21
+f 27 2 3
+f 27 3 13
+f 28 9 16
+f 28 17 9
+f 28 5 17
+f 30 3 18
+f 30 18 19
+f 32 20 10
+f 32 1 20
+f 33 19 10
+f 33 10 20
+f 34 20 15
+f 34 7 20
+f 35 21 12
+f 35 6 29
+f 36 22 21
+f 36 11 22
+f 36 35 29
+f 36 21 35
+f 37 12 1
+f 38 6 23
+f 38 29 6
+f 38 18 29
+f 38 23 10
+f 38 10 18
+f 39 1 32
+f 39 37 1
+f 39 23 37
+f 42 2 27
+f 43 42 27
+f 43 26 42
+f 44 28 8
+f 44 8 14
+f 44 14 5
+f 44 5 28
+f 45 8 28
+f 46 29 18
+f 46 18 3
+f 46 3 11
+f 46 36 29
+f 46 11 36
+f 47 13 3
+f 47 3 30
+f 47 30 19
+f 47 19 31
+f 48 31 19
+f 48 7 31
+f 48 19 33
+f 48 33 20
+f 48 20 7
+f 49 35 12
+f 49 6 35
+f 49 12 37
+f 49 37 23
+f 49 23 6
+f 50 10 23
+f 50 23 39
+f 51 39 32
+f 51 32 10
+f 51 50 39
+f 51 10 50
+f 52 16 2
+f 53 41 26
+f 53 7 34
+f 53 43 7
+f 53 26 43
+f 54 26 41
+f 54 42 26
+f 54 2 42
+f 55 15 24
+f 56 41 55
+f 57 34 15
+f 57 15 41
+f 57 53 34
+f 57 41 53
+f 58 31 7
+f 58 7 43
+f 58 47 31
+f 58 13 47
+f 58 43 27
+f 58 27 13
+f 59 24 8
+f 59 8 45
+f 59 56 55
+f 59 55 24
+f 60 45 28
+f 60 28 16
+f 60 16 52
+f 60 52 40
+f 61 52 2
+f 61 40 52
+f 61 54 40
+f 61 2 54
+f 62 54 41
+f 62 40 54
+f 62 56 40
+f 62 41 56
+f 63 55 41
+f 63 41 15
+f 63 15 55
+f 64 40 56
+f 64 60 40
+f 64 45 60
+f 64 59 45
+f 64 56 59
\ No newline at end of file
diff --git a/apple/apple_20/collision/model_normalized_collision_23.obj b/apple/apple_20/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..feecbdde3905960a0bf34561e9d4ec9058ce3b21
--- /dev/null
+++ b/apple/apple_20/collision/model_normalized_collision_23.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v 0.12985725 -0.41489906 -0.09754483
+v 0.23373803 -0.34355355 -0.15687158
+v 0.13134684 -0.34753234 -0.09848485
+v -0.23549254 -0.36704739 -0.09960413
+v -0.01803088 -0.38950490 -0.22857602
+v -0.20058922 -0.34398220 -0.23362765
+v -0.22409011 -0.37595114 -0.09670661
+v 0.12401959 -0.37703482 -0.22774491
+v 0.23013237 -0.33964390 -0.16984234
+v -0.22846733 -0.35729243 -0.15733019
+v -0.03442758 -0.42367401 -0.09555730
+v 0.21141427 -0.36638193 -0.15288714
+v 0.06900233 -0.40421462 -0.18324211
+v 0.18715794 -0.34250304 -0.23146161
+v -0.22444311 -0.37292046 -0.10832760
+v 0.08349623 -0.42266364 -0.09635467
+v -0.13771845 -0.38886302 -0.16887543
+v 0.22715173 -0.35164212 -0.15326021
+v 0.12683020 -0.40556978 -0.15431438
+v 0.19265047 -0.36082304 -0.19594144
+v 0.06936082 -0.38976127 -0.22745603
+v -0.00316612 -0.40525995 -0.18415350
+v 0.21387109 -0.33867435 -0.19974751
+v -0.22552548 -0.36029555 -0.15444837
+v -0.10726584 -0.37524571 -0.22879455
+v -0.12396404 -0.40973833 -0.09597344
+v -0.16405532 -0.38783780 -0.13869641
+v 0.06854273 -0.41960667 -0.12437382
+v 0.08319789 -0.42069914 -0.11124096
+v 0.18104340 -0.35124118 -0.22714266
+v 0.10839714 -0.39116106 -0.21213684
+v -0.06338098 -0.38933257 -0.21328828
+v -0.16460050 -0.36001833 -0.22864470
+v -0.21332178 -0.37769864 -0.10627583
+v -0.19415811 -0.37247654 -0.15366020
+v -0.12269400 -0.40430979 -0.12357709
+v 0.01105980 -0.42047220 -0.12537879
+v 0.16816733 -0.35800784 -0.22564128
+v -0.09201905 -0.38861780 -0.19817941
+v -0.20917040 -0.35753669 -0.18281029
+v -0.13732122 -0.37409300 -0.21324968
+v -0.03425357 -0.42079402 -0.11013788
+v -0.07726399 -0.40444153 -0.15391629
+v -0.04859612 -0.40502082 -0.16893248
+f 1 2 3
+f 7 3 4
+f 9 6 3
+f 9 3 2
+f 10 4 3
+f 10 3 6
+f 11 3 7
+f 14 5 6
+f 15 7 4
+f 16 1 3
+f 16 3 11
+f 18 2 1
+f 18 1 12
+f 19 12 1
+f 20 18 12
+f 20 2 18
+f 20 12 19
+f 21 14 8
+f 21 5 14
+f 22 21 13
+f 22 5 21
+f 23 14 6
+f 23 6 9
+f 23 9 2
+f 23 2 20
+f 24 15 4
+f 24 4 10
+f 24 10 6
+f 25 6 5
+f 26 11 7
+f 28 13 19
+f 29 19 1
+f 29 1 16
+f 29 28 19
+f 29 16 28
+f 30 8 14
+f 30 23 20
+f 30 14 23
+f 31 20 19
+f 31 8 20
+f 31 21 8
+f 31 19 13
+f 31 13 21
+f 32 5 22
+f 32 25 5
+f 33 6 25
+f 34 7 15
+f 34 27 26
+f 34 26 7
+f 35 17 27
+f 35 33 17
+f 35 24 33
+f 35 27 34
+f 35 34 15
+f 35 15 24
+f 36 27 17
+f 36 26 27
+f 37 22 13
+f 37 13 28
+f 37 28 16
+f 37 16 11
+f 38 30 20
+f 38 20 8
+f 38 8 30
+f 39 17 25
+f 39 25 32
+f 40 33 24
+f 40 24 6
+f 40 6 33
+f 41 33 25
+f 41 25 17
+f 41 17 33
+f 42 11 26
+f 42 26 36
+f 42 37 11
+f 42 22 37
+f 43 36 17
+f 43 17 39
+f 43 39 32
+f 43 42 36
+f 44 43 32
+f 44 32 22
+f 44 22 42
+f 44 42 43
\ No newline at end of file
diff --git a/apple/apple_20/collision/model_normalized_collision_24.obj b/apple/apple_20/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..763126fd35030e2a283e6377a5a0e886bacd5af7
--- /dev/null
+++ b/apple/apple_20/collision/model_normalized_collision_24.obj
@@ -0,0 +1,186 @@
+# https://github.com/mikedh/trimesh
+v 0.34892879 0.18928254 0.16557696
+v 0.39105538 0.19250330 -0.03565092
+v 0.32733399 0.27430008 0.07828413
+v 0.21588698 0.36760092 0.08087958
+v 0.22225593 0.19792221 -0.23484848
+v 0.26989359 0.33133094 -0.07869779
+v 0.22735832 0.31901246 0.17923151
+v 0.39245242 0.19040803 0.05159727
+v 0.35574331 0.24653032 -0.03577929
+v 0.25453467 0.34737275 0.05001107
+v 0.21490531 0.30859109 -0.22792257
+v 0.31112074 0.27438733 0.11911429
+v 0.22255435 0.19807618 0.26570837
+v 0.37197391 0.20237141 0.10876289
+v 0.33024032 0.18891179 -0.21173374
+v 0.38574908 0.20123662 -0.03479412
+v 0.35598504 0.24667555 0.05004958
+v 0.21508864 0.36962247 -0.08101016
+v 0.34089420 0.26185976 -0.06389164
+v 0.34067155 0.22864124 0.13474519
+v 0.29800226 0.30189225 0.09260155
+v 0.22419555 0.26370271 0.23556328
+v 0.21571378 0.23903208 0.25494977
+v 0.37843225 0.19129804 0.11061994
+v 0.34226399 0.24510017 0.10525792
+v 0.34573165 0.18923774 -0.18303973
+v 0.31839043 0.19116079 -0.22887287
+v 0.27307338 0.19127497 0.23647749
+v 0.38561730 0.20114019 0.05075446
+v 0.37111222 0.21635630 0.08034853
+v 0.25490055 0.34713537 -0.05035339
+v 0.22786967 0.36156100 0.07965873
+v 0.25484109 0.31590954 -0.16486389
+v 0.37077979 0.21650584 -0.06512783
+v 0.26605902 0.28947540 0.16310197
+v 0.26802256 0.31682577 0.12198425
+v 0.25123786 0.24709576 0.22174163
+v 0.21427099 0.35343743 -0.14014290
+v 0.21570852 0.32417770 0.18298844
+v 0.24613004 0.19412685 0.25435164
+v 0.22687986 0.23640958 0.24890608
+v 0.32598107 0.25892062 -0.12242229
+v 0.28094271 0.25825564 -0.20909295
+v 0.37485340 0.19191755 -0.10981023
+v 0.23677103 0.31969828 0.16558847
+v 0.23772997 0.34669457 0.10767645
+v 0.27001985 0.20435289 0.23225917
+v 0.23978509 0.30381396 -0.20878931
+v 0.23895798 0.34566034 -0.10864329
+v 0.21587478 0.26619441 0.24034263
+v 0.32661591 0.27325148 -0.07914788
+v 0.29458205 0.23071848 -0.22366135
+v 0.30922051 0.24566049 -0.17997890
+v 0.32415392 0.24547838 -0.14965845
+v 0.33996979 0.24601274 -0.10713733
+v 0.22796250 0.34786674 0.12298529
+v 0.23800505 0.24753775 0.23409684
+v 0.26578086 0.30377001 -0.16523812
+v 0.25436424 0.33051320 -0.12298511
+v 0.22621623 0.30308240 -0.22430388
+v 0.32458944 0.20021407 -0.20833186
+v 0.36974548 0.20055534 -0.10825339
+v 0.21616899 0.35381203 0.12504831
+f 16 8 2
+f 17 16 9
+f 17 10 3
+f 19 17 9
+f 19 10 17
+f 21 3 10
+f 23 11 5
+f 23 5 13
+f 24 1 8
+f 24 20 1
+f 24 14 20
+f 25 20 14
+f 25 12 20
+f 25 21 12
+f 25 3 21
+f 26 2 8
+f 26 8 1
+f 26 1 15
+f 27 15 5
+f 27 5 11
+f 28 5 15
+f 28 15 1
+f 29 8 16
+f 29 16 17
+f 30 29 17
+f 30 8 29
+f 30 24 8
+f 30 14 24
+f 30 25 14
+f 30 17 3
+f 30 3 25
+f 31 18 10
+f 31 6 18
+f 31 19 6
+f 31 10 19
+f 32 18 4
+f 32 10 18
+f 32 21 10
+f 34 19 9
+f 34 9 16
+f 34 16 2
+f 35 20 12
+f 35 7 1
+f 35 1 20
+f 36 12 21
+f 37 1 7
+f 37 7 22
+f 38 11 23
+f 38 4 18
+f 39 38 23
+f 39 4 38
+f 40 13 5
+f 40 5 28
+f 40 23 13
+f 41 40 28
+f 41 23 40
+f 42 33 6
+f 44 34 2
+f 44 2 26
+f 45 35 12
+f 45 7 35
+f 45 12 36
+f 46 36 21
+f 46 21 32
+f 47 28 1
+f 47 1 37
+f 47 41 28
+f 48 38 33
+f 48 11 38
+f 49 38 18
+f 49 18 6
+f 50 39 23
+f 50 22 7
+f 50 7 39
+f 50 41 22
+f 50 23 41
+f 51 42 6
+f 51 6 19
+f 51 19 42
+f 52 27 11
+f 52 48 43
+f 52 15 27
+f 53 52 43
+f 54 44 26
+f 54 42 44
+f 54 53 42
+f 54 26 53
+f 55 42 19
+f 55 19 34
+f 56 45 36
+f 56 36 46
+f 56 7 45
+f 56 39 7
+f 56 46 32
+f 57 47 37
+f 57 37 22
+f 57 22 41
+f 57 41 47
+f 58 48 33
+f 58 43 48
+f 58 53 43
+f 58 33 42
+f 58 42 53
+f 59 49 6
+f 59 6 33
+f 59 33 38
+f 59 38 49
+f 60 52 11
+f 60 11 48
+f 60 48 52
+f 61 53 26
+f 61 26 15
+f 61 15 52
+f 61 52 53
+f 62 55 34
+f 62 34 44
+f 62 44 42
+f 62 42 55
+f 63 4 39
+f 63 39 56
+f 63 56 32
+f 63 32 4
\ No newline at end of file
diff --git a/apple/apple_20/collision/model_normalized_collision_25.obj b/apple/apple_20/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb884fe5462f464dcd89d2f11f8d0a37c5ba7416
--- /dev/null
+++ b/apple/apple_20/collision/model_normalized_collision_25.obj
@@ -0,0 +1,135 @@
+# https://github.com/mikedh/trimesh
+v 0.33352099 0.16337522 -0.22932710
+v 0.32779075 0.16123854 -0.24050928
+v 0.14162847 0.35232439 -0.22857575
+v -0.10581825 0.36623492 -0.22863061
+v -0.18683498 0.16761918 -0.23484848
+v -0.17906220 0.27522028 -0.34932158
+v 0.32918284 0.17667584 -0.22691910
+v 0.16496036 0.25684533 -0.34065932
+v 0.02226017 0.31504633 -0.34484369
+v -0.18341965 0.32846885 -0.23213452
+v 0.19808569 0.32134999 -0.22635085
+v -0.15054489 0.34921416 -0.22777001
+v 0.32398402 0.17473858 -0.23772132
+v -0.18683498 0.16761918 -0.35606061
+v -0.08926357 0.31508331 -0.34616748
+v 0.07937522 0.36138285 -0.25488793
+v 0.09702153 0.36928655 -0.22893092
+v 0.15015588 0.30197063 -0.29696282
+v -0.17549238 0.31487805 -0.27105811
+v 0.24538799 0.16254935 -0.34986340
+v 0.30023292 0.21941621 -0.22706323
+v -0.13456316 0.29948517 -0.34593738
+v -0.08838674 0.36020219 -0.25598524
+v 0.19560589 0.27150211 -0.29713492
+v 0.17970218 0.31625671 -0.25197686
+v 0.12338951 0.31532212 -0.29705785
+v -0.16154865 0.28623561 -0.34727369
+v -0.17625807 0.28543539 -0.33182738
+v 0.29829820 0.16182070 -0.28528436
+v 0.07829162 0.30176285 -0.34333017
+v -0.13399164 0.31411962 -0.31617669
+v -0.14855281 0.34409852 -0.24056631
+v 0.13552177 0.28734016 -0.32766438
+v 0.22167037 0.27427212 -0.26715114
+v 0.23585218 0.18611060 -0.34162248
+v 0.13961627 0.34670244 -0.23987509
+v 0.29550540 0.17045805 -0.28165718
+v 0.06377547 0.31786202 -0.32956758
+v 0.10801810 0.30046557 -0.32728051
+v 0.19446700 0.31615958 -0.23809275
+v 0.25048878 0.20089804 -0.31155440
+v 0.12341863 0.34512433 -0.25270227
+v 0.06835950 0.34562576 -0.28404900
+v 0.25170651 0.22843631 -0.28230558
+v 0.29551419 0.21570189 -0.23727091
+v 0.23637791 0.25870986 -0.26678010
+f 5 2 1
+f 7 5 1
+f 12 5 7
+f 12 10 5
+f 12 11 4
+f 12 7 11
+f 13 7 1
+f 13 1 2
+f 14 2 5
+f 14 10 6
+f 14 5 10
+f 15 14 6
+f 15 9 14
+f 16 9 15
+f 17 11 3
+f 17 4 11
+f 17 3 16
+f 19 10 12
+f 20 2 14
+f 20 14 9
+f 21 11 7
+f 21 7 13
+f 22 15 6
+f 23 16 15
+f 23 17 16
+f 23 4 17
+f 23 15 22
+f 25 24 18
+f 27 19 12
+f 27 22 6
+f 28 6 10
+f 28 10 19
+f 28 27 6
+f 28 19 27
+f 29 13 2
+f 29 2 20
+f 30 20 9
+f 30 8 20
+f 31 23 22
+f 32 12 4
+f 32 4 23
+f 32 23 31
+f 32 31 22
+f 32 27 12
+f 32 22 27
+f 33 24 8
+f 33 18 24
+f 33 8 30
+f 33 26 18
+f 34 11 21
+f 35 20 8
+f 35 8 24
+f 36 25 18
+f 36 3 11
+f 36 11 25
+f 36 18 26
+f 36 16 3
+f 37 21 13
+f 37 13 29
+f 37 29 20
+f 38 30 9
+f 39 33 30
+f 39 26 33
+f 39 38 26
+f 39 30 38
+f 40 25 11
+f 40 11 34
+f 40 34 24
+f 40 24 25
+f 41 35 24
+f 41 24 34
+f 41 37 20
+f 41 20 35
+f 42 36 26
+f 42 16 36
+f 42 38 16
+f 42 26 38
+f 43 38 9
+f 43 9 16
+f 43 16 38
+f 44 41 34
+f 45 21 37
+f 45 37 41
+f 45 44 21
+f 45 41 44
+f 46 44 34
+f 46 34 21
+f 46 21 44
\ No newline at end of file
diff --git a/apple/apple_20/collision/model_normalized_collision_26.obj b/apple/apple_20/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b2fc0e046bf355a0d43196b71697e96cce7d4ab
--- /dev/null
+++ b/apple/apple_20/collision/model_normalized_collision_26.obj
@@ -0,0 +1,120 @@
+# https://github.com/mikedh/trimesh
+v -0.18258863 -0.35200225 -0.23112921
+v -0.18196477 -0.26025173 -0.43151383
+v -0.18683498 -0.19601718 -0.23484848
+v -0.36422475 -0.19339824 -0.23363253
+v -0.27817997 -0.26868047 -0.31929920
+v -0.22714413 -0.18695839 -0.46512884
+v -0.25199366 -0.31704390 -0.22945434
+v -0.18094920 -0.34787830 -0.24484479
+v -0.18566306 -0.19362884 -0.46997042
+v -0.35544255 -0.18821277 -0.27709840
+v -0.29230742 -0.20114306 -0.41587658
+v -0.19586838 -0.34729387 -0.22948978
+v -0.35793729 -0.20483138 -0.23190612
+v -0.18180012 -0.21797125 -0.46122517
+v -0.19520298 -0.29852572 -0.36353213
+v -0.23760055 -0.21305606 -0.44553973
+v -0.29627650 -0.18851971 -0.41989658
+v -0.31938974 -0.21509323 -0.34868156
+v -0.20905179 -0.32702037 -0.27319091
+v -0.34084241 -0.23398511 -0.23137251
+v -0.18131108 -0.28885372 -0.39269396
+v -0.26517837 -0.25276606 -0.37604580
+v -0.19501341 -0.25737843 -0.42971416
+v -0.19615932 -0.21503558 -0.45847547
+v -0.28104505 -0.18846879 -0.43496713
+v -0.32724412 -0.18893098 -0.36714994
+v -0.18081703 -0.33226685 -0.29016154
+v -0.23446128 -0.31359205 -0.27366253
+v -0.27988926 -0.28264286 -0.27388755
+v -0.32214588 -0.22424253 -0.31929538
+v -0.20743103 -0.27266521 -0.40386431
+v -0.30903147 -0.21101515 -0.37910079
+v -0.28049511 -0.19532111 -0.43120070
+v -0.22073275 -0.30041461 -0.33422821
+v -0.18122440 -0.30335386 -0.36466518
+v -0.30621911 -0.25579758 -0.27465300
+v -0.33527814 -0.23008115 -0.26004565
+v -0.19569742 -0.28423995 -0.39158511
+v -0.23609189 -0.25510110 -0.40169848
+v -0.27996357 -0.21062843 -0.41680138
+v -0.19421886 -0.32752045 -0.28865525
+f 8 3 1
+f 9 6 3
+f 10 4 3
+f 10 3 6
+f 12 1 3
+f 12 3 7
+f 13 7 3
+f 13 3 4
+f 13 4 10
+f 14 3 8
+f 14 9 3
+f 14 6 9
+f 17 10 6
+f 19 1 12
+f 20 7 13
+f 20 13 10
+f 21 2 14
+f 23 14 2
+f 24 16 6
+f 24 6 14
+f 24 23 16
+f 24 14 23
+f 25 11 17
+f 25 17 6
+f 25 6 16
+f 26 17 11
+f 26 18 10
+f 26 10 17
+f 27 8 1
+f 27 21 14
+f 27 14 8
+f 28 19 12
+f 28 12 7
+f 28 7 5
+f 29 5 7
+f 29 7 20
+f 30 18 5
+f 31 23 2
+f 31 2 21
+f 32 11 22
+f 32 26 11
+f 32 18 26
+f 32 22 5
+f 32 5 18
+f 33 25 16
+f 33 11 25
+f 34 19 28
+f 34 31 15
+f 34 22 31
+f 34 28 5
+f 34 5 22
+f 35 21 27
+f 35 34 15
+f 35 27 34
+f 36 29 20
+f 36 20 30
+f 36 30 5
+f 36 5 29
+f 37 30 20
+f 37 20 10
+f 37 10 18
+f 37 18 30
+f 38 31 21
+f 38 15 31
+f 38 35 15
+f 38 21 35
+f 39 31 22
+f 39 23 31
+f 40 33 16
+f 40 11 33
+f 40 16 23
+f 40 23 39
+f 40 39 22
+f 40 22 11
+f 41 34 27
+f 41 19 34
+f 41 27 1
+f 41 1 19
\ No newline at end of file
diff --git a/apple/apple_20/collision/model_normalized_collision_27.obj b/apple/apple_20/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4cee5ce21e46f2b9e3a3174f1cb3aa353e4ec4cc
--- /dev/null
+++ b/apple/apple_20/collision/model_normalized_collision_27.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v -0.18683498 -0.19601718 -0.23484848
+v -0.18683498 -0.19601718 -0.35606061
+v -0.18683498 0.15246767 -0.35606061
+v -0.35583894 0.14703589 -0.23057162
+v -0.36868455 -0.18724207 -0.23054931
+v -0.18683498 0.15246767 -0.23484848
+v -0.36928233 0.11592905 -0.22989484
+v -0.36538120 -0.03065160 -0.35116728
+v -0.33636744 -0.18597718 -0.34888013
+v -0.38352333 -0.14659874 -0.23094824
+v -0.34896206 0.07229834 -0.34837110
+v -0.35032639 -0.16136218 -0.35006400
+v -0.38361455 0.07328955 -0.23014275
+v -0.34922917 0.08351985 -0.33478895
+v -0.31200342 0.14600687 -0.35096026
+v -0.38058055 -0.10424558 -0.29075990
+v -0.35068934 -0.16975498 -0.33621485
+v -0.36396577 0.02664702 -0.33534251
+v -0.32299585 0.12845513 -0.34906545
+v -0.38034966 -0.14536092 -0.24574135
+v -0.36538139 -0.07397067 -0.35061296
+v -0.38102959 -0.01589117 -0.29076961
+v -0.34995961 -0.18550219 -0.30466210
+v -0.36597929 -0.17057395 -0.27574859
+v -0.33366705 0.14107469 -0.30330442
+v -0.36599361 -0.11603010 -0.33508123
+v -0.38043467 0.02723079 -0.27530780
+v -0.35192209 0.14537558 -0.24441585
+v -0.32122650 0.14267813 -0.33466728
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 6 3 4
+f 7 5 1
+f 7 6 4
+f 7 1 6
+f 8 3 2
+f 9 2 5
+f 12 2 9
+f 13 10 5
+f 13 5 7
+f 14 7 4
+f 14 13 7
+f 14 11 13
+f 15 3 8
+f 15 8 11
+f 15 4 3
+f 17 12 9
+f 18 13 11
+f 18 11 8
+f 19 15 11
+f 19 11 14
+f 20 16 12
+f 20 10 16
+f 21 8 2
+f 21 2 12
+f 22 21 16
+f 22 8 21
+f 22 18 8
+f 22 16 10
+f 22 10 13
+f 23 17 9
+f 23 9 5
+f 23 5 17
+f 24 17 5
+f 24 5 10
+f 24 12 17
+f 24 20 12
+f 24 10 20
+f 25 19 14
+f 26 21 12
+f 26 12 16
+f 26 16 21
+f 27 22 13
+f 27 13 18
+f 27 18 22
+f 28 25 14
+f 28 14 4
+f 28 4 25
+f 29 25 4
+f 29 4 15
+f 29 15 19
+f 29 19 25
\ No newline at end of file
diff --git a/apple/apple_20/collision/model_normalized_collision_28.obj b/apple/apple_20/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61f25e7befb188d587b05ffca1ae5b818b479cfb
--- /dev/null
+++ b/apple/apple_20/collision/model_normalized_collision_28.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v 0.23391976 -0.20938803 0.29107980
+v 0.38905365 -0.09981879 0.16710644
+v 0.33145214 -0.01407834 0.26668432
+v 0.23735438 -0.01421738 0.29444404
+v 0.23740744 -0.01419900 0.17424243
+v 0.30734535 -0.01305688 0.27998863
+v 0.32594510 -0.14308340 0.23596156
+v 0.23740744 -0.21116870 0.17424243
+v 0.40215774 -0.01414217 0.17341629
+v 0.30587461 -0.04226410 0.27734521
+v 0.34342686 -0.20325467 0.16679514
+v 0.35601075 -0.05569803 0.23712581
+v 0.37286676 -0.01390797 0.22390429
+v 0.26905220 -0.16149058 0.27971211
+v 0.31023182 -0.20141059 0.22087870
+v 0.37150120 -0.08354817 0.20646987
+v 0.39177543 -0.01397607 0.19616226
+v 0.32918972 -0.04125565 0.26337973
+v 0.28307732 -0.17510594 0.26334392
+v 0.35540906 -0.15676697 0.19090340
+v 0.35522474 -0.09828587 0.22076727
+v 0.38756486 -0.05610888 0.19273138
+v 0.34361702 -0.05584372 0.24782540
+v 0.25353030 -0.20392890 0.27766774
+v 0.32899726 -0.09967738 0.24719214
+v 0.33911314 -0.18620155 0.19353272
+v 0.35895013 -0.17331946 0.16686344
+v 0.38372046 -0.09794076 0.17972424
+v 0.32507901 -0.17195345 0.22064752
+v 0.37033289 -0.04038461 0.22168718
+v 0.33891694 -0.20004428 0.17940711
+f 5 1 4
+f 6 4 1
+f 6 5 4
+f 8 1 5
+f 9 2 5
+f 9 5 6
+f 10 6 1
+f 10 3 6
+f 11 1 8
+f 11 8 5
+f 11 5 2
+f 13 6 3
+f 13 3 12
+f 14 10 1
+f 14 3 10
+f 15 1 11
+f 17 9 6
+f 17 6 13
+f 18 12 3
+f 18 3 14
+f 19 15 7
+f 21 16 12
+f 21 12 7
+f 21 20 16
+f 21 7 20
+f 22 12 16
+f 22 2 9
+f 22 9 17
+f 23 18 14
+f 23 12 18
+f 24 19 14
+f 24 14 1
+f 24 1 15
+f 24 15 19
+f 25 19 7
+f 25 7 12
+f 25 12 23
+f 25 23 14
+f 25 14 19
+f 27 11 2
+f 27 2 20
+f 27 20 26
+f 28 20 2
+f 28 16 20
+f 28 22 16
+f 28 2 22
+f 29 20 7
+f 29 7 15
+f 29 26 20
+f 29 15 26
+f 30 22 17
+f 30 17 13
+f 30 13 12
+f 30 12 22
+f 31 26 15
+f 31 15 11
+f 31 27 26
+f 31 11 27
\ No newline at end of file
diff --git a/apple/apple_20/collision/model_normalized_collision_29.obj b/apple/apple_20/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..812c1f1213b4c1f30af811f424d8543afe8369c9
--- /dev/null
+++ b/apple/apple_20/collision/model_normalized_collision_29.obj
@@ -0,0 +1,120 @@
+# https://github.com/mikedh/trimesh
+v -0.18683498 0.15246767 -0.23484848
+v -0.18649141 0.15212590 -0.47656781
+v -0.18017996 0.20298084 -0.45125928
+v -0.18341965 0.32846885 -0.23213452
+v -0.35242301 0.15201044 -0.23448848
+v -0.17888787 0.29016792 -0.31909944
+v -0.18231426 0.17766430 -0.46625497
+v -0.32504857 0.14482726 -0.32086092
+v -0.26660876 0.27444907 -0.22773633
+v -0.18076319 0.32394436 -0.24517510
+v -0.23780490 0.14558512 -0.45156661
+v -0.34126087 0.14531814 -0.27582338
+v -0.34077411 0.17531809 -0.22996654
+v -0.19558758 0.32295756 -0.22910214
+v -0.23466098 0.22516528 -0.37699896
+v -0.20806848 0.17226590 -0.45818968
+v -0.30568301 0.19856202 -0.28784634
+v -0.22314266 0.30690680 -0.22838761
+v -0.18056832 0.23089045 -0.42318233
+v -0.27577181 0.15794174 -0.40555344
+v -0.21013465 0.14943300 -0.46664471
+v -0.32388272 0.20460233 -0.22929916
+v -0.26019894 0.22820191 -0.33241515
+v -0.19061773 0.28449452 -0.31660856
+v -0.19147343 0.25468278 -0.37648671
+v -0.17948615 0.25981336 -0.37869777
+v -0.23505615 0.19561298 -0.41955896
+v -0.28036023 0.14571950 -0.40867786
+v -0.29122664 0.18337297 -0.34717928
+v -0.27925094 0.26269169 -0.22857261
+v -0.31837988 0.18647647 -0.27329346
+v -0.19059727 0.22721208 -0.42089931
+v -0.20386009 0.25475887 -0.36148264
+v -0.23194853 0.18685679 -0.43000053
+v -0.27548951 0.18324509 -0.37767849
+v -0.31907598 0.15660019 -0.31873186
+v -0.30565140 0.21409207 -0.25788217
+v -0.27533142 0.25953295 -0.24272363
+v -0.27510771 0.22799196 -0.30199460
+v -0.23381138 0.15788429 -0.44719245
+v -0.24478317 0.18392472 -0.41958575
+f 6 1 3
+f 7 1 2
+f 7 3 1
+f 10 4 1
+f 10 1 6
+f 11 2 1
+f 11 1 8
+f 12 8 1
+f 12 1 5
+f 13 5 1
+f 13 1 9
+f 13 12 5
+f 14 1 4
+f 14 10 6
+f 14 4 10
+f 16 7 2
+f 16 3 7
+f 18 9 1
+f 18 1 14
+f 21 16 2
+f 21 2 11
+f 21 11 16
+f 22 13 9
+f 23 18 15
+f 23 9 18
+f 24 18 14
+f 24 14 6
+f 26 6 3
+f 26 3 19
+f 26 25 6
+f 28 20 11
+f 28 11 8
+f 28 8 20
+f 29 20 8
+f 30 22 9
+f 31 22 17
+f 31 13 22
+f 32 15 25
+f 32 27 15
+f 32 19 3
+f 32 3 27
+f 32 26 19
+f 32 25 26
+f 33 25 15
+f 33 15 18
+f 33 18 24
+f 33 24 6
+f 33 6 25
+f 34 27 3
+f 34 3 16
+f 35 23 15
+f 35 15 27
+f 35 29 23
+f 35 20 29
+f 36 29 8
+f 36 17 29
+f 36 31 17
+f 36 13 31
+f 36 8 12
+f 36 12 13
+f 37 30 17
+f 37 17 22
+f 37 22 30
+f 38 30 9
+f 38 9 23
+f 39 29 17
+f 39 17 30
+f 39 23 29
+f 39 38 23
+f 39 30 38
+f 40 34 16
+f 40 16 11
+f 40 11 34
+f 41 34 11
+f 41 11 20
+f 41 27 34
+f 41 35 27
+f 41 20 35
\ No newline at end of file
diff --git a/apple/apple_20/collision/model_normalized_collision_3.obj b/apple/apple_20/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f3aa87e04da28cdd7eb0d4addac92262e54668b
--- /dev/null
+++ b/apple/apple_20/collision/model_normalized_collision_3.obj
@@ -0,0 +1,186 @@
+# https://github.com/mikedh/trimesh
+v 0.15966267 -0.35835755 -0.23292195
+v 0.34708828 -0.07212078 -0.22782128
+v 0.18104340 -0.35124118 -0.22714266
+v 0.20710441 0.16761918 -0.23484848
+v 0.18532569 -0.01221996 -0.46859280
+v 0.34708956 0.13262345 -0.22786845
+v 0.16164987 -0.21116870 -0.23484848
+v 0.16013758 -0.21681039 -0.40347456
+v 0.33059151 -0.13081952 -0.22646754
+v 0.19836488 0.15896422 -0.40652406
+v 0.23522288 0.00342408 -0.41949707
+v 0.15221179 -0.32264130 -0.30249526
+v 0.36180073 0.01726296 -0.22755278
+v 0.24105738 -0.29429653 -0.22740669
+v 0.33352099 0.16337522 -0.22932710
+v 0.15291288 -0.22102731 -0.40874594
+v 0.23471638 0.10100870 -0.40323933
+v 0.24841757 -0.03844885 -0.38939932
+v 0.16847542 -0.34370750 -0.25488560
+v 0.15528782 -0.34818361 -0.25730711
+v 0.28195075 -0.20342995 -0.25245830
+v 0.18936358 -0.11289689 -0.43212597
+v 0.20694788 -0.28583640 -0.28292027
+v 0.32547842 0.07518696 -0.28312864
+v 0.26555200 0.14283048 -0.34254836
+v 0.20682380 0.07190368 -0.44455689
+v 0.32488659 -0.09860845 -0.25182318
+v 0.34085028 -0.02736440 -0.25370293
+v 0.17692569 -0.34692223 -0.23938567
+v 0.30379866 -0.19126288 -0.22850076
+v 0.18371241 -0.02688971 -0.46647982
+v 0.18931632 -0.14191941 -0.41674313
+v 0.22018758 -0.02671139 -0.43277670
+v 0.16218755 -0.31707109 -0.29767787
+v 0.23583265 -0.29076180 -0.23917768
+v 0.20341975 -0.26134527 -0.31242757
+v 0.35541015 0.05977146 -0.23864572
+v 0.23551986 0.04553240 -0.41880882
+v 0.31019051 0.16010236 -0.26866936
+v 0.33940222 0.11419524 -0.25281741
+v 0.23668799 0.12705504 -0.38728460
+v 0.19800540 0.07387616 -0.45176503
+v 0.21847914 -0.09721622 -0.40375509
+v 0.34089172 -0.07076210 -0.23848991
+v 0.26463196 0.00335963 -0.37524750
+v 0.30927804 -0.14390313 -0.25149535
+v 0.15710629 -0.20841618 -0.41254758
+v 0.17365741 -0.21587591 -0.38705565
+v 0.19346154 -0.02527643 -0.45940410
+v 0.19371800 -0.01127399 -0.46190012
+v 0.23667139 -0.27619827 -0.25310921
+v 0.36174668 0.06014492 -0.22800756
+v 0.22033923 0.07181248 -0.43079748
+v 0.26506820 0.06020455 -0.37484210
+v 0.28163273 0.15603802 -0.31224793
+v 0.27990706 0.10092804 -0.34247101
+v 0.32779075 0.16123854 -0.24050928
+v 0.20509135 0.15652171 -0.40127621
+v 0.21949570 -0.06812833 -0.41723410
+v 0.35511309 0.01791044 -0.23862830
+v 0.29765689 -0.18838681 -0.23996550
+v 0.32423238 -0.12855193 -0.23748008
+v 0.20384969 -0.20105441 -0.35751838
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 9 6 3
+f 10 7 4
+f 13 9 2
+f 13 6 9
+f 14 9 3
+f 15 10 4
+f 15 4 6
+f 16 10 5
+f 16 7 10
+f 16 12 7
+f 19 3 1
+f 20 1 7
+f 20 7 12
+f 20 19 1
+f 20 12 19
+f 23 12 16
+f 27 2 9
+f 28 13 2
+f 28 18 11
+f 29 14 3
+f 29 3 19
+f 30 9 14
+f 30 14 21
+f 31 16 5
+f 33 11 18
+f 34 23 19
+f 34 19 12
+f 34 12 23
+f 35 19 23
+f 35 29 19
+f 35 14 29
+f 36 23 16
+f 36 16 8
+f 39 10 15
+f 40 37 24
+f 41 25 17
+f 41 17 10
+f 42 5 10
+f 42 10 17
+f 42 17 26
+f 43 32 22
+f 44 27 18
+f 44 18 28
+f 44 28 2
+f 44 2 27
+f 45 28 11
+f 46 9 30
+f 46 21 32
+f 46 32 43
+f 47 31 22
+f 47 16 31
+f 47 22 32
+f 47 32 8
+f 47 8 16
+f 48 8 32
+f 48 36 8
+f 48 21 36
+f 49 33 22
+f 49 22 31
+f 49 31 5
+f 50 11 33
+f 50 38 11
+f 50 26 38
+f 50 42 26
+f 50 5 42
+f 50 49 5
+f 50 33 49
+f 51 21 14
+f 51 14 35
+f 51 36 21
+f 51 35 23
+f 51 23 36
+f 52 6 13
+f 52 13 37
+f 52 40 6
+f 52 37 40
+f 53 38 26
+f 53 26 17
+f 53 17 38
+f 54 11 38
+f 54 45 11
+f 54 37 45
+f 54 24 37
+f 54 40 24
+f 54 38 17
+f 55 10 39
+f 55 40 25
+f 55 39 40
+f 56 17 25
+f 56 25 40
+f 56 54 17
+f 56 40 54
+f 57 40 39
+f 57 39 15
+f 57 15 6
+f 57 6 40
+f 58 41 10
+f 58 25 41
+f 58 55 25
+f 58 10 55
+f 59 18 27
+f 59 46 43
+f 59 27 46
+f 59 33 18
+f 59 43 22
+f 59 22 33
+f 60 13 28
+f 60 28 45
+f 60 45 37
+f 60 37 13
+f 61 46 30
+f 61 30 21
+f 61 21 46
+f 62 46 27
+f 62 27 9
+f 62 9 46
+f 63 48 32
+f 63 32 21
+f 63 21 48
\ No newline at end of file
diff --git a/apple/apple_20/collision/model_normalized_collision_30.obj b/apple/apple_20/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7d6a4eca9ae3aaf74ad3fe84ce2fc4202b86acb
--- /dev/null
+++ b/apple/apple_20/collision/model_normalized_collision_30.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.22255435 0.19807618 0.26570837
+v 0.25578312 0.34982185 0.00876111
+v 0.21317120 0.29332601 0.22109946
+v 0.01396072 0.32132907 0.28705200
+v 0.01013471 0.19792221 0.00757576
+v 0.16764018 0.29320581 0.25114592
+v 0.22225593 0.19792221 0.00757576
+v 0.01013471 0.19792221 0.26515152
+v 0.01013471 0.30398282 0.00757576
+v 0.21104015 0.26058622 0.24785766
+f 1 2 3
+f 3 2 4
+f 6 3 4
+f 6 4 1
+f 7 2 1
+f 8 1 4
+f 8 7 1
+f 8 5 7
+f 9 4 2
+f 9 7 5
+f 9 2 7
+f 9 8 4
+f 9 5 8
+f 10 6 1
+f 10 1 3
+f 10 3 6
\ No newline at end of file
diff --git a/apple/apple_20/collision/model_normalized_collision_31.obj b/apple/apple_20/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1ee583cee3d88456c489ac5af6a8587654f18e3
--- /dev/null
+++ b/apple/apple_20/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.23740744 -0.01419900 0.14393940
+v 0.23740744 -0.01419900 0.00757576
+v 0.23740744 0.19792221 0.14393940
+v 0.01013471 0.19792221 0.14393940
+v 0.01013471 -0.01419900 0.00757576
+v 0.01013471 0.19792221 0.00757576
+v 0.01013471 -0.01419900 0.14393940
+v 0.23740744 0.19792221 0.00757576
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 4 3
+f 6 5 4
+f 6 2 5
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 6 3
+f 8 3 2
+f 8 2 6
\ No newline at end of file
diff --git a/apple/apple_20/collision/model_normalized_collision_4.obj b/apple/apple_20/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4bdd7e2364361b6293c092ba7714a3c1bdf6e85e
--- /dev/null
+++ b/apple/apple_20/collision/model_normalized_collision_4.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.01013471 -0.01419900 -0.35606061
+v 0.01690057 -0.01454639 -0.43836573
+v 0.00912963 0.31274403 -0.35233496
+v -0.10689233 0.30707184 -0.34984602
+v -0.36338486 -0.01459938 -0.35441540
+v -0.04985036 0.18902310 -0.48911545
+v -0.17895385 -0.01823389 -0.46372624
+v -0.35542332 0.04304434 -0.35037140
+v 0.00636199 0.17542074 -0.48840917
+v -0.09060409 0.27035573 -0.41792252
+v -0.15002138 0.29169808 -0.34926916
+v -0.28617497 -0.00057506 -0.45860279
+v 0.00534713 0.25778380 -0.43239309
+v -0.15590891 0.10872355 -0.49107626
+v -0.03687276 0.09784753 -0.48987125
+v -0.08038862 0.30103077 -0.37578749
+v -0.28514709 -0.01590367 -0.46062030
+v -0.33666511 0.01181290 -0.40459049
+v -0.00965770 0.21593248 -0.47419460
+v 0.00584875 0.22850729 -0.46037846
+v -0.16515156 0.20045268 -0.46109046
+v 0.00455720 0.11386766 -0.48823861
+v -0.04799942 0.09966249 -0.49044424
+v -0.00904400 0.27207487 -0.41869616
+v -0.14676673 0.27077333 -0.38993402
+v -0.33819057 -0.01530359 -0.40607888
+v -0.20542852 0.13224224 -0.47465438
+v -0.35107929 0.01195870 -0.37884693
+v -0.02342697 0.18933749 -0.48856237
+v -0.09125222 0.22906459 -0.46259148
+v -0.06483045 0.21902735 -0.47382199
+v -0.00860820 0.30152747 -0.37529503
+v 0.00690333 0.28814091 -0.39155609
+v -0.13428807 0.28375158 -0.37552289
+v -0.10494495 0.28494837 -0.39029426
+v -0.14777206 0.24214606 -0.43007970
+v -0.30734294 0.14357075 -0.36433081
+v -0.35210135 -0.01503030 -0.37967164
+v -0.31928348 0.04241465 -0.41942242
+v -0.09377892 0.17991315 -0.48926324
+v 0.00767588 0.30655365 -0.36258250
+v -0.14722326 0.28641834 -0.36150185
+v -0.10487772 0.30144950 -0.36173585
+v -0.13444942 0.21440908 -0.46243673
+v -0.10581185 0.24217903 -0.44521527
+v -0.31200342 0.14600687 -0.35096026
+v -0.17667762 0.25489666 -0.38946896
+v -0.27466662 0.14265445 -0.42020083
+v -0.33621088 0.05715168 -0.38911317
+v -0.15051800 0.18708580 -0.47320816
+v -0.15291129 0.13554765 -0.48909647
+v -0.12165093 0.20244339 -0.47249400
+v -0.17906220 0.27522028 -0.34932158
+v -0.17633572 0.27044592 -0.36210923
+v -0.23882773 0.13173104 -0.45762663
+v -0.30413666 0.08389080 -0.41976962
+v -0.31801654 0.11294853 -0.37773718
+v -0.24834936 0.14151483 -0.44495869
+v -0.29311500 0.04381342 -0.44547621
+v -0.30442241 0.12657862 -0.38860093
+v -0.31947967 0.09777837 -0.38769532
+v -0.34166924 0.08639248 -0.35090692
+v -0.29416325 0.08527405 -0.42949920
+v -0.33696669 0.08421888 -0.36401022
+f 1 2 3
+f 1 3 4
+f 7 2 1
+f 7 1 5
+f 8 5 1
+f 9 3 2
+f 11 8 1
+f 11 1 4
+f 15 2 7
+f 16 4 3
+f 17 14 7
+f 20 3 9
+f 20 19 13
+f 20 9 19
+f 22 9 2
+f 22 2 15
+f 23 15 7
+f 23 7 14
+f 23 14 6
+f 23 6 9
+f 23 22 15
+f 23 9 22
+f 24 10 16
+f 26 17 7
+f 26 12 17
+f 27 17 12
+f 27 14 17
+f 28 5 8
+f 28 18 26
+f 29 19 9
+f 29 9 6
+f 30 10 24
+f 31 24 13
+f 31 13 19
+f 31 30 24
+f 31 29 6
+f 31 19 29
+f 32 24 16
+f 32 16 3
+f 33 13 24
+f 33 20 13
+f 33 3 20
+f 33 24 32
+f 35 16 10
+f 35 25 34
+f 36 35 10
+f 36 25 35
+f 38 26 7
+f 38 7 5
+f 38 28 26
+f 38 5 28
+f 39 26 18
+f 39 12 26
+f 40 6 14
+f 40 31 6
+f 41 33 32
+f 41 32 3
+f 41 3 33
+f 42 34 25
+f 42 11 4
+f 42 4 34
+f 43 35 34
+f 43 34 4
+f 43 4 16
+f 43 16 35
+f 44 21 36
+f 45 36 10
+f 45 10 30
+f 45 44 36
+f 45 30 44
+f 47 25 36
+f 47 36 21
+f 48 47 21
+f 48 37 47
+f 49 28 8
+f 49 39 18
+f 49 18 28
+f 50 27 21
+f 50 21 44
+f 51 40 14
+f 51 14 27
+f 51 50 40
+f 51 27 50
+f 52 44 30
+f 52 30 31
+f 52 31 40
+f 52 50 44
+f 52 40 50
+f 53 46 8
+f 53 8 11
+f 53 47 37
+f 53 37 46
+f 54 42 25
+f 54 25 47
+f 54 11 42
+f 54 53 11
+f 54 47 53
+f 55 21 27
+f 55 27 12
+f 56 39 49
+f 57 46 37
+f 58 48 21
+f 58 21 55
+f 59 55 12
+f 59 12 39
+f 60 57 37
+f 60 37 48
+f 61 56 49
+f 61 49 57
+f 61 57 60
+f 61 60 48
+f 61 48 56
+f 62 49 8
+f 62 8 46
+f 62 46 57
+f 63 56 48
+f 63 48 58
+f 63 58 55
+f 63 55 59
+f 63 59 39
+f 63 39 56
+f 64 62 57
+f 64 57 49
+f 64 49 62
\ No newline at end of file
diff --git a/apple/apple_20/collision/model_normalized_collision_5.obj b/apple/apple_20/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c791fd9603534214a233f960d35cd84dd01c212
--- /dev/null
+++ b/apple/apple_20/collision/model_normalized_collision_5.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.22939239 -0.23548432 0.28286010
+v 0.23740744 -0.24147173 0.00757576
+v 0.23735438 -0.01421738 0.29444404
+v 0.00144294 0.01280349 0.30769409
+v 0.01013471 -0.24147173 0.00757576
+v 0.23740744 -0.01419900 0.00757576
+v 0.00785033 -0.19333043 0.37202953
+v 0.25225537 -0.05950786 0.29220111
+v 0.00916085 -0.23450314 0.35523920
+v 0.01391989 0.01657863 0.26639910
+v 0.00408818 -0.07953956 0.37458618
+v 0.24636254 -0.19297642 0.28771060
+v 0.13976662 -0.21812503 0.33903108
+v 0.01013471 -0.01419900 0.00757576
+v 0.00072472 -0.02214517 0.34645154
+v 0.12729675 -0.23222987 0.33705164
+v 0.18006567 -0.21813215 0.32259943
+v 0.05230406 -0.16295575 0.36880811
+v 0.00030226 -0.00672046 0.33248128
+v 0.08215796 -0.21779886 0.35368511
+v 0.22629101 -0.21801600 0.29313825
+v 0.23960631 -0.18966095 0.29441854
+v 0.15462276 -0.19380305 0.33718937
+v 0.19463218 -0.23288071 0.30654684
+v 0.16879097 -0.23129391 0.32080217
+v 0.11173558 -0.15430139 0.35341317
+v 0.03842588 -0.23310586 0.35269831
+v 0.02180429 -0.19319237 0.36953552
+v 0.11187657 -0.17809436 0.35337114
+v 0.05076998 -0.13831012 0.36759025
+v 0.15433626 -0.14001228 0.33639482
+v 0.09656217 -0.20814802 0.35230393
+f 6 2 5
+f 8 6 3
+f 8 2 6
+f 9 5 2
+f 9 2 1
+f 10 4 3
+f 10 3 6
+f 12 1 2
+f 12 2 8
+f 14 10 6
+f 14 6 5
+f 14 4 10
+f 15 11 3
+f 15 5 9
+f 15 9 7
+f 15 7 11
+f 16 9 1
+f 18 11 7
+f 19 14 5
+f 19 4 14
+f 19 5 15
+f 19 15 3
+f 19 3 4
+f 20 16 13
+f 21 1 12
+f 22 12 8
+f 22 21 12
+f 22 17 21
+f 23 13 17
+f 23 22 8
+f 23 17 22
+f 24 16 1
+f 24 21 17
+f 24 1 21
+f 25 17 13
+f 25 13 16
+f 25 24 17
+f 25 16 24
+f 26 3 11
+f 27 20 7
+f 27 7 9
+f 27 9 16
+f 27 16 20
+f 28 20 18
+f 28 18 7
+f 28 7 20
+f 29 26 18
+f 29 13 23
+f 29 23 26
+f 30 26 11
+f 30 11 18
+f 30 18 26
+f 31 26 23
+f 31 23 8
+f 31 8 3
+f 31 3 26
+f 32 20 13
+f 32 13 29
+f 32 29 18
+f 32 18 20
\ No newline at end of file
diff --git a/apple/apple_20/collision/model_normalized_collision_6.obj b/apple/apple_20/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c38803011fe66616eafbf0e11af7bbd2c3d437fe
--- /dev/null
+++ b/apple/apple_20/collision/model_normalized_collision_6.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.19537099 -0.38133997 0.08084736
+v -0.19586838 -0.34729387 -0.22948978
+v -0.19709703 0.17769759 0.34616742
+v -0.27965752 0.17593678 0.28329407
+v -0.42740933 -0.11583751 -0.05103412
+v -0.20198650 0.18277070 -0.23484848
+v -0.26270565 -0.15559541 0.32435493
+v -0.19444808 0.14828641 0.35694414
+v -0.36492841 -0.26091946 -0.08005403
+v -0.37596882 0.17877562 0.11099156
+v -0.39609984 -0.08893843 -0.23029544
+v -0.19361887 -0.26043536 0.29863291
+v -0.26320525 0.11849359 0.32373198
+v -0.22409011 -0.37595114 -0.09670661
+v -0.38315078 -0.20086441 0.12190217
+v -0.20832530 0.17758120 0.34009097
+v -0.21697041 -0.33195498 -0.24985356
+v -0.34077411 0.17531809 -0.22996654
+v -0.39539972 -0.18507742 -0.13923754
+v -0.19703686 -0.11634651 0.37367910
+v -0.36598916 0.05751043 0.22298842
+v -0.19905739 -0.38458383 -0.09750668
+v -0.27933252 -0.33113069 0.08152312
+v -0.41087013 -0.17615888 0.02073538
+v -0.29044513 -0.24471191 0.23570828
+v -0.23375722 0.17562922 0.32361937
+v -0.20650111 0.14656781 0.35107962
+v -0.21228650 -0.33520583 -0.24576111
+v -0.29330379 -0.29954408 -0.19805159
+v -0.20921331 -0.34254913 -0.22792447
+v -0.39553697 0.01513203 -0.23029890
+v -0.41110494 -0.11556292 -0.15445181
+v -0.20990808 -0.21512921 0.32509635
+v -0.27898265 0.04570577 0.32440963
+v -0.32207334 0.11859409 0.26543651
+v -0.42670412 0.05771762 0.05021506
+v -0.34984613 -0.13007509 0.23780747
+v -0.22108049 -0.37414989 0.03476300
+v -0.30848882 -0.31681261 -0.05257328
+v -0.35111021 -0.26040683 0.10634418
+v -0.41113538 -0.17675889 -0.06541077
+v -0.26361171 -0.31595173 0.16406932
+v -0.27817595 0.12933804 0.30770873
+v -0.23452703 -0.34446794 -0.18344504
+v -0.33599860 -0.24070151 -0.22836942
+v -0.38361455 0.07328955 -0.23014275
+v -0.38007892 -0.16086557 -0.23007776
+v -0.42693052 -0.03049486 -0.11028924
+v -0.22130709 -0.14312615 0.35410298
+v -0.19660896 -0.21799649 0.32914777
+v -0.26299824 -0.23010063 0.27854776
+v -0.27747259 -0.10148330 0.32538573
+v -0.23673999 0.04588808 0.35305510
+v -0.35140818 0.17373867 0.18118838
+v -0.32212594 0.05739102 0.28159440
+v -0.39518668 0.13341275 0.12248668
+v -0.42658155 -0.10412045 0.03585242
+v -0.42668002 0.07279513 -0.02141952
+v -0.36769916 -0.18545347 0.17933196
+v -0.20666191 -0.37504249 0.07936828
+v -0.25007049 -0.35973412 -0.00931203
+v -0.28022274 -0.32895919 -0.12500154
+v -0.35391751 -0.27072309 0.02060792
+v -0.39708824 -0.19938144 0.06436865
+f 8 6 3
+f 8 2 6
+f 10 3 6
+f 12 1 2
+f 12 2 8
+f 16 10 4
+f 16 3 10
+f 18 10 6
+f 18 6 17
+f 20 12 8
+f 22 14 2
+f 22 2 1
+f 26 16 4
+f 26 13 16
+f 27 16 13
+f 27 8 3
+f 27 3 16
+f 28 17 6
+f 28 6 2
+f 28 2 17
+f 30 17 2
+f 30 2 14
+f 31 17 11
+f 38 22 1
+f 38 14 22
+f 41 19 9
+f 41 9 24
+f 41 24 5
+f 41 32 19
+f 41 5 32
+f 42 23 1
+f 42 1 12
+f 42 12 25
+f 42 40 23
+f 42 25 40
+f 43 26 4
+f 43 13 26
+f 43 4 35
+f 43 34 13
+f 44 29 17
+f 44 14 29
+f 44 30 14
+f 44 17 30
+f 45 29 9
+f 45 9 19
+f 45 17 29
+f 46 18 17
+f 46 17 31
+f 47 32 11
+f 47 19 32
+f 47 45 19
+f 47 11 17
+f 47 17 45
+f 48 31 11
+f 48 11 32
+f 48 32 5
+f 49 7 33
+f 50 33 12
+f 50 12 20
+f 50 49 33
+f 50 20 49
+f 51 25 12
+f 51 12 33
+f 51 33 7
+f 51 37 25
+f 51 7 37
+f 52 49 20
+f 52 7 49
+f 52 37 7
+f 53 27 13
+f 53 13 34
+f 53 8 27
+f 53 20 8
+f 53 52 20
+f 53 34 52
+f 54 35 4
+f 54 4 10
+f 54 21 35
+f 55 35 21
+f 55 43 35
+f 55 34 43
+f 55 52 34
+f 55 21 37
+f 55 37 52
+f 56 36 21
+f 56 54 10
+f 56 21 54
+f 57 36 5
+f 57 5 24
+f 57 37 21
+f 57 21 36
+f 58 10 18
+f 58 18 46
+f 58 46 31
+f 58 31 48
+f 58 48 5
+f 58 5 36
+f 58 56 10
+f 58 36 56
+f 59 25 37
+f 59 40 25
+f 59 15 40
+f 59 57 15
+f 59 37 57
+f 60 38 1
+f 60 1 23
+f 60 23 38
+f 61 38 23
+f 61 23 39
+f 61 39 14
+f 61 14 38
+f 62 29 14
+f 62 14 39
+f 62 39 9
+f 62 9 29
+f 63 39 23
+f 63 23 40
+f 63 9 39
+f 64 40 15
+f 64 63 40
+f 64 24 9
+f 64 9 63
+f 64 57 24
+f 64 15 57
\ No newline at end of file
diff --git a/apple/apple_20/collision/model_normalized_collision_7.obj b/apple/apple_20/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9aac3a0de0177ac219e8a2d71c5421ff5daae266
--- /dev/null
+++ b/apple/apple_20/collision/model_normalized_collision_7.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v -0.07960757 -0.40815334 0.12440819
+v -0.08663986 -0.37414159 -0.24461406
+v -0.08077438 -0.24147173 0.18939394
+v -0.20198650 -0.24147173 0.18939394
+v -0.19548763 -0.38949439 -0.06601154
+v -0.20198650 -0.24147173 -0.23484848
+v -0.08780007 -0.37411927 0.20314749
+v -0.08077438 -0.24147173 -0.23484848
+v -0.07869213 -0.42315799 -0.05197700
+v -0.20058922 -0.34398220 -0.23362765
+v -0.07959286 -0.39893162 0.15628308
+v -0.19912910 -0.34236517 0.18699848
+v -0.13705488 -0.40487811 -0.11039348
+v -0.10917565 -0.42172493 0.00668649
+v -0.07973813 -0.41682023 -0.09733409
+v -0.07924875 -0.42270940 0.05038386
+v -0.16621252 -0.37433610 0.15218181
+v -0.17987037 -0.38960365 -0.10884944
+v -0.10872354 -0.42116434 -0.02153657
+v -0.12352227 -0.40709504 -0.11063510
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\ No newline at end of file
diff --git a/apple/apple_20/collision/model_normalized_collision_8.obj b/apple/apple_20/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ea9a275f9d8c9490a375b402b764e8ddfc12e73
--- /dev/null
+++ b/apple/apple_20/collision/model_normalized_collision_8.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.34342686 -0.20325467 0.16679514
+v 0.41678296 -0.10160343 -0.03427582
+v 0.40202630 0.11580874 0.13722650
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+v 0.40454173 -0.01376358 0.16791226
+v 0.37093538 -0.20150547 -0.06495269
+v 0.23740744 -0.21116870 0.17424243
+v 0.27326055 0.22344035 -0.26052615
+v 0.37139520 0.18552970 0.13470037
+v 0.41710473 -0.10020725 0.08175265
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+v 0.37074045 -0.20143803 0.09329704
+v 0.23740744 -0.01419900 0.17424243
+v 0.40100175 0.11964543 -0.12355368
+v 0.38576527 0.16037105 0.13585284
+v 0.38510060 -0.11357828 0.16522841
+v 0.43094020 0.05847925 0.06540905
+v 0.35495971 -0.20108174 -0.12247734
+v 0.35592773 -0.04080007 -0.22500249
+v 0.35719795 -0.20227935 0.13922664
+v 0.38566164 -0.18596147 0.05088769
+v 0.38450334 0.18956951 -0.07801105
+v 0.40053472 -0.08640712 0.15072973
+v 0.41622337 0.04369769 0.13834718
+v 0.43173690 -0.04120310 0.00835065
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+v 0.31120850 -0.20244054 -0.20919539
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+v 0.36916707 -0.15565547 0.16440664
+v 0.38489480 -0.15856349 0.12388540
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+v 0.41574419 -0.11349428 -0.00674327
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\ No newline at end of file
diff --git a/apple/apple_20/collision/model_normalized_collision_9.obj b/apple/apple_20/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c7b16ec79cd92e6ffaf056dd4b51eca24b72248
--- /dev/null
+++ b/apple/apple_20/collision/model_normalized_collision_9.obj
@@ -0,0 +1,183 @@
+# https://github.com/mikedh/trimesh
+v -0.20198650 0.18277070 0.18939394
+v -0.20198650 0.18277070 -0.23484848
+v -0.19464373 0.35110613 0.16956069
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+v -0.34635761 0.17908082 0.18591636
+v -0.32025995 0.27572453 0.07971619
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+v -0.35621216 0.17625475 0.16832271
+v -0.22085066 0.29905696 -0.24661536
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+v -0.27950047 0.31613002 -0.09413909
+v -0.19586112 0.38134925 -0.03634718
+v -0.26231194 0.33444480 0.08015069
+v -0.37192810 0.17517831 -0.14022403
+v -0.36472328 0.20334516 0.10719590
+v -0.19666552 0.35417792 -0.15561082
+v -0.29060504 0.27589572 0.16570052
+v -0.22159744 0.33183296 0.18279097
+v -0.33744071 0.25932949 -0.05122303
+v -0.27925094 0.26269169 -0.22857261
+v -0.22126968 0.36321868 -0.08004311
+v -0.23616975 0.34549522 0.10974390
+v -0.36587648 0.21536409 0.06496542
+v -0.37224646 0.17687779 0.12488668
+v -0.31956685 0.26000172 0.12255166
+v -0.34946507 0.20316067 0.15280732
+v -0.29157801 0.28721959 0.13853027
+v -0.30571615 0.24548888 0.18094219
+v -0.25032346 0.34741949 -0.03641887
+v -0.33627458 0.26157693 0.04955977
+v -0.38055696 0.18707980 -0.07961138
+v -0.30626320 0.22987940 -0.22727738
+v -0.23436599 0.33278698 -0.15352644
+v -0.24811509 0.33485497 0.12381577
+v -0.38089461 0.18904523 0.06467877
+v -0.33527449 0.24525517 0.10758479
+v -0.32067944 0.24542313 0.15043704
+v -0.33577714 0.20379055 0.18096021
+v -0.29127940 0.30540096 -0.09534479
+v -0.26418944 0.33106532 -0.07893583
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+v -0.20483447 0.37643136 0.05021998
+v -0.32054046 0.22918262 -0.19658350
+v -0.36536190 0.20128375 -0.10786689
+v -0.20709783 0.36006504 -0.12217812
+v -0.29138804 0.29055063 -0.13906922
+v -0.33481976 0.18698304 -0.22768261
+v -0.29000340 0.25914911 -0.21139774
+f 1 2 3
+f 6 3 2
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+f 48 34 17
+f 48 17 5
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+f 51 50 36
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+f 52 10 4
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+f 54 40 29
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+f 54 20 40
+f 55 36 23
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+f 55 51 36
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+f 56 45 44
+f 56 4 45
+f 56 44 16
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+f 58 47 49
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+f 59 24 6
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+f 59 6 19
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+f 60 55 23
+f 61 57 35
+f 61 35 7
+f 61 7 17
+f 61 17 57
+f 62 23 35
+f 62 35 57
+f 62 60 23
+f 62 57 60
\ No newline at end of file
diff --git a/apple/apple_20/model.xml b/apple/apple_20/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..49c70cce934f36b9a2cb89ac924a4fa4c95d3368
--- /dev/null
+++ b/apple/apple_20/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="apple_18">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="Apple_PBR" 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="Apple_PBR"/>
+        <geom solimp="0.998 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"/>
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+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_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="0.00018990265000000148 -6.810299999999992e-06 -0.0343994483" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.00018990265000000148 -6.810299999999992e-06 0.0349974653" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.030298458400000006 0.0296435601 0.00029900850000000095" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/apple/apple_20/visual/material.mtl b/apple/apple_20/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..33616803300962094e8955deb30562079542847b
--- /dev/null
+++ b/apple/apple_20/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 250.00000000
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/apple/apple_20/visual/model_normalized_0.obj b/apple/apple_20/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bbca2a6c9ba8358cd146b7b4b77639a4734df4df
--- /dev/null
+++ b/apple/apple_20/visual/model_normalized_0.obj
@@ -0,0 +1,6549 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/apple/apple_6/collision/model_normalized_collision_0.obj b/apple/apple_6/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c18740bfb0f7421c23c00af56e1b823624a1803f
--- /dev/null
+++ b/apple/apple_6/collision/model_normalized_collision_0.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/apple/apple_6/collision/model_normalized_collision_1.obj b/apple/apple_6/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..759329326d82ce91cff0af4cb671d8457c946495
--- /dev/null
+++ b/apple/apple_6/collision/model_normalized_collision_1.obj
@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
+v 0.14891957 -0.00757576 -0.35518929
+v 0.23964943 0.26346984 -0.39508842
+v 0.20260276 0.34635279 -0.34785079
+v 0.01247353 0.39970977 -0.35354883
+v 0.01121494 0.19024530 -0.47652907
+v 0.09828726 0.31337334 -0.42693289
+v 0.18596100 0.35941457 -0.34627109
+v 0.15105938 -0.00522456 -0.46156500
+v -0.03689487 0.03896380 -0.40802783
+v -0.06117414 0.31904958 -0.43522792
+v 0.14562569 0.23048455 -0.45843405
+v 0.10121848 0.39079401 -0.34878399
+v 0.16939920 0.29635804 -0.41454269
+v 0.01009385 -0.00369728 -0.44327389
+v 0.02583200 0.32907631 -0.42860333
+v -0.06288387 0.35391597 -0.39881409
+v 0.01290647 0.28466497 -0.45963603
+v 0.07279153 0.20561045 -0.47605419
+v 0.20492451 0.22981720 -0.43556640
+v 0.11210232 0.32525352 -0.41517360
+v 0.18237375 0.35437939 -0.35631603
+v 0.11201523 0.25535434 -0.45821574
+v 0.04034365 -0.00514319 -0.40098420
+v 0.04008901 0.35513681 -0.40051262
+v -0.06544982 0.34093039 -0.41358883
+v 0.01200909 0.23038091 -0.47728764
+v -0.05867202 0.32731264 -0.43059559
+v 0.07019211 0.29799141 -0.44299662
+v 0.20321514 0.27113305 -0.41620193
+v 0.11272469 0.28388205 -0.44138565
+v 0.19956741 0.34208366 -0.35636170
+v 0.11227599 0.35502796 -0.38487578
+v 0.05664738 0.23240639 -0.47409438
+v 0.01212971 0.39217724 -0.36185591
+v 0.09992271 0.38538470 -0.35555391
+v 0.04015558 0.34037166 -0.41603145
+v -0.03264276 0.35554581 -0.40111477
+v 0.02528538 0.28380066 -0.45899874
+v 0.17278693 0.24063840 -0.44382737
+v 0.15668272 0.28470712 -0.42609675
+v 0.07187018 0.21738258 -0.47500737
+v 0.20269621 0.24253208 -0.43046579
+f 1 2 3
+f 7 1 3
+f 8 2 1
+f 9 1 4
+f 12 4 1
+f 12 1 7
+f 14 5 8
+f 14 10 5
+f 14 9 10
+f 16 9 4
+f 18 11 8
+f 18 8 5
+f 19 2 8
+f 19 8 11
+f 20 6 15
+f 21 7 3
+f 21 13 20
+f 21 12 7
+f 23 14 8
+f 23 8 1
+f 23 1 9
+f 23 9 14
+f 25 10 9
+f 25 9 16
+f 26 5 10
+f 26 10 17
+f 26 18 5
+f 27 17 10
+f 27 15 17
+f 27 10 25
+f 27 25 16
+f 28 15 6
+f 29 2 19
+f 29 13 21
+f 30 20 13
+f 30 6 20
+f 30 28 6
+f 30 22 28
+f 31 21 3
+f 31 3 2
+f 31 29 21
+f 31 2 29
+f 32 21 20
+f 33 22 11
+f 33 26 17
+f 34 24 15
+f 34 4 24
+f 35 24 4
+f 35 4 12
+f 35 32 24
+f 35 12 21
+f 35 21 32
+f 36 20 15
+f 36 15 24
+f 36 32 20
+f 36 24 32
+f 37 27 16
+f 37 16 4
+f 37 4 34
+f 37 34 15
+f 37 15 27
+f 38 17 15
+f 38 15 28
+f 38 28 22
+f 38 33 17
+f 38 22 33
+f 39 19 11
+f 39 11 22
+f 40 13 29
+f 40 30 13
+f 40 22 30
+f 40 39 22
+f 40 29 39
+f 41 33 11
+f 41 11 18
+f 41 18 26
+f 41 26 33
+f 42 39 29
+f 42 29 19
+f 42 19 39
\ No newline at end of file
diff --git a/apple/apple_6/collision/model_normalized_collision_10.obj b/apple/apple_6/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb7f674d99baf95eb228bb6d5eb73c77c9197c76
--- /dev/null
+++ b/apple/apple_6/collision/model_normalized_collision_10.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.26526681 -0.27527603 0.27605232
+v 0.25498018 -0.26515152 -0.23397717
+v 0.25498018 -0.00757576 -0.23397717
+v 0.01719942 -0.00617872 0.34038587
+v 0.01363146 -0.27557517 0.37113491
+v 0.01255594 -0.00757576 -0.23397717
+v 0.25498018 -0.00757576 0.26602284
+v 0.01255594 -0.26515152 -0.23397717
+v 0.21099575 -0.00717313 0.35417994
+v 0.20337217 -0.25899218 0.33250027
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 6 5 4
+f 7 1 3
+f 8 2 1
+f 8 1 5
+f 8 6 2
+f 8 5 6
+f 9 7 3
+f 9 3 4
+f 9 4 5
+f 9 1 7
+f 10 9 5
+f 10 5 1
+f 10 1 9
\ No newline at end of file
diff --git a/apple/apple_6/collision/model_normalized_collision_11.obj b/apple/apple_6/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03004ce0c1b10b43307a769676b9371621f55f18
--- /dev/null
+++ b/apple/apple_6/collision/model_normalized_collision_11.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.36942246 -0.24690344 -0.23156638
+v 0.42147470 -0.09595162 -0.22940612
+v 0.23982867 -0.25000000 -0.23397717
+v 0.25498018 0.23484849 -0.23397717
+v 0.23751738 -0.00752452 -0.46569422
+v 0.40705477 0.18299534 -0.22823955
+v 0.37837343 -0.22896545 -0.22942154
+v 0.23248552 -0.24428269 -0.42120310
+v 0.23982867 -0.00757576 -0.23397717
+v 0.24833911 0.25884168 -0.39184770
+v 0.37338235 0.02222484 -0.35935506
+v 0.39246644 -0.19818232 -0.22904976
+v 0.23372970 -0.08163323 -0.46444739
+v 0.38460856 0.23160767 -0.23104282
+v 0.41808501 0.08194195 -0.25665108
+v 0.28962901 0.12481546 -0.42729541
+v 0.42246547 0.12596812 -0.22832004
+v 0.37403971 -0.12319325 -0.32785184
+v 0.38846243 -0.19636620 -0.24279493
+v 0.30002056 -0.07888938 -0.42882834
+v 0.24678801 0.24221643 -0.40494478
+v 0.25366480 0.26402230 -0.38391927
+v 0.39328695 0.21390511 -0.22878362
+v 0.38684652 0.15450889 -0.29820304
+v 0.40308172 -0.04975467 -0.30211517
+v 0.41790521 -0.06522264 -0.25704990
+v 0.32910889 -0.23840872 -0.32858996
+v 0.40144034 -0.12247088 -0.27034965
+v 0.24925800 -0.00706829 -0.46316204
+v 0.34566334 -0.08106414 -0.38642447
+v 0.25705656 -0.19700754 -0.42968972
+v 0.30482806 0.06571814 -0.42805269
+v 0.24742395 0.14115274 -0.44808200
+v 0.33110888 0.17976236 -0.36927793
+v 0.40226432 0.16870859 -0.25635540
+v 0.40347445 0.05105910 -0.30312267
+v 0.35714534 -0.24132059 -0.27024140
+v 0.34235224 -0.21167662 -0.32785034
+v 0.37114518 -0.15234882 -0.31518377
+v 0.40634204 -0.15443603 -0.22925402
+v 0.41742592 -0.09528230 -0.24334988
+v 0.24580122 -0.08077467 -0.45841058
+v 0.38756680 -0.06494753 -0.32757614
+v 0.23375942 -0.17148380 -0.44836809
+v 0.31508912 -0.13908657 -0.39890007
+v 0.28697398 -0.21203079 -0.39894873
+v 0.27528014 0.16726595 -0.42643020
+v 0.27399438 0.09589965 -0.44231409
+v 0.31426590 0.22490540 -0.35781569
+v 0.35803262 0.12324477 -0.35856838
+v 0.37213239 0.20999104 -0.28355392
+v 0.40266928 0.10946986 -0.28669908
+v 0.37438209 -0.22709010 -0.24308849
+v 0.37136458 -0.21059274 -0.26979157
+v 0.32710181 -0.13767343 -0.38710416
+v 0.40244410 -0.15297686 -0.24269666
+v 0.37267460 -0.03468881 -0.35804989
+v 0.23459254 -0.21522459 -0.43471010
+v 0.26104040 -0.13988367 -0.44213345
+v 0.27053083 -0.16761704 -0.42922914
+v 0.24313692 -0.24077895 -0.41523181
+v 0.29790062 -0.21213893 -0.38752933
+v 0.24833886 0.18405442 -0.43378744
+v 0.30045518 0.13783981 -0.41500429
+f 7 3 1
+f 7 6 3
+f 8 1 3
+f 9 3 6
+f 9 8 3
+f 10 9 4
+f 12 6 7
+f 13 8 9
+f 17 12 2
+f 17 6 12
+f 19 12 7
+f 21 5 13
+f 21 13 9
+f 21 9 10
+f 22 10 4
+f 22 4 14
+f 22 21 10
+f 23 14 4
+f 23 9 6
+f 23 4 9
+f 26 17 2
+f 26 15 17
+f 27 1 8
+f 28 25 26
+f 29 13 5
+f 32 30 20
+f 32 11 30
+f 32 20 29
+f 33 5 21
+f 33 29 5
+f 35 23 6
+f 35 14 23
+f 35 6 17
+f 36 25 11
+f 36 26 25
+f 36 15 26
+f 37 1 27
+f 38 37 27
+f 39 28 19
+f 39 18 28
+f 39 38 18
+f 40 2 12
+f 41 28 26
+f 41 26 2
+f 41 2 40
+f 42 29 20
+f 42 13 29
+f 43 18 30
+f 43 28 18
+f 43 25 28
+f 44 8 13
+f 45 20 30
+f 46 8 31
+f 47 16 33
+f 48 32 29
+f 48 29 33
+f 48 33 16
+f 48 16 32
+f 49 21 22
+f 49 22 14
+f 49 47 21
+f 49 34 47
+f 50 34 24
+f 50 11 32
+f 50 36 11
+f 51 35 24
+f 51 14 35
+f 51 49 14
+f 51 24 34
+f 51 34 49
+f 52 35 17
+f 52 24 35
+f 52 17 15
+f 52 15 36
+f 52 50 24
+f 52 36 50
+f 53 1 37
+f 53 19 7
+f 53 7 1
+f 54 37 38
+f 54 53 37
+f 54 19 53
+f 54 39 19
+f 54 38 39
+f 55 30 18
+f 55 18 38
+f 55 45 30
+f 55 46 45
+f 56 40 12
+f 56 12 19
+f 56 19 28
+f 56 41 40
+f 56 28 41
+f 57 43 30
+f 57 30 11
+f 57 11 25
+f 57 25 43
+f 58 44 31
+f 58 31 8
+f 58 8 44
+f 59 44 13
+f 59 13 42
+f 59 42 20
+f 59 31 44
+f 60 20 45
+f 60 59 20
+f 60 31 59
+f 60 46 31
+f 60 45 46
+f 61 27 8
+f 61 8 46
+f 62 38 27
+f 62 61 46
+f 62 27 61
+f 62 55 38
+f 62 46 55
+f 63 47 33
+f 63 33 21
+f 63 21 47
+f 64 47 34
+f 64 16 47
+f 64 34 50
+f 64 50 32
+f 64 32 16
\ No newline at end of file
diff --git a/apple/apple_6/collision/model_normalized_collision_12.obj b/apple/apple_6/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1cb9ada365f3804d72393d390b77dcf6b12c524c
--- /dev/null
+++ b/apple/apple_6/collision/model_normalized_collision_12.obj
@@ -0,0 +1,156 @@
+# https://github.com/mikedh/trimesh
+v -0.22952008 -0.28076690 -0.38688661
+v -0.19216618 -0.22670632 -0.44775927
+v -0.21471679 0.09848485 -0.37034080
+v -0.35668908 0.09550828 -0.36286702
+v -0.34923540 -0.10680956 -0.37099580
+v -0.20933947 0.09660349 -0.47823457
+v -0.19956528 -0.00757576 -0.35518929
+v -0.27748811 -0.18071199 -0.41248534
+v -0.29358924 -0.00756992 -0.44634537
+v -0.19414481 -0.24403518 -0.43621536
+v -0.29829759 -0.24514751 -0.34843661
+v -0.19956528 -0.00757576 -0.41579535
+v -0.37988145 -0.00761718 -0.35439709
+v -0.27761345 0.09514196 -0.44560568
+v -0.29082616 -0.10746027 -0.42795565
+v -0.22858002 -0.00635385 -0.47541092
+v -0.23393479 -0.24218827 -0.41406435
+v -0.31889310 -0.18222256 -0.37040278
+v -0.19451462 -0.17090744 -0.46217262
+v -0.33410188 -0.06414700 -0.40221745
+v -0.32178700 0.07893668 -0.41331834
+v -0.37027806 -0.09644411 -0.34927123
+v -0.26723635 0.08088857 -0.45707216
+v -0.31821598 -0.12133145 -0.40010605
+v -0.23303287 -0.18094662 -0.44299376
+v -0.20655907 -0.24102302 -0.43122457
+v -0.27430358 -0.20844604 -0.40004201
+v -0.29219433 -0.24110617 -0.35796425
+v -0.21352386 -0.00644430 -0.47660570
+v -0.25154570 -0.08008372 -0.45709809
+v -0.36507226 -0.03400256 -0.37244811
+v -0.29162659 -0.03445025 -0.44450211
+v -0.37127151 0.04987622 -0.36242133
+v -0.34959595 0.09358640 -0.37282870
+v -0.35500933 -0.13940520 -0.34873551
+v -0.36475649 -0.09486499 -0.35651314
+v -0.22219420 0.09489166 -0.47323805
+v -0.29221968 0.04886238 -0.44453848
+v -0.23792570 0.00775656 -0.47415126
+v -0.29067871 -0.15285328 -0.41262338
+v -0.32122664 -0.06450882 -0.41348960
+v -0.34963323 -0.13727238 -0.35618359
+v -0.26595370 -0.12424068 -0.44145811
+v -0.24679113 -0.19560014 -0.42707682
+v -0.20227670 -0.22608183 -0.44230363
+v -0.20803042 -0.16983517 -0.45762637
+v -0.24716041 -0.22615005 -0.41245027
+v -0.28875944 -0.20852870 -0.38510219
+v -0.36433480 0.04771255 -0.37214015
+v -0.30983603 -0.22769007 -0.34840796
+v -0.23741056 0.05072982 -0.47336443
+v -0.26716842 -0.03490260 -0.45764165
+v -0.34834101 0.06260135 -0.38663201
+f 6 4 3
+f 7 3 4
+f 7 6 3
+f 10 7 1
+f 10 2 7
+f 11 1 7
+f 12 7 2
+f 12 6 7
+f 13 7 4
+f 14 4 6
+f 19 12 2
+f 19 6 12
+f 22 7 13
+f 24 5 20
+f 26 2 10
+f 26 10 1
+f 26 1 17
+f 27 18 8
+f 28 17 1
+f 28 1 11
+f 28 27 17
+f 29 19 16
+f 29 16 6
+f 29 6 19
+f 30 16 19
+f 31 9 20
+f 31 22 13
+f 32 20 9
+f 33 13 4
+f 34 4 14
+f 34 14 21
+f 34 33 4
+f 35 7 22
+f 35 22 5
+f 36 20 5
+f 36 5 22
+f 36 31 20
+f 36 22 31
+f 37 23 14
+f 37 14 6
+f 37 6 23
+f 38 21 14
+f 38 14 23
+f 38 23 9
+f 38 9 21
+f 39 16 30
+f 39 6 16
+f 40 24 15
+f 40 8 18
+f 40 18 24
+f 41 24 20
+f 41 15 24
+f 41 32 15
+f 41 20 32
+f 42 24 18
+f 42 5 24
+f 42 35 5
+f 42 18 35
+f 43 25 8
+f 43 15 32
+f 43 40 15
+f 43 8 40
+f 44 25 17
+f 44 8 25
+f 45 25 2
+f 45 17 25
+f 45 26 17
+f 45 2 26
+f 46 19 2
+f 46 2 25
+f 46 25 43
+f 46 43 30
+f 46 30 19
+f 47 27 8
+f 47 17 27
+f 47 44 17
+f 47 8 44
+f 48 28 11
+f 48 18 27
+f 48 27 28
+f 49 21 9
+f 49 9 31
+f 49 31 13
+f 49 13 33
+f 49 33 34
+f 50 35 18
+f 50 11 7
+f 50 7 35
+f 50 48 11
+f 50 18 48
+f 51 39 9
+f 51 9 23
+f 51 23 6
+f 51 6 39
+f 52 32 9
+f 52 9 39
+f 52 39 30
+f 52 43 32
+f 52 30 43
+f 53 49 34
+f 53 34 21
+f 53 21 49
\ No newline at end of file
diff --git a/apple/apple_6/collision/model_normalized_collision_13.obj b/apple/apple_6/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82cc0a26eeaaa6478eb05c6dd83a8c007c6882b4
--- /dev/null
+++ b/apple/apple_6/collision/model_normalized_collision_13.obj
@@ -0,0 +1,138 @@
+# https://github.com/mikedh/trimesh
+v 0.22919375 -0.28622379 0.29754871
+v 0.36449210 -0.03672659 0.25878227
+v 0.26024547 -0.14146669 0.33837138
+v 0.25366421 0.09809972 0.33898761
+v 0.20952564 -0.00757576 0.26602284
+v 0.31723676 -0.00782360 0.31209896
+v 0.20255252 -0.20132856 0.35810633
+v 0.31902052 -0.21486401 0.25710643
+v 0.29562984 0.09691038 0.32003562
+v 0.33044953 -0.12502685 0.28235410
+v 0.27507720 -0.02201215 0.33897049
+v 0.20337217 -0.25899218 0.33250027
+v 0.20922610 -0.00765779 0.35440549
+v 0.30413329 -0.24298859 0.25675755
+v 0.25941694 0.09978332 0.33604475
+v 0.36663485 -0.00663457 0.26010829
+v 0.28575034 -0.10985949 0.32545252
+v 0.34582580 -0.05081449 0.28045115
+v 0.33448200 -0.17062132 0.25838732
+v 0.27212005 -0.21229138 0.30872146
+v 0.23054761 -0.14148618 0.35417458
+v 0.26153033 0.08048798 0.33793194
+v 0.27497851 -0.00799630 0.33874847
+v 0.20290042 -0.24277916 0.34235698
+v 0.29197039 -0.25953962 0.25874178
+v 0.36047372 -0.00614247 0.27014251
+v 0.31594585 -0.03572459 0.31119560
+v 0.35775939 -0.03606358 0.26976731
+v 0.31298313 -0.18207076 0.28281522
+v 0.34911976 -0.11111591 0.25874998
+v 0.24106003 -0.19671398 0.33799467
+v 0.21435789 -0.19861194 0.35266333
+v 0.23758573 -0.05415335 0.35350231
+v 0.24430758 -0.25396053 0.30968476
+v 0.27253006 -0.24159778 0.29455440
+v 0.33036289 -0.05076914 0.29527777
+v 0.32793388 -0.16854269 0.26915582
+v 0.30089184 -0.18443114 0.29388561
+v 0.34306212 -0.10903442 0.26937434
+v 0.21318363 -0.23849552 0.33959835
+v 0.20834100 -0.03762884 0.35598799
+v 0.24870480 0.08149677 0.34361407
+v 0.29809291 -0.23929071 0.26702249
+v 0.28599047 -0.25557491 0.26874934
+v 0.31611764 -0.12538901 0.29498227
+v 0.27036182 -0.16904663 0.32359589
+v 0.31242905 -0.21214526 0.26724207
+f 12 5 1
+f 13 4 5
+f 13 5 7
+f 14 5 2
+f 14 2 8
+f 15 9 5
+f 15 5 4
+f 15 4 9
+f 16 2 5
+f 16 5 9
+f 17 11 3
+f 21 3 11
+f 22 9 4
+f 23 11 6
+f 23 6 9
+f 23 9 22
+f 24 7 5
+f 24 5 12
+f 25 1 5
+f 25 5 14
+f 26 16 9
+f 26 9 6
+f 27 6 11
+f 27 11 17
+f 27 17 10
+f 27 26 6
+f 27 18 26
+f 28 18 10
+f 28 26 18
+f 28 2 16
+f 28 16 26
+f 30 19 8
+f 30 8 2
+f 32 21 7
+f 32 3 21
+f 32 31 3
+f 33 7 21
+f 33 21 11
+f 33 11 23
+f 34 12 1
+f 35 20 34
+f 35 34 1
+f 36 27 10
+f 36 10 18
+f 36 18 27
+f 37 19 10
+f 37 10 29
+f 37 29 8
+f 37 8 19
+f 38 29 10
+f 38 35 29
+f 38 20 35
+f 39 10 19
+f 39 19 30
+f 39 28 10
+f 39 30 2
+f 39 2 28
+f 40 32 7
+f 40 7 24
+f 40 31 32
+f 40 24 12
+f 40 12 34
+f 40 34 20
+f 40 20 31
+f 41 33 13
+f 41 13 7
+f 41 7 33
+f 42 33 23
+f 42 23 22
+f 42 22 4
+f 42 4 13
+f 42 13 33
+f 43 25 14
+f 43 14 8
+f 44 35 1
+f 44 1 25
+f 44 43 35
+f 44 25 43
+f 45 38 10
+f 45 10 17
+f 45 17 38
+f 46 38 17
+f 46 17 3
+f 46 3 31
+f 46 31 20
+f 46 20 38
+f 47 43 8
+f 47 8 29
+f 47 29 35
+f 47 35 43
\ No newline at end of file
diff --git a/apple/apple_6/collision/model_normalized_collision_14.obj b/apple/apple_6/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b558e9100bc936e9c13907ad13e272374d839bc3
--- /dev/null
+++ b/apple/apple_6/collision/model_normalized_collision_14.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.26182520 0.22833261 0.29709894
+v 0.40654905 0.22886332 -0.16847338
+v 0.40416311 0.24321009 0.07877287
+v 0.23267330 0.43651004 0.02153488
+v 0.23982867 0.23484849 -0.24912868
+v 0.35948223 0.32667978 -0.09498403
+v 0.28465408 0.32475143 0.19450087
+v 0.39047081 0.22899952 0.13985813
+v 0.36187274 0.22747107 -0.28553940
+v 0.23272669 0.25803875 0.29902306
+v 0.41812241 0.24401377 -0.05135124
+v 0.34455077 0.34140276 0.02096456
+v 0.32769690 0.26785406 0.21009216
+v 0.36091209 0.22876839 0.19731061
+v 0.34316163 0.31282829 -0.19768861
+v 0.23807763 0.23341615 0.30839842
+v 0.23056050 0.40389290 -0.22756851
+v 0.23158166 0.35954339 0.21283685
+v 0.40276011 0.25266545 -0.13973262
+v 0.42262247 0.23055111 -0.00806014
+v 0.27343284 0.41366435 -0.09549523
+v 0.36010807 0.32661195 0.00587787
+v 0.28553318 0.38477690 0.07706347
+v 0.27082249 0.25080558 0.28064821
+v 0.38718834 0.23907823 0.13857594
+v 0.38765262 0.25150934 -0.19739193
+v 0.34313927 0.28014498 -0.25491801
+v 0.34379856 0.23360429 -0.30827008
+v 0.23231364 0.28680040 0.28251515
+v 0.23116213 0.41924316 0.09456679
+v 0.31543863 0.29474180 0.19487202
+v 0.38793744 0.28304225 -0.10972368
+v 0.37262933 0.29823387 -0.13976304
+v 0.42251902 0.23027151 -0.05154139
+v 0.40853551 0.23006283 0.08015243
+v 0.27318459 0.41419215 -0.00712618
+v 0.23295851 0.43644515 -0.12668849
+v 0.31470844 0.36964961 -0.13582221
+v 0.41835821 0.24387590 -0.00911661
+v 0.35871735 0.31318414 0.07752305
+v 0.25602489 0.38507556 0.13814087
+v 0.29901005 0.25367048 0.24997766
+v 0.25941260 0.24123184 0.29262921
+v 0.35750376 0.23691444 0.19475597
+v 0.39213098 0.22880865 -0.21489981
+v 0.40179104 0.24212864 -0.16692988
+v 0.24368784 0.38718944 -0.24124620
+v 0.35635039 0.25424879 -0.27089841
+v 0.35007531 0.22919909 -0.30280926
+v 0.24489462 0.25505063 0.29379093
+v 0.24059559 0.28118414 0.28073075
+v 0.25776036 0.41368087 0.05029908
+v 0.33077301 0.31008293 0.14954350
+v 0.35835327 0.31285731 -0.15224750
+v 0.28533533 0.39964919 0.01952898
+v 0.28522944 0.40065656 -0.12531803
+v 0.38883654 0.28400793 0.02115912
+v 0.38805477 0.26832194 0.07814262
+v 0.28552892 0.35350905 0.14903991
+v 0.24187138 0.41279749 0.09211187
+v 0.38704041 0.24181971 -0.21350854
+v 0.27193436 0.39848836 -0.16688017
+v 0.23364120 0.39298733 -0.24485023
+v 0.33891123 0.24584732 -0.30484624
+f 9 1 5
+f 9 2 8
+f 14 9 8
+f 14 1 9
+f 16 10 5
+f 16 5 1
+f 17 5 10
+f 19 11 2
+f 22 11 6
+f 22 6 21
+f 24 1 14
+f 25 14 8
+f 29 18 17
+f 29 17 10
+f 30 4 17
+f 30 17 18
+f 31 18 13
+f 31 7 18
+f 32 6 11
+f 32 11 19
+f 33 32 19
+f 33 6 32
+f 33 19 26
+f 34 20 8
+f 34 8 2
+f 34 2 11
+f 35 8 20
+f 35 25 8
+f 35 3 25
+f 36 22 21
+f 36 12 22
+f 37 17 4
+f 37 36 21
+f 37 4 36
+f 39 11 22
+f 39 34 11
+f 39 20 34
+f 39 35 20
+f 39 3 35
+f 40 22 12
+f 41 30 18
+f 42 24 14
+f 42 14 13
+f 42 13 24
+f 43 16 1
+f 43 1 24
+f 44 25 13
+f 44 13 14
+f 44 14 25
+f 45 2 9
+f 46 26 19
+f 46 19 2
+f 46 2 45
+f 47 15 27
+f 48 27 15
+f 48 15 26
+f 49 9 5
+f 49 5 28
+f 49 48 9
+f 50 29 10
+f 50 24 29
+f 50 43 24
+f 50 10 16
+f 50 16 43
+f 51 29 24
+f 51 24 13
+f 51 13 18
+f 51 18 29
+f 52 4 30
+f 52 36 4
+f 53 31 13
+f 53 13 25
+f 53 25 40
+f 53 40 23
+f 53 7 31
+f 54 33 26
+f 54 26 15
+f 54 15 38
+f 54 38 6
+f 54 6 33
+f 55 12 36
+f 55 40 12
+f 55 23 40
+f 55 52 23
+f 55 36 52
+f 56 21 6
+f 56 6 38
+f 56 37 21
+f 57 39 22
+f 57 22 40
+f 57 3 39
+f 58 40 25
+f 58 25 3
+f 58 57 40
+f 58 3 57
+f 59 41 18
+f 59 18 7
+f 59 7 53
+f 59 53 23
+f 59 23 41
+f 60 41 23
+f 60 30 41
+f 60 52 30
+f 60 23 52
+f 61 46 45
+f 61 26 46
+f 61 48 26
+f 61 45 9
+f 61 9 48
+f 62 38 15
+f 62 15 47
+f 62 56 38
+f 62 47 17
+f 62 17 37
+f 62 37 56
+f 63 28 5
+f 63 5 17
+f 63 17 47
+f 64 47 27
+f 64 27 48
+f 64 63 47
+f 64 28 63
+f 64 49 28
+f 64 48 49
\ No newline at end of file
diff --git a/apple/apple_6/collision/model_normalized_collision_15.obj b/apple/apple_6/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..034289da3c554c3f1faf69a34de7c9b217e620b3
--- /dev/null
+++ b/apple/apple_6/collision/model_normalized_collision_15.obj
@@ -0,0 +1,162 @@
+# https://github.com/mikedh/trimesh
+v -0.32809183 -0.26070308 0.18583387
+v -0.34210250 -0.26901306 -0.23648429
+v -0.33592892 -0.00757576 -0.23397717
+v -0.41777543 -0.00814996 0.18601400
+v -0.42267495 -0.16775286 0.02142292
+v -0.33592892 -0.00757576 0.19026526
+v -0.37720751 -0.25521985 0.05164352
+v -0.39335942 -0.16583899 0.15038582
+v -0.41505718 -0.00644460 -0.28520842
+v -0.40919078 -0.19429656 -0.15558663
+v -0.37774766 -0.16562796 0.18044836
+v -0.43791687 -0.09469071 0.07933003
+v -0.36303005 -0.24143127 0.13960209
+v -0.40822333 -0.08514914 -0.28332255
+v -0.42321603 -0.16797155 -0.12534017
+v -0.37705021 -0.25416143 -0.13969099
+v -0.40684660 -0.07900486 0.18149675
+v -0.40851588 -0.18083981 0.07900491
+v -0.45662773 -0.00856539 0.06547622
+v -0.35037457 -0.25615066 0.15099587
+v -0.39236351 -0.19325334 -0.22894261
+v -0.45448059 -0.03476396 -0.12555421
+v -0.42332867 -0.09267931 0.13624174
+v -0.42274931 -0.15264073 0.06385515
+v -0.39178699 -0.18010338 0.13916332
+v -0.40749303 -0.19487167 0.05140064
+v -0.36409747 -0.25517802 0.10973341
+v -0.33401533 -0.25546514 0.18061601
+v -0.43872981 -0.09540892 -0.16909217
+v -0.37751815 -0.23888681 -0.18356784
+v -0.45451019 -0.00891550 -0.12506370
+v -0.45478362 -0.06485684 -0.00812743
+v -0.40720018 -0.12270018 0.15068944
+v -0.43898139 -0.01890272 0.13698294
+v -0.43825318 -0.12216666 0.02170664
+v -0.40679245 -0.15251604 0.12441973
+v -0.40707970 -0.15222484 -0.22862797
+v -0.43899366 -0.05030989 -0.19906595
+v -0.42350112 -0.13787750 -0.18403349
+v -0.36401378 -0.25431937 -0.19819603
+v -0.45365918 -0.03420125 0.06432832
+v -0.45487830 -0.06490879 -0.03623102
+v -0.42293428 -0.03386562 0.16689992
+v -0.43959799 -0.00840464 0.13700925
+v -0.43797412 -0.10721075 0.06387495
+v -0.42241267 -0.08041047 -0.24276937
+v -0.44007400 -0.00874042 -0.19936015
+v -0.40856672 -0.18304461 -0.18357601
+v -0.43788887 -0.12255994 -0.12555776
+v -0.35270608 -0.25670851 -0.22932570
+v -0.45396431 -0.04957232 0.03723557
+v -0.43781476 -0.08010453 -0.18403102
+v -0.42406601 -0.03520277 -0.25845795
+v -0.45386992 -0.04980869 -0.11032171
+v -0.42351888 -0.00870377 -0.25851957
+f 1 2 3
+f 6 1 3
+f 6 4 1
+f 7 2 1
+f 9 6 3
+f 9 4 6
+f 14 9 3
+f 14 3 2
+f 15 10 7
+f 15 7 5
+f 16 2 7
+f 16 7 10
+f 17 11 1
+f 17 1 4
+f 17 8 11
+f 20 11 8
+f 20 8 13
+f 21 14 2
+f 25 18 13
+f 25 13 8
+f 26 5 7
+f 26 7 18
+f 26 24 5
+f 26 18 24
+f 27 18 7
+f 27 13 18
+f 27 20 13
+f 27 7 1
+f 27 1 20
+f 28 20 1
+f 28 1 11
+f 28 11 20
+f 30 16 10
+f 30 10 21
+f 31 22 19
+f 31 19 9
+f 33 23 8
+f 33 8 17
+f 33 17 23
+f 34 12 23
+f 35 5 24
+f 35 15 5
+f 36 24 18
+f 36 18 25
+f 36 25 8
+f 36 8 23
+f 37 14 21
+f 38 29 22
+f 40 30 21
+f 40 2 16
+f 40 16 30
+f 41 34 19
+f 41 12 34
+f 42 32 19
+f 42 19 22
+f 42 35 32
+f 43 17 4
+f 43 4 34
+f 43 34 23
+f 43 23 17
+f 44 34 4
+f 44 19 34
+f 44 4 9
+f 44 9 19
+f 45 35 24
+f 45 12 41
+f 45 32 35
+f 45 24 36
+f 45 36 23
+f 45 23 12
+f 46 14 37
+f 46 39 29
+f 46 37 39
+f 47 31 9
+f 47 38 22
+f 47 22 31
+f 48 10 15
+f 48 15 39
+f 48 21 10
+f 48 39 37
+f 48 37 21
+f 49 39 15
+f 49 29 39
+f 49 15 35
+f 49 35 42
+f 50 40 21
+f 50 21 2
+f 50 2 40
+f 51 41 19
+f 51 19 32
+f 51 45 41
+f 51 32 45
+f 52 46 29
+f 52 29 38
+f 52 38 46
+f 53 46 38
+f 53 9 14
+f 53 14 46
+f 53 38 47
+f 54 49 42
+f 54 42 22
+f 54 22 29
+f 54 29 49
+f 55 53 47
+f 55 47 9
+f 55 9 53
\ No newline at end of file
diff --git a/apple/apple_6/collision/model_normalized_collision_16.obj b/apple/apple_6/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b960182972d0925affe11f0f92b0e3cb13946157
--- /dev/null
+++ b/apple/apple_6/collision/model_normalized_collision_16.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v -0.20879970 -0.26185807 0.31749628
+v -0.21471679 -0.26515152 0.19026526
+v -0.21471679 -0.00757576 0.19026526
+v -0.34014843 -0.00570773 0.28128726
+v -0.33925328 -0.24328675 0.18357774
+v -0.21270349 -0.00771711 0.32830436
+v -0.20703408 -0.23057229 0.32992267
+v -0.32809183 -0.26070308 0.18583387
+v -0.30691042 -0.17190337 0.27934993
+v -0.41777543 -0.00814996 0.18601400
+v -0.24847142 -0.15486635 0.32464503
+v -0.27758847 -0.19876249 0.29283424
+v -0.33388095 -0.21288423 0.22293122
+v -0.38197086 -0.00620526 0.23734274
+v -0.41214097 -0.04984815 0.18381893
+v -0.28254915 -0.00745367 0.31017357
+v -0.27696576 -0.12526143 0.31027450
+v -0.21984732 -0.25957384 0.31116220
+v -0.26244614 -0.18361509 0.30799905
+v -0.33403541 -0.24032502 0.19577888
+v -0.27315591 -0.25606617 0.26544265
+v -0.35117053 -0.04960447 0.26604747
+v -0.38243143 -0.15262407 0.18289576
+v -0.40776714 -0.04915226 0.19413439
+v -0.24323711 -0.02418834 0.32418457
+v -0.22752424 -0.00774033 0.32609040
+v -0.29140545 -0.15676511 0.29388160
+v -0.23262338 -0.19898215 0.32384541
+v -0.24431233 -0.25437218 0.29523351
+v -0.31776041 -0.19737057 0.25221197
+v -0.31770731 -0.23906670 0.22453479
+v -0.33837610 -0.03570791 0.27884915
+v -0.39303669 -0.07760194 0.20794967
+v -0.41220112 -0.00804165 0.19788232
+v -0.39651717 -0.10862729 0.18335354
+v -0.25240782 -0.11471272 0.32268176
+v -0.21797982 -0.22861307 0.32353682
+v -0.36240377 -0.16582528 0.20963991
+v -0.31782783 -0.25429052 0.20945724
+v -0.36286663 -0.10709617 0.23632283
+v -0.38044736 -0.03636493 0.23592757
+v -0.39127384 -0.10689589 0.19611599
+v -0.36512386 -0.05147437 0.25087649
+v -0.37709388 -0.15017667 0.19525825
+f 5 3 2
+f 6 3 4
+f 7 1 2
+f 7 2 3
+f 7 3 6
+f 8 5 2
+f 8 2 1
+f 11 7 6
+f 14 4 3
+f 14 3 10
+f 15 10 3
+f 16 4 11
+f 17 11 4
+f 18 1 7
+f 19 9 12
+f 20 13 5
+f 20 5 8
+f 21 8 1
+f 21 1 18
+f 22 4 14
+f 23 15 3
+f 23 3 5
+f 23 5 13
+f 24 10 15
+f 25 11 6
+f 26 6 4
+f 26 4 16
+f 26 25 6
+f 26 16 25
+f 27 11 17
+f 27 19 11
+f 27 9 19
+f 28 19 12
+f 28 7 11
+f 28 11 19
+f 29 12 9
+f 29 9 21
+f 29 21 18
+f 29 18 12
+f 30 21 9
+f 31 30 13
+f 31 21 30
+f 32 17 4
+f 32 4 22
+f 32 27 17
+f 32 22 9
+f 32 9 27
+f 34 14 10
+f 34 10 24
+f 35 24 15
+f 35 15 23
+f 36 25 16
+f 36 16 11
+f 36 11 25
+f 37 18 7
+f 37 7 28
+f 37 28 12
+f 37 12 18
+f 38 30 9
+f 38 13 30
+f 39 8 21
+f 39 21 31
+f 39 31 13
+f 39 20 8
+f 39 13 20
+f 40 38 9
+f 40 33 38
+f 41 14 34
+f 41 34 24
+f 41 24 33
+f 42 33 24
+f 42 24 35
+f 42 35 23
+f 42 38 33
+f 43 40 9
+f 43 9 22
+f 43 22 14
+f 43 14 41
+f 43 41 33
+f 43 33 40
+f 44 42 23
+f 44 38 42
+f 44 23 13
+f 44 13 38
\ No newline at end of file
diff --git a/apple/apple_6/collision/model_normalized_collision_17.obj b/apple/apple_6/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23983e0688d4236776f8814f2b589ef0833e1fef
--- /dev/null
+++ b/apple/apple_6/collision/model_normalized_collision_17.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v 0.07177282 -0.10425216 0.47532376
+v 0.12138266 -0.08458280 0.46047776
+v 0.08518965 -0.03766552 0.45399937
+v 0.00747019 0.01664753 0.30613888
+v 0.03102762 -0.05632458 0.33739471
+v 0.06475096 0.00829249 0.30446262
+v 0.06474128 -0.03878729 0.44859339
+v 0.10836627 -0.06606456 0.47975477
+v 0.08222642 -0.10587438 0.44881315
+v 0.05862044 -0.10272042 0.45690573
+v 0.04196030 0.00817094 0.35324731
+v 0.00717263 -0.00463690 0.30854376
+v 0.06797102 -0.04615849 0.35140368
+v 0.10770611 -0.07879563 0.47955423
+v 0.07456494 -0.07607315 0.48088709
+v 0.12198015 -0.06942144 0.47103790
+v 0.08971546 -0.10063483 0.46633904
+v 0.03043937 -0.01118130 0.37946002
+v 0.05530050 -0.10003085 0.43265704
+v 0.03171923 0.01475595 0.31393730
+v 0.07447226 -0.02245822 0.42976968
+v 0.05783730 -0.00710785 0.31179233
+v 0.07912307 -0.10229151 0.47600028
+v 0.07996037 -0.06491900 0.47817430
+v 0.12246199 -0.07983176 0.46804364
+v 0.09218644 -0.10074110 0.45303702
+v 0.01313638 0.00097496 0.33402343
+v 0.04033947 -0.00644522 0.38996083
+v 0.06883389 -0.05130288 0.46162104
+v 0.05870802 -0.08997027 0.45405673
+v 0.06134385 -0.00919046 0.40035491
+v 0.02400881 0.00685859 0.34847063
+v 0.04517317 -0.01723871 0.40493423
+f 10 9 1
+f 12 4 6
+f 13 6 2
+f 13 9 5
+f 13 2 9
+f 15 14 8
+f 15 10 1
+f 16 3 8
+f 16 2 6
+f 16 8 14
+f 19 5 9
+f 19 9 10
+f 19 12 5
+f 19 10 12
+f 20 11 6
+f 20 6 4
+f 20 4 11
+f 21 16 6
+f 21 3 16
+f 21 7 3
+f 22 12 6
+f 22 5 12
+f 22 13 5
+f 22 6 13
+f 23 15 1
+f 23 14 15
+f 23 1 9
+f 23 9 17
+f 23 17 2
+f 24 15 8
+f 24 8 3
+f 24 3 7
+f 25 16 14
+f 25 2 16
+f 25 23 2
+f 25 14 23
+f 26 17 9
+f 26 9 2
+f 26 2 17
+f 27 12 10
+f 27 10 18
+f 27 4 12
+f 28 7 21
+f 29 18 15
+f 29 7 18
+f 29 24 7
+f 29 15 24
+f 30 18 10
+f 30 10 15
+f 30 15 18
+f 31 21 6
+f 31 6 11
+f 31 28 21
+f 31 11 28
+f 32 27 18
+f 32 4 27
+f 32 18 28
+f 32 28 11
+f 32 11 4
+f 33 28 18
+f 33 18 7
+f 33 7 28
\ No newline at end of file
diff --git a/apple/apple_6/collision/model_normalized_collision_18.obj b/apple/apple_6/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2eff4b12ef47cc4c950925ed67bd4ca5af59f90
--- /dev/null
+++ b/apple/apple_6/collision/model_normalized_collision_18.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v -0.21471679 0.09848485 -0.26428020
+v -0.21446305 0.09836604 -0.47579583
+v -0.23855064 0.26166094 -0.38592117
+v -0.35148774 0.22697956 -0.25859383
+v -0.40528108 0.09662831 -0.26224344
+v -0.21471679 0.23484849 -0.26428020
+v -0.36653121 0.09377331 -0.34736182
+v -0.39781102 0.12369867 -0.25982689
+v -0.20908415 0.16904549 -0.46273445
+v -0.25334427 0.09528826 -0.46010806
+v -0.39712768 0.09441984 -0.28746427
+v -0.31679908 0.20961180 -0.34372162
+v -0.38116055 0.16817575 -0.25888412
+v -0.20957885 0.22853828 -0.43431188
+v -0.23381657 0.15084041 -0.45755792
+v -0.39391561 0.10867451 -0.28589363
+v -0.31853018 0.22191820 -0.32856725
+v -0.26212421 0.18107967 -0.42748779
+v -0.39388155 0.12225743 -0.27371724
+v -0.37701245 0.13655625 -0.29924508
+v -0.34741159 0.22480414 -0.27217330
+v -0.28961208 0.22263444 -0.36922557
+v -0.21998114 0.22650800 -0.42980685
+v -0.30394398 0.15046008 -0.40179802
+v -0.27606735 0.10989161 -0.44372498
+v -0.33178516 0.16407004 -0.35877396
+v -0.36320245 0.10733174 -0.34551683
+v -0.37700238 0.16653496 -0.27257622
+v -0.27436900 0.22256460 -0.38428406
+v -0.22059102 0.16574932 -0.45836729
+v -0.28898315 0.17946082 -0.40007529
+v -0.25231835 0.10995942 -0.45765961
+v -0.30549332 0.12284254 -0.41411766
+v -0.33661585 0.09422577 -0.38963313
+v -0.34647799 0.15084319 -0.34378269
+v -0.28969379 0.12259047 -0.42855566
+v -0.27761345 0.09514196 -0.44560568
+v -0.33394861 0.10673872 -0.38721324
+f 6 3 4
+f 6 4 1
+f 8 5 1
+f 9 1 2
+f 10 2 1
+f 10 1 7
+f 11 7 1
+f 11 1 5
+f 13 8 1
+f 13 1 4
+f 14 6 1
+f 14 1 9
+f 14 3 6
+f 15 9 2
+f 15 2 10
+f 16 11 5
+f 16 7 11
+f 19 16 5
+f 19 5 8
+f 19 8 13
+f 21 4 3
+f 21 3 17
+f 21 17 12
+f 22 17 3
+f 22 12 17
+f 23 18 3
+f 23 3 14
+f 25 18 15
+f 26 12 22
+f 27 7 16
+f 27 16 20
+f 28 19 13
+f 28 13 4
+f 28 4 21
+f 28 21 12
+f 28 12 26
+f 28 20 16
+f 28 16 19
+f 29 22 3
+f 29 3 18
+f 29 18 22
+f 30 23 14
+f 30 14 9
+f 30 9 15
+f 30 15 18
+f 30 18 23
+f 31 22 18
+f 31 18 24
+f 31 26 22
+f 31 24 26
+f 32 25 15
+f 32 15 10
+f 32 10 25
+f 33 24 18
+f 34 10 7
+f 34 7 27
+f 35 27 20
+f 35 26 27
+f 35 28 26
+f 35 20 28
+f 36 33 18
+f 36 18 25
+f 37 25 10
+f 37 10 34
+f 37 34 33
+f 37 36 25
+f 37 33 36
+f 38 34 27
+f 38 27 26
+f 38 26 24
+f 38 24 33
+f 38 33 34
\ No newline at end of file
diff --git a/apple/apple_6/collision/model_normalized_collision_19.obj b/apple/apple_6/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d5436e95102a026479b1389fcba50f87c86481f
--- /dev/null
+++ b/apple/apple_6/collision/model_normalized_collision_19.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.16212758 -0.29064604 0.33514002
+v 0.20337217 -0.25899218 0.33250027
+v 0.11795859 -0.18793644 0.38630624
+v 0.19414372 0.09860902 0.35401859
+v 0.01477951 -0.06195485 0.33278650
+v 0.19082705 -0.12924834 0.36948623
+v 0.17410088 -0.21481459 0.36852835
+v 0.18821728 -0.27414031 0.33249517
+v 0.21038989 0.09801908 0.35270862
+v 0.01363146 -0.27557517 0.37113491
+v 0.01396304 -0.15175720 0.38547556
+v 0.18673484 -0.18617427 0.36887317
+v 0.14497211 -0.24023247 0.36927872
+v 0.19929068 -0.25448289 0.33819947
+v 0.20920123 0.09865968 0.35282993
+v 0.20052803 -0.21452340 0.35515060
+v 0.11786780 -0.15974142 0.38610531
+v 0.13339317 -0.29462663 0.34034363
+v 0.01662471 -0.08451224 0.35562610
+v 0.02869444 -0.21890368 0.38603658
+v 0.01187023 -0.20386171 0.38696008
+v 0.18516185 -0.23995953 0.35181718
+v 0.18520522 -0.27030983 0.33676108
+v 0.20749921 -0.02374191 0.35529600
+v 0.10272047 -0.14458626 0.38619639
+v 0.10064061 -0.25706321 0.36865884
+v 0.10199763 -0.20211489 0.38567419
+v 0.01215429 -0.26125886 0.37627269
+v 0.13056962 -0.28839089 0.34467357
+f 8 5 2
+f 8 1 5
+f 9 2 5
+f 12 6 3
+f 12 3 7
+f 13 7 3
+f 14 8 2
+f 15 9 5
+f 15 5 4
+f 16 6 12
+f 16 14 2
+f 16 12 7
+f 17 3 6
+f 17 6 9
+f 17 9 15
+f 18 10 5
+f 18 5 1
+f 18 1 13
+f 19 11 4
+f 19 4 5
+f 19 5 11
+f 21 11 5
+f 21 20 3
+f 22 7 13
+f 22 16 7
+f 22 14 16
+f 23 13 1
+f 23 1 8
+f 23 8 14
+f 23 22 13
+f 23 14 22
+f 24 9 6
+f 24 6 16
+f 24 16 2
+f 24 2 9
+f 25 17 15
+f 25 15 4
+f 25 4 11
+f 25 11 21
+f 25 21 3
+f 25 3 17
+f 27 13 3
+f 27 3 20
+f 27 26 13
+f 28 21 5
+f 28 5 10
+f 28 20 21
+f 28 27 20
+f 28 10 26
+f 28 26 27
+f 29 18 13
+f 29 13 26
+f 29 26 10
+f 29 10 18
\ No newline at end of file
diff --git a/apple/apple_6/collision/model_normalized_collision_2.obj b/apple/apple_6/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f666f1758c2cc88312f2528835f7a421422732f1
--- /dev/null
+++ b/apple/apple_6/collision/model_normalized_collision_2.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.11380307 -0.47330030 0.06385911
+v 0.38009170 -0.26001025 -0.17072998
+v 0.23247875 -0.25727686 0.31484777
+v -0.25049254 -0.25857286 0.28641219
+v -0.34751757 -0.26292296 -0.23253027
+v -0.36963561 -0.25828622 -0.17031024
+v -0.04620173 -0.39828763 0.26907670
+v 0.34242771 -0.31356966 0.10822625
+v 0.10086811 -0.45767641 -0.22767928
+v 0.36461583 -0.25726437 -0.22954748
+v -0.35388229 -0.25713096 0.14092052
+v 0.14282370 -0.41206639 0.21119162
+v -0.07581233 -0.26064219 0.37153259
+v -0.17643778 -0.45851300 -0.03803848
+v 0.37602734 -0.25929643 0.10865240
+v 0.27283605 -0.39946304 -0.09560628
+v -0.35583161 -0.25866562 -0.21554556
+v 0.18661129 -0.42736590 -0.22808950
+v -0.32318275 -0.25750357 0.19759276
+v 0.06861421 -0.45937731 0.15209319
+v 0.08412577 -0.36957922 0.29601104
+v 0.27137947 -0.33792887 0.19592926
+v 0.05604320 -0.25954848 0.37436694
+v -0.14732425 -0.31373599 0.32212681
+v -0.03062523 -0.48911480 -0.12533840
+v -0.26041639 -0.40104213 -0.10977160
+v 0.38932073 -0.26929055 0.02057419
+v 0.31932796 -0.25816652 0.22648944
+v 0.39330468 -0.25906035 -0.09590322
+v 0.22770940 -0.43031408 0.03580829
+v 0.32928303 -0.32415854 -0.19850811
+v -0.33523839 -0.28501379 -0.22874178
+v 0.14063926 -0.47350359 -0.08092497
+v -0.21715773 -0.41522592 0.12270469
+v 0.14026317 -0.45820027 0.09468618
+v 0.15461600 -0.35452553 0.28281043
+v 0.04103986 -0.42784303 0.22683599
+v -0.05884497 -0.32889524 0.33799424
+v -0.16227022 -0.25983893 0.34425312
+v -0.01585446 -0.49155143 0.05068070
+v -0.16072581 -0.43027990 -0.22858121
+v -0.33318514 -0.32877894 0.02113504
+v 0.37238843 -0.28330022 0.06571514
+v 0.35797004 -0.31407333 0.03554122
+v 0.25506142 -0.28028166 0.28134543
+v 0.31158649 -0.29782255 0.19632924
+v 0.39347132 -0.25976277 0.02148157
+v 0.28678328 -0.36792034 0.10971614
+v 0.35747130 -0.28279209 -0.19884587
+v 0.34312677 -0.32904887 -0.13815068
+v 0.25654440 -0.38229608 -0.22635523
+v -0.36335323 -0.26976639 -0.16867338
+v 0.14088828 -0.45771942 -0.18504479
+v 0.04227606 -0.49019508 -0.12520201
+v 0.14079951 -0.47358544 -0.00803431
+v 0.20180465 -0.44348873 -0.12449943
+v -0.27374859 -0.34164156 0.17841545
+v -0.19067078 -0.38266176 0.22350540
+v -0.24724098 -0.41455295 0.03488407
+v 0.11369113 -0.45715671 0.12429520
+v 0.11255057 -0.38273344 0.26752613
+v 0.16988536 -0.29690064 0.32720063
+v 0.19853175 -0.35242583 0.25331974
+v 0.08335685 -0.44261688 0.18168875
+f 11 10 6
+f 11 3 10
+f 17 10 5
+f 17 6 10
+f 18 9 5
+f 18 5 10
+f 19 4 3
+f 19 3 11
+f 23 3 4
+f 28 15 10
+f 28 10 3
+f 29 2 10
+f 29 10 15
+f 32 17 5
+f 37 21 7
+f 38 7 21
+f 38 24 7
+f 38 13 24
+f 38 23 13
+f 38 21 23
+f 39 23 4
+f 39 13 23
+f 39 24 13
+f 39 4 24
+f 40 14 25
+f 40 34 14
+f 40 37 7
+f 40 20 37
+f 40 1 20
+f 41 25 14
+f 41 14 26
+f 41 26 32
+f 41 9 25
+f 41 32 5
+f 41 5 9
+f 42 11 6
+f 43 27 15
+f 43 15 8
+f 44 30 16
+f 44 43 8
+f 44 27 43
+f 45 28 3
+f 46 22 8
+f 46 8 15
+f 46 15 28
+f 46 45 22
+f 46 28 45
+f 47 29 15
+f 47 15 27
+f 47 27 29
+f 48 8 22
+f 48 22 12
+f 48 35 30
+f 48 12 35
+f 48 44 8
+f 48 30 44
+f 49 31 10
+f 49 10 2
+f 50 2 29
+f 50 29 27
+f 50 27 44
+f 50 44 16
+f 50 49 2
+f 50 31 49
+f 51 18 10
+f 51 10 31
+f 51 50 16
+f 51 31 50
+f 52 6 17
+f 52 17 32
+f 52 32 26
+f 52 42 6
+f 52 26 42
+f 53 9 18
+f 54 25 9
+f 54 53 33
+f 54 9 53
+f 54 40 25
+f 55 54 33
+f 55 1 40
+f 55 40 54
+f 55 35 1
+f 55 30 35
+f 56 16 30
+f 56 55 33
+f 56 30 55
+f 56 51 16
+f 56 18 51
+f 56 53 18
+f 56 33 53
+f 57 19 11
+f 57 11 42
+f 57 4 19
+f 58 7 24
+f 58 57 34
+f 58 24 4
+f 58 4 57
+f 58 40 7
+f 58 34 40
+f 59 26 14
+f 59 14 34
+f 59 42 26
+f 59 57 42
+f 59 34 57
+f 60 20 1
+f 60 1 35
+f 60 35 12
+f 61 36 21
+f 61 12 36
+f 61 37 12
+f 61 21 37
+f 62 23 21
+f 62 21 36
+f 62 3 23
+f 62 45 3
+f 63 36 12
+f 63 12 22
+f 63 22 45
+f 63 62 36
+f 63 45 62
+f 64 37 20
+f 64 12 37
+f 64 60 12
+f 64 20 60
\ No newline at end of file
diff --git a/apple/apple_6/collision/model_normalized_collision_20.obj b/apple/apple_6/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e72d3ff66a03b74add9513937769992076dcbf1c
--- /dev/null
+++ b/apple/apple_6/collision/model_normalized_collision_20.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.01255594 0.23484849 0.17511375
+v 0.01253732 0.23469643 -0.47591587
+v 0.01347209 0.49226780 0.06742689
+v -0.07588872 0.47360591 0.10907927
+v -0.38499608 0.22894507 0.08158542
+v -0.11841987 0.42807528 -0.26942064
+v 0.01160912 0.46266468 0.16818296
+v 0.01290647 0.28466497 -0.45963603
+v -0.14840020 0.22732275 -0.46170352
+v -0.07293763 0.48887179 -0.09505247
+v -0.00100639 0.47432268 0.14040062
+v -0.35758007 0.23011910 0.17122929
+v -0.00271971 0.23061976 -0.47758495
+v -0.36716708 0.22707737 0.15357946
+v -0.33875299 0.22826938 -0.28982893
+v -0.10353572 0.31087182 -0.43163334
+v -0.07277785 0.49022431 0.02169424
+v 0.01153572 0.45887615 -0.24197083
+v 0.01093171 0.47448735 0.14000243
+v -0.01628429 0.49004706 0.06677236
+v -0.08555630 0.45700674 0.15082786
+v -0.04643745 0.24482316 -0.47352670
+v -0.00297937 0.24423065 -0.47331694
+v -0.27474183 0.37089159 -0.12562072
+v -0.36808751 0.22780733 -0.21440674
+v -0.20118647 0.32360912 -0.35868990
+v 0.01197648 0.49142883 -0.12552661
+v -0.06167567 0.47372646 -0.18359805
+v -0.03194136 0.41352549 -0.32984373
+v -0.06175103 0.49019323 0.03648835
+v -0.04553782 0.47324039 0.12412534
+v -0.04530925 0.45769332 0.16661213
+v -0.21852925 0.41409551 0.06652497
+v -0.04679442 0.23081758 -0.47751694
+v -0.04768086 0.28408849 -0.45874027
+v -0.14355542 0.45919967 -0.14011311
+v -0.38425897 0.22863873 -0.14149080
+v -0.31697195 0.29703546 -0.22562543
+v -0.29346735 0.22546543 -0.36197288
+v -0.10387019 0.38522116 -0.35500316
+v -0.20546607 0.23965189 -0.43065521
+v -0.04656377 0.44430089 -0.27012387
+v -0.00114209 0.47461459 -0.19898348
+v -0.01670831 0.48989591 -0.12528987
+v 0.01162540 0.41416398 -0.32988539
+v -0.21749710 0.38206082 0.16566042
+v -0.10139567 0.44360905 0.16676987
+v -0.14767382 0.45905315 0.06644926
+v -0.33595345 0.31040860 0.05205549
+v -0.10470737 0.26900651 -0.45689011
+v -0.18947035 0.41284498 -0.21150584
+v -0.13240695 0.45794559 -0.16822908
+v -0.20333611 0.42833142 -0.11024498
+v -0.15785834 0.45954205 0.02100797
+v -0.36202791 0.23983369 -0.21347636
+v -0.33331117 0.31284963 -0.11022125
+v -0.32355748 0.22565436 -0.31673010
+v -0.28967457 0.29419505 -0.28626669
+v -0.16006052 0.35676441 -0.35559823
+v -0.24588051 0.23758953 -0.39920596
+v -0.20957885 0.22853828 -0.43431188
+v -0.07282137 0.45734971 -0.22678463
+v -0.08726019 0.39654451 -0.34407731
+v 0.01105652 0.47461960 -0.19913231
+f 7 1 3
+f 8 1 2
+f 8 3 1
+f 12 1 7
+f 13 2 1
+f 13 1 9
+f 14 9 1
+f 14 1 12
+f 19 11 7
+f 19 7 3
+f 19 3 11
+f 20 11 3
+f 20 4 11
+f 23 8 2
+f 23 2 13
+f 23 22 8
+f 23 13 22
+f 27 17 3
+f 27 10 17
+f 27 3 8
+f 30 17 4
+f 30 4 20
+f 30 20 3
+f 30 3 17
+f 31 11 4
+f 31 4 21
+f 32 7 11
+f 32 31 21
+f 32 11 31
+f 34 22 13
+f 34 13 9
+f 35 16 8
+f 35 8 22
+f 37 25 14
+f 37 14 5
+f 39 9 14
+f 40 29 16
+f 43 18 42
+f 44 28 10
+f 44 10 27
+f 44 43 28
+f 44 27 43
+f 45 8 16
+f 45 16 29
+f 45 27 8
+f 45 18 27
+f 45 42 18
+f 45 29 42
+f 47 12 7
+f 47 7 32
+f 47 46 12
+f 47 32 21
+f 48 21 4
+f 48 4 17
+f 48 47 21
+f 48 33 46
+f 48 46 47
+f 49 33 24
+f 49 5 14
+f 49 46 33
+f 49 14 12
+f 49 12 46
+f 49 37 5
+f 50 35 22
+f 50 16 35
+f 50 41 16
+f 50 9 41
+f 50 34 9
+f 50 22 34
+f 51 38 24
+f 52 51 36
+f 52 6 51
+f 52 36 10
+f 52 10 28
+f 53 24 33
+f 53 51 24
+f 53 36 51
+f 54 17 10
+f 54 10 36
+f 54 48 17
+f 54 36 53
+f 54 53 33
+f 54 33 48
+f 55 38 15
+f 55 15 25
+f 55 25 37
+f 56 24 38
+f 56 49 24
+f 56 37 49
+f 56 55 37
+f 56 38 55
+f 57 25 15
+f 57 39 14
+f 57 14 25
+f 58 26 39
+f 58 51 26
+f 58 38 51
+f 58 39 57
+f 58 57 15
+f 58 15 38
+f 59 6 40
+f 59 51 6
+f 59 26 51
+f 59 40 16
+f 59 41 26
+f 59 16 41
+f 60 39 26
+f 60 26 41
+f 61 41 9
+f 61 9 39
+f 61 60 41
+f 61 39 60
+f 62 42 6
+f 62 43 42
+f 62 28 43
+f 62 52 28
+f 62 6 52
+f 63 40 6
+f 63 6 42
+f 63 42 29
+f 63 29 40
+f 64 43 27
+f 64 27 18
+f 64 18 43
\ No newline at end of file
diff --git a/apple/apple_6/collision/model_normalized_collision_21.obj b/apple/apple_6/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa3c6ddb9ef6fca7a751b12e34df93888396bf8c
--- /dev/null
+++ b/apple/apple_6/collision/model_normalized_collision_21.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.23248174 0.22883874 0.31371025
+v 0.23982867 0.23484849 0.17511375
+v 0.20204201 0.40603553 0.16889624
+v -0.08796169 0.44798825 0.16874368
+v -0.35758007 0.23011910 0.17122929
+v 0.05509743 0.38712360 0.27927097
+v 0.23563950 0.38050012 0.17171267
+v -0.35338588 0.22707634 0.18427565
+v -0.35215206 0.24038357 0.16822382
+v 0.09980230 0.45056916 0.16933893
+v 0.16771113 0.33953026 0.28026780
+v -0.12062769 0.23488323 0.33997069
+v -0.16006190 0.41712714 0.16816421
+v -0.03014520 0.42894228 0.22415179
+v 0.10088891 0.28897965 0.33755912
+v 0.22677615 0.32527075 0.24982858
+v 0.12639371 0.41474842 0.22087221
+v 0.10148994 0.22988423 0.35723045
+v -0.25920212 0.31025946 0.22312991
+v -0.04543569 0.44462979 0.19606518
+v 0.06871019 0.42982389 0.22190173
+v -0.08631287 0.39982447 0.25071276
+v 0.11198880 0.31289042 0.32322056
+v -0.04365740 0.33264782 0.32301203
+v 0.22973857 0.27019761 0.29378298
+v 0.18368521 0.38616600 0.22080919
+v 0.11108301 0.36892538 0.28115776
+v 0.12785024 0.42830523 0.19608650
+v -0.20845919 0.23054274 0.31185004
+v 0.20404983 0.22997278 0.32935213
+v -0.26370125 0.34193297 0.16848743
+v -0.30389992 0.29446149 0.18138252
+v 0.02610754 0.39950205 0.26823259
+v 0.08245411 0.44247363 0.19533954
+v 0.08340656 0.41403446 0.23665117
+v -0.14627254 0.41230502 0.19565281
+v -0.08598292 0.42818677 0.20824364
+v 0.01216430 0.25926728 0.35385007
+v 0.06871445 0.32787990 0.32366885
+v 0.19942465 0.29899630 0.29262786
+v 0.22774653 0.35538359 0.21996731
+v 0.22884004 0.37098299 0.19649538
+v 0.14038084 0.36908452 0.26638955
+v 0.12588948 0.32845712 0.30742450
+v 0.19864745 0.40121327 0.18122751
+v -0.33780279 0.22772564 0.20899415
+v -0.10492978 0.27139984 0.33911593
+v 0.15840978 0.24440222 0.33927074
+v 0.22987853 0.24186084 0.30913284
+v -0.30753779 0.29794139 0.16814564
+v -0.34780587 0.23741516 0.18124854
+v -0.26061906 0.33818615 0.18188156
+v -0.02960146 0.39961761 0.26658186
+v -0.04402225 0.38446765 0.28091670
+v -0.17395692 0.35434936 0.25160171
+v -0.08598788 0.44295562 0.18162687
+v -0.10091850 0.41249603 0.22304134
+v 0.04246405 0.30467263 0.33854613
+v -0.03045072 0.23542279 0.35525321
+v 0.20034446 0.24248985 0.32563647
+v 0.17057281 0.29824082 0.30764473
+v 0.21212285 0.38368069 0.19498649
+v -0.23367403 0.25855216 0.29250670
+v -0.29012193 0.26539787 0.23876311
+f 7 1 2
+f 7 2 3
+f 8 5 2
+f 8 2 1
+f 9 3 2
+f 9 2 5
+f 9 5 8
+f 10 3 4
+f 13 4 3
+f 18 8 1
+f 20 10 4
+f 21 20 14
+f 22 14 20
+f 25 1 7
+f 27 17 6
+f 28 3 10
+f 28 17 26
+f 29 18 12
+f 30 18 1
+f 33 21 14
+f 33 6 21
+f 34 10 20
+f 34 20 21
+f 34 28 10
+f 34 21 17
+f 34 17 28
+f 35 21 6
+f 35 6 17
+f 35 17 21
+f 36 4 13
+f 37 22 20
+f 39 6 24
+f 39 27 6
+f 39 23 27
+f 39 15 23
+f 40 25 16
+f 40 16 11
+f 41 25 7
+f 41 16 25
+f 41 26 11
+f 41 11 16
+f 42 7 3
+f 42 41 7
+f 42 26 41
+f 43 26 17
+f 43 17 27
+f 43 27 11
+f 43 11 26
+f 44 27 23
+f 44 11 27
+f 45 28 26
+f 45 3 28
+f 46 8 18
+f 46 18 29
+f 47 29 12
+f 47 38 24
+f 48 15 18
+f 48 18 30
+f 48 23 15
+f 49 30 1
+f 49 1 25
+f 50 31 13
+f 50 9 32
+f 50 13 3
+f 50 3 9
+f 51 32 9
+f 51 9 8
+f 51 46 32
+f 51 8 46
+f 52 32 19
+f 52 50 32
+f 52 31 50
+f 52 36 13
+f 52 13 31
+f 53 33 14
+f 53 14 22
+f 54 24 6
+f 54 6 33
+f 54 33 53
+f 54 53 22
+f 55 22 36
+f 55 54 22
+f 55 24 54
+f 55 52 19
+f 55 36 52
+f 56 37 20
+f 56 20 4
+f 56 4 36
+f 56 36 37
+f 57 37 36
+f 57 36 22
+f 57 22 37
+f 58 38 18
+f 58 18 15
+f 58 15 39
+f 58 39 24
+f 58 24 38
+f 59 12 18
+f 59 18 38
+f 59 47 12
+f 59 38 47
+f 60 25 40
+f 60 49 25
+f 60 30 49
+f 60 48 30
+f 60 23 48
+f 61 40 11
+f 61 11 44
+f 61 44 23
+f 61 60 40
+f 61 23 60
+f 62 45 26
+f 62 26 42
+f 62 42 3
+f 62 3 45
+f 63 46 29
+f 63 55 19
+f 63 29 47
+f 63 47 24
+f 63 24 55
+f 64 19 32
+f 64 32 46
+f 64 63 19
+f 64 46 63
\ No newline at end of file
diff --git a/apple/apple_6/collision/model_normalized_collision_22.obj b/apple/apple_6/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc4f1ee4158877e12ab7c840c61a248aa743e3d6
--- /dev/null
+++ b/apple/apple_6/collision/model_normalized_collision_22.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.12885102 -0.44950018 -0.23034917
+v 0.36942246 -0.24690344 -0.23156638
+v 0.34605304 -0.28524327 -0.22824216
+v -0.35902274 -0.24549068 -0.23104948
+v -0.13508931 -0.24567290 -0.46119569
+v 0.36461583 -0.25726437 -0.22954748
+v -0.23548183 -0.38602680 -0.22733937
+v 0.33304687 -0.24108532 -0.31793264
+v -0.35270608 -0.25670851 -0.22932570
+v 0.22896814 -0.40095991 -0.22825100
+v -0.05862522 -0.41404207 -0.32872623
+v -0.33794490 -0.24171508 -0.28688088
+v 0.35741644 -0.25235936 -0.25709569
+v -0.33523839 -0.28501379 -0.22874178
+v -0.01665838 -0.46401104 -0.22895172
+v 0.28423730 -0.30956818 -0.31494926
+v -0.20146079 -0.34129579 -0.35447341
+v 0.17390821 -0.24320313 -0.44784251
+v 0.36134547 -0.24320898 -0.25899314
+v -0.33245789 -0.25340579 -0.28366343
+v 0.05612576 -0.46305063 -0.22940645
+v -0.14842007 -0.43019178 -0.24192521
+v 0.31487868 -0.31331828 -0.25767691
+v 0.15627553 -0.38245267 -0.34135184
+v -0.11793978 -0.32740078 -0.41274175
+v -0.22329339 -0.24425943 -0.42009312
+v -0.24592065 -0.36860108 -0.25564019
+v 0.28900847 -0.24140104 -0.37510273
+v -0.35506873 -0.24301746 -0.24459525
+v 0.17336500 -0.43217726 -0.22953451
+v 0.01436893 -0.44381886 -0.28661066
+v -0.14950494 -0.43384180 -0.22983584
+v -0.08803122 -0.44444795 -0.25604760
+v -0.14509217 -0.39824799 -0.31320286
+v 0.25831737 -0.36938018 -0.25576270
+v 0.29734467 -0.28270344 -0.33005467
+v 0.31201152 -0.29751616 -0.28433489
+v 0.08457897 -0.30075353 -0.44353332
+v -0.17467273 -0.29988677 -0.41318624
+v -0.28663497 -0.26787818 -0.34341896
+v -0.17376813 -0.41242607 -0.25507251
+v 0.25975961 -0.24192439 -0.40203243
+v 0.18229923 -0.39835653 -0.30008099
+v 0.10066192 -0.42737695 -0.30119565
+v -0.10433150 -0.44928479 -0.22960088
+v -0.06131397 -0.44306499 -0.27113075
+v -0.14728092 -0.41168170 -0.28593778
+v -0.07278482 -0.42894683 -0.29937240
+v -0.10405347 -0.38417575 -0.35580309
+v -0.20381203 -0.38165101 -0.28515141
+v 0.29833239 -0.26852481 -0.34112671
+v -0.08838983 -0.29756213 -0.44322457
+v 0.13005754 -0.24493561 -0.46093353
+v 0.18485431 -0.29557419 -0.41292216
+v -0.14581329 -0.36963680 -0.35543514
+v -0.23082995 -0.26552071 -0.40044742
+v -0.13579130 -0.25845063 -0.45738086
+v -0.30954787 -0.24265305 -0.33307785
+v -0.21401337 -0.33972763 -0.34287959
+v -0.30568312 -0.28060704 -0.29917617
+v 0.21342502 -0.32430080 -0.37143750
+v 0.19649248 -0.41298923 -0.25423555
+v 0.24127898 -0.34074328 -0.32777893
+v 0.11515848 -0.44472572 -0.25663053
+f 6 2 4
+f 9 6 4
+f 9 3 6
+f 10 3 7
+f 13 6 3
+f 13 2 6
+f 14 7 3
+f 14 3 9
+f 14 9 4
+f 15 10 7
+f 19 13 8
+f 19 2 13
+f 21 10 15
+f 23 3 10
+f 23 13 3
+f 26 18 5
+f 26 12 18
+f 27 7 14
+f 28 12 8
+f 29 4 2
+f 29 2 19
+f 29 12 20
+f 29 20 14
+f 29 14 4
+f 29 19 8
+f 29 8 12
+f 30 21 1
+f 30 10 21
+f 31 21 15
+f 35 23 10
+f 35 16 23
+f 36 23 16
+f 37 8 13
+f 37 13 23
+f 37 36 8
+f 37 23 36
+f 41 7 27
+f 41 32 7
+f 41 22 32
+f 42 18 12
+f 42 12 28
+f 44 24 43
+f 44 38 24
+f 44 31 11
+f 44 11 38
+f 45 15 7
+f 45 7 32
+f 45 33 15
+f 45 32 22
+f 45 22 33
+f 46 31 15
+f 46 15 33
+f 47 33 22
+f 47 22 41
+f 48 47 34
+f 48 33 47
+f 48 46 33
+f 48 11 31
+f 48 31 46
+f 49 25 11
+f 49 48 34
+f 49 11 48
+f 50 17 34
+f 50 41 27
+f 50 47 41
+f 50 34 47
+f 51 36 28
+f 51 28 8
+f 51 8 36
+f 52 38 11
+f 52 11 25
+f 53 5 18
+f 53 18 38
+f 54 38 18
+f 54 24 38
+f 54 18 42
+f 55 39 25
+f 55 17 39
+f 55 25 49
+f 55 49 34
+f 55 34 17
+f 56 39 17
+f 56 26 39
+f 56 40 26
+f 56 17 40
+f 57 39 26
+f 57 26 5
+f 57 38 52
+f 57 53 38
+f 57 5 53
+f 57 52 25
+f 57 25 39
+f 58 20 12
+f 58 12 26
+f 58 26 40
+f 59 40 17
+f 59 50 27
+f 59 17 50
+f 60 27 14
+f 60 14 20
+f 60 58 40
+f 60 20 58
+f 60 59 27
+f 60 40 59
+f 61 54 42
+f 61 24 54
+f 61 43 24
+f 61 42 28
+f 61 28 36
+f 62 10 30
+f 62 43 35
+f 62 35 10
+f 63 16 35
+f 63 35 43
+f 63 43 61
+f 63 61 36
+f 63 36 16
+f 64 1 21
+f 64 21 31
+f 64 31 44
+f 64 44 43
+f 64 43 62
+f 64 62 30
+f 64 30 1
\ No newline at end of file
diff --git a/apple/apple_6/collision/model_normalized_collision_23.obj b/apple/apple_6/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5ad0840de044eadf7f8ee29d9c6a8b51d68677d
--- /dev/null
+++ b/apple/apple_6/collision/model_normalized_collision_23.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.01255594 -0.00757576 -0.26428020
+v 0.02298665 -0.00917011 -0.41267579
+v 0.01255594 0.09848485 -0.26428020
+v -0.09350467 0.09848485 -0.26428020
+v -0.09884115 -0.00532069 -0.43827878
+v -0.09350467 -0.00757576 -0.26428020
+v -0.01858108 0.10573230 -0.44892421
+v -0.03208565 -0.00852111 -0.43007705
+v 0.01232709 0.09996707 -0.44331429
+v -0.09549683 0.10069910 -0.47131820
+v -0.09871365 0.07205789 -0.46378319
+v -0.06865854 0.10455011 -0.46247753
+f 1 2 3
+f 1 3 4
+f 6 2 1
+f 6 1 4
+f 6 4 5
+f 7 4 3
+f 8 6 5
+f 8 2 6
+f 9 7 3
+f 9 3 2
+f 9 2 8
+f 10 9 8
+f 10 7 9
+f 11 5 4
+f 11 4 10
+f 11 10 8
+f 11 8 5
+f 12 10 4
+f 12 4 7
+f 12 7 10
\ No newline at end of file
diff --git a/apple/apple_6/collision/model_normalized_collision_24.obj b/apple/apple_6/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..534f990a1b15cf3ee785a1d1d4f85de72de67fbc
--- /dev/null
+++ b/apple/apple_6/collision/model_normalized_collision_24.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.33592892 -0.00757576 0.15996223
+v -0.33592892 -0.00757576 0.06905314
+v -0.33592892 0.15909091 0.06905314
+v -0.37916060 0.18112552 0.18019429
+v -0.45582246 -0.00765906 0.06875205
+v -0.44271912 -0.00848687 0.12636608
+v -0.44448552 0.09519965 0.06629219
+v -0.43145782 -0.00807336 0.15527874
+v -0.41295414 0.17345131 0.07659019
+v -0.43912935 0.05190548 0.12556103
+v -0.42449247 0.12234038 0.12564126
+v -0.42243965 0.09382771 0.15145029
+v -0.40955437 0.15214909 0.13755158
+v -0.43846214 0.07902268 0.11005255
+v -0.40930309 0.13690066 0.15247487
+v -0.43855630 0.09366050 0.09530169
+v -0.40090244 0.15476206 0.15535747
+f 1 2 3
+f 1 3 4
+f 6 5 2
+f 6 2 1
+f 7 3 2
+f 7 2 5
+f 8 6 1
+f 8 1 4
+f 9 4 3
+f 9 3 7
+f 10 7 5
+f 10 5 6
+f 10 6 8
+f 11 9 7
+f 12 10 8
+f 12 8 4
+f 13 4 9
+f 13 9 11
+f 14 7 10
+f 14 12 11
+f 14 10 12
+f 15 12 4
+f 15 13 11
+f 15 11 12
+f 16 14 11
+f 16 11 7
+f 16 7 14
+f 17 15 4
+f 17 4 13
+f 17 13 15
\ No newline at end of file
diff --git a/apple/apple_6/collision/model_normalized_collision_25.obj b/apple/apple_6/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de11f5062c6f2df45fcfe704dcb6b33582958578
--- /dev/null
+++ b/apple/apple_6/collision/model_normalized_collision_25.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.23982867 -0.25000000 -0.23397717
+v 0.26524116 -0.26912447 -0.37829619
+v 0.23982867 -0.00757576 -0.35518929
+v -0.42798603 -0.00538136 -0.24339485
+v -0.35902274 -0.24549068 -0.23104948
+v -0.38318598 -0.00794390 -0.34814873
+v 0.23982867 -0.00757576 -0.23397717
+v -0.40810324 -0.10739103 -0.27330328
+v -0.30436587 -0.23926272 -0.34501763
+v -0.38160954 -0.21038911 -0.22926993
+v -0.40807194 -0.03443032 -0.29973433
+v -0.33400122 -0.19377315 -0.34517446
+v -0.42505962 -0.08306782 -0.23339948
+v -0.40801305 -0.00890209 -0.30064909
+v -0.37887866 -0.10660848 -0.33002672
+v -0.39300418 -0.13650326 -0.28412729
+v -0.33284373 -0.23849763 -0.29904119
+v -0.41149079 -0.13860631 -0.22981508
+v -0.40828110 -0.08031369 -0.28540566
+v -0.41783700 -0.00812545 -0.27662447
+v -0.37815733 -0.06480472 -0.34539586
+v -0.39244789 -0.18173922 -0.24129437
+v -0.34681414 -0.16639719 -0.34402271
+v -0.34716053 -0.23804383 -0.27164120
+v -0.36411645 -0.12181161 -0.34525957
+v -0.39579830 -0.18387275 -0.22967574
+v -0.37807907 -0.20815289 -0.24163366
+f 5 2 1
+f 6 3 2
+f 6 4 3
+f 7 3 4
+f 7 1 2
+f 7 2 3
+f 9 2 5
+f 10 5 1
+f 10 1 7
+f 12 6 2
+f 12 2 9
+f 13 7 4
+f 14 4 6
+f 14 6 11
+f 16 8 15
+f 17 12 9
+f 17 9 5
+f 18 10 7
+f 18 7 13
+f 18 13 8
+f 19 13 11
+f 19 8 13
+f 19 15 8
+f 20 13 4
+f 20 11 13
+f 20 14 11
+f 20 4 14
+f 21 11 6
+f 21 19 11
+f 21 15 19
+f 22 16 12
+f 22 8 16
+f 23 12 16
+f 24 17 5
+f 24 22 12
+f 24 12 17
+f 25 21 6
+f 25 6 12
+f 25 12 23
+f 25 15 21
+f 25 23 16
+f 25 16 15
+f 26 10 18
+f 26 18 8
+f 26 8 22
+f 27 24 5
+f 27 5 10
+f 27 22 24
+f 27 26 22
+f 27 10 26
\ No newline at end of file
diff --git a/apple/apple_6/collision/model_normalized_collision_26.obj b/apple/apple_6/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf221320fc605c0c54e5cee64d568a554cd054d2
--- /dev/null
+++ b/apple/apple_6/collision/model_normalized_collision_26.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v 0.26526681 -0.27527603 0.27605232
+v 0.42223643 -0.05042252 0.13975704
+v 0.36663485 -0.00663457 0.26010829
+v 0.25498018 -0.00757576 0.26602284
+v 0.25498018 -0.26515152 0.14481072
+v 0.25498018 -0.00757576 0.14481072
+v 0.34412045 -0.23908922 0.21027964
+v 0.42666915 -0.00659745 0.14130461
+v 0.37763954 -0.00622621 0.24239055
+v 0.37602704 -0.22899328 0.13895531
+v 0.32908281 -0.19761337 0.25323372
+v 0.42201519 -0.00648782 0.15455224
+v 0.40267338 -0.04883642 0.19356622
+v 0.40705281 -0.12546376 0.13913004
+v 0.36384986 -0.25743626 0.13939962
+v 0.34193240 -0.15419980 0.25348135
+v 0.29956229 -0.25534177 0.25305968
+v 0.41767397 -0.04960547 0.15332516
+v 0.40580784 -0.00633558 0.19586011
+v 0.37154455 -0.19697671 0.18269626
+v 0.34187834 -0.25237839 0.19632901
+v 0.35796259 -0.07960371 0.25492628
+v 0.35865310 -0.19897784 0.20882834
+v 0.32852873 -0.22768786 0.23766057
+v 0.38692155 -0.13948102 0.18264624
+v 0.37154486 -0.22727986 0.15239335
+v 0.39216685 -0.18578894 0.13946648
+v 0.31328758 -0.25446865 0.23675437
+v 0.35765808 -0.16949828 0.22355516
+v 0.37369962 -0.04913024 0.23985101
+v 0.38746697 -0.18460646 0.15286503
+f 1 3 4
+f 5 1 4
+f 6 5 4
+f 8 2 6
+f 9 6 4
+f 9 4 3
+f 12 8 6
+f 13 9 3
+f 14 10 6
+f 14 6 2
+f 15 5 6
+f 15 6 10
+f 15 1 5
+f 16 3 1
+f 16 1 11
+f 17 11 1
+f 18 2 8
+f 18 8 12
+f 18 12 13
+f 18 14 2
+f 18 13 14
+f 19 13 12
+f 19 9 13
+f 19 12 6
+f 19 6 9
+f 21 15 7
+f 21 1 15
+f 22 3 16
+f 23 11 7
+f 23 7 20
+f 24 17 7
+f 24 7 11
+f 24 11 17
+f 25 14 13
+f 25 23 20
+f 25 13 23
+f 26 20 7
+f 26 10 20
+f 26 15 10
+f 26 7 15
+f 27 20 10
+f 27 10 14
+f 28 17 1
+f 28 1 21
+f 28 21 7
+f 28 7 17
+f 29 22 16
+f 29 13 22
+f 29 23 13
+f 29 16 11
+f 29 11 23
+f 30 22 13
+f 30 13 3
+f 30 3 22
+f 31 25 20
+f 31 20 27
+f 31 27 14
+f 31 14 25
\ No newline at end of file
diff --git a/apple/apple_6/collision/model_normalized_collision_27.obj b/apple/apple_6/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e4021c33d56f6b735cda4fa9ce5bd73a9a8cc44
--- /dev/null
+++ b/apple/apple_6/collision/model_normalized_collision_27.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v 0.36648992 0.24476096 -0.25810376
+v 0.33229192 0.22675661 -0.33051208
+v 0.26827376 0.31092689 -0.32718131
+v 0.20663944 0.41023248 -0.24610131
+v 0.20952564 0.23484849 -0.24912868
+v 0.26015369 0.37370531 -0.24216365
+v 0.32885450 0.26588711 -0.29736888
+v 0.20492451 0.22981720 -0.43556640
+v 0.21314694 0.38689144 -0.28412829
+v 0.33303428 0.29961234 -0.24240574
+v 0.21679298 0.40580038 -0.24367701
+v 0.32740459 0.23899964 -0.32708824
+v 0.21683144 0.22750292 -0.43074954
+v 0.20133492 0.35972644 -0.33135533
+v 0.25655488 0.35399272 -0.28227256
+v 0.32908196 0.29623228 -0.25549026
+v 0.21369120 0.40152538 -0.25668374
+v 0.28519147 0.26711869 -0.35533404
+v 0.20269621 0.24253208 -0.43046579
+v 0.20439153 0.40522124 -0.25889496
+v 0.24397941 0.31032323 -0.35647967
+v 0.22659838 0.38473092 -0.27019647
+v 0.31392852 0.29638101 -0.28238109
+v 0.28887436 0.24007570 -0.37166737
+v 0.21434439 0.24032594 -0.42588405
+v 0.20470440 0.39024104 -0.28731113
+v 0.20321514 0.27113305 -0.41620193
+v 0.25673829 0.36937246 -0.25493109
+v 0.29177301 0.22899744 -0.37575734
+v 0.22635558 0.25235042 -0.41310170
+v 0.25581849 0.28316698 -0.36837526
+v 0.24224866 0.29802881 -0.36833538
+v 0.21141071 0.26769827 -0.41337539
+f 5 2 1
+f 10 6 5
+f 10 5 1
+f 11 4 5
+f 11 5 6
+f 12 7 1
+f 12 1 2
+f 13 2 5
+f 13 5 8
+f 16 10 1
+f 16 1 7
+f 16 6 10
+f 17 4 11
+f 17 11 6
+f 18 7 12
+f 19 8 5
+f 19 5 14
+f 20 14 5
+f 20 5 4
+f 20 4 17
+f 21 14 9
+f 21 3 18
+f 21 15 3
+f 21 9 15
+f 22 15 9
+f 22 17 6
+f 22 9 17
+f 23 16 7
+f 23 3 15
+f 23 15 6
+f 23 6 16
+f 23 18 3
+f 23 7 18
+f 24 18 12
+f 24 12 2
+f 25 13 8
+f 25 8 19
+f 26 9 14
+f 26 14 20
+f 26 20 17
+f 26 17 9
+f 27 19 14
+f 27 14 21
+f 27 25 19
+f 28 22 6
+f 28 6 15
+f 28 15 22
+f 29 24 2
+f 29 2 13
+f 30 25 27
+f 30 24 29
+f 30 29 13
+f 30 13 25
+f 31 18 24
+f 31 24 30
+f 32 21 18
+f 32 18 31
+f 32 27 21
+f 32 31 30
+f 33 32 30
+f 33 30 27
+f 33 27 32
\ No newline at end of file
diff --git a/apple/apple_6/collision/model_normalized_collision_28.obj b/apple/apple_6/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..771efbbaf8c234f1cc45173486dc5ee61b8cc1cf
--- /dev/null
+++ b/apple/apple_6/collision/model_normalized_collision_28.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.09350467 -0.00757576 -0.26428020
+v -0.07838148 0.00743485 -0.42044732
+v -0.09350467 0.09848485 -0.26428020
+v -0.40528108 0.09662831 -0.26224344
+v -0.41392038 -0.00848588 -0.28834868
+v -0.09350467 0.09848485 -0.37034080
+v -0.41127230 0.07896157 -0.25917997
+v -0.37323582 -0.00780934 -0.36407721
+v -0.42212897 -0.00786334 -0.26281154
+v -0.35668908 0.09550828 -0.36286702
+v -0.40719931 0.06269844 -0.28498031
+v -0.40708722 0.07778616 -0.27296020
+v -0.39150244 0.09284921 -0.29986516
+v -0.37766459 0.06219561 -0.34524416
+v -0.36571356 0.07844415 -0.35814026
+v -0.38318598 -0.00794390 -0.34814873
+v -0.37648367 0.09212402 -0.32947027
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 8 2 1
+f 8 1 5
+f 9 5 1
+f 9 1 7
+f 10 6 2
+f 10 2 8
+f 10 4 6
+f 11 9 7
+f 11 5 9
+f 12 11 7
+f 12 7 4
+f 12 4 11
+f 13 11 4
+f 13 4 10
+f 14 5 11
+f 14 11 13
+f 15 10 8
+f 15 8 14
+f 16 14 8
+f 16 8 5
+f 16 5 14
+f 17 15 14
+f 17 14 13
+f 17 13 10
+f 17 10 15
\ No newline at end of file
diff --git a/apple/apple_6/collision/model_normalized_collision_29.obj b/apple/apple_6/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dbc5262869839daf5140ce7e33f023e184997c78
--- /dev/null
+++ b/apple/apple_6/collision/model_normalized_collision_29.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.25498018 -0.00757576 -0.24912868
+v 0.24925800 -0.00706829 -0.46316204
+v 0.25498018 0.23484849 -0.24912868
+v 0.14891957 0.23484849 -0.24912868
+v 0.14891957 -0.00757576 -0.24912868
+v 0.14749365 0.23275805 -0.45735484
+v 0.24701847 0.22739433 -0.41537111
+v 0.14624315 0.21615109 -0.46180218
+v 0.15105938 -0.00522456 -0.46156500
+v 0.22957588 0.14015828 -0.45853433
+v 0.24511361 0.09484617 -0.45920737
+v 0.17296567 0.21412881 -0.45658835
+v 0.24507275 0.16733265 -0.44176977
+v 0.18714628 0.22694490 -0.44470534
+v 0.18797607 0.19885171 -0.45614149
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 6 4 3
+f 7 6 3
+f 7 3 2
+f 8 5 4
+f 8 4 6
+f 9 8 2
+f 9 2 5
+f 9 5 8
+f 10 2 8
+f 11 2 10
+f 12 10 8
+f 12 8 6
+f 13 11 10
+f 13 7 2
+f 13 2 11
+f 14 12 6
+f 14 6 7
+f 14 7 13
+f 15 13 10
+f 15 10 12
+f 15 14 13
+f 15 12 14
\ No newline at end of file
diff --git a/apple/apple_6/collision/model_normalized_collision_3.obj b/apple/apple_6/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c74da403aee9f948eb1a07a4a93170ec97d9420f
--- /dev/null
+++ b/apple/apple_6/collision/model_normalized_collision_3.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.26524116 -0.26912447 -0.37829619
+v 0.22651848 -0.23991091 -0.42821420
+v 0.23751738 -0.00752452 -0.46569422
+v -0.03689487 0.03896380 -0.40802783
+v -0.22952008 -0.28076690 -0.38688661
+v 0.23982867 -0.00757576 -0.35518929
+v 0.23046046 -0.13976014 -0.45670270
+v 0.01277710 -0.24349767 -0.47380691
+v 0.01657022 0.04163065 -0.40548364
+v -0.19956528 -0.00757576 -0.35518929
+v 0.23163863 -0.19871600 -0.44237650
+v 0.14454661 -0.24385824 -0.45782845
+v 0.16195520 -0.15852371 -0.47518645
+v -0.22858002 -0.00635385 -0.47541092
+v 0.18614806 -0.21384188 -0.45744501
+v 0.07218376 -0.22925403 -0.47317592
+v -0.13459697 -0.19966784 -0.47441268
+v 0.16589177 -0.11620088 -0.47614427
+v -0.17443333 -0.00458061 -0.47549814
+v -0.25294507 -0.00992749 -0.46729231
+v 0.11691942 -0.20220085 -0.47365943
+v 0.20065896 -0.19823439 -0.45596877
+v -0.14839444 -0.24450551 -0.45769891
+v -0.02441846 0.03557638 -0.41527788
+v -0.22126838 -0.14032141 -0.45890924
+v -0.10578817 -0.22813110 -0.47297860
+v -0.01698120 -0.24338772 -0.47319690
+v -0.22845647 -0.02108071 -0.47415352
+v -0.19237978 -0.19980081 -0.45615829
+v -0.24446554 -0.15008043 -0.44548598
+v -0.20412639 -0.25501917 -0.42411153
+v -0.18915403 -0.23854318 -0.44226728
+f 6 1 3
+f 7 3 1
+f 8 1 5
+f 9 6 3
+f 10 5 1
+f 10 1 6
+f 10 9 4
+f 10 6 9
+f 11 7 1
+f 11 1 2
+f 12 2 1
+f 12 1 8
+f 13 3 7
+f 15 11 2
+f 15 2 12
+f 16 12 8
+f 16 8 13
+f 18 3 13
+f 18 17 14
+f 18 13 8
+f 18 8 17
+f 19 18 14
+f 19 3 18
+f 20 10 4
+f 20 4 14
+f 20 5 10
+f 21 15 12
+f 21 13 15
+f 21 16 13
+f 21 12 16
+f 22 15 13
+f 22 13 7
+f 22 7 11
+f 22 11 15
+f 24 19 14
+f 24 14 4
+f 24 4 9
+f 24 9 3
+f 24 3 19
+f 26 23 17
+f 26 17 8
+f 27 8 5
+f 27 5 23
+f 27 26 8
+f 27 23 26
+f 28 25 20
+f 28 20 14
+f 28 14 17
+f 28 17 25
+f 29 25 17
+f 29 17 23
+f 30 5 20
+f 30 20 25
+f 30 25 29
+f 31 23 5
+f 31 5 30
+f 32 29 23
+f 32 23 31
+f 32 31 30
+f 32 30 29
\ No newline at end of file
diff --git a/apple/apple_6/collision/model_normalized_collision_30.obj b/apple/apple_6/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8c06f6ad2b6ba27eddc859da1e3b4c91434c2bf
--- /dev/null
+++ b/apple/apple_6/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.25498018 -0.00757576 0.19026526
+v 0.25498018 -0.00757576 -0.24912868
+v 0.25498018 0.23484849 0.19026526
+v 0.01255594 0.23484849 0.19026526
+v -0.01220938 -0.00581289 0.22035646
+v 0.25498018 0.23484849 -0.24912868
+v 0.01255594 -0.00757576 -0.24912868
+v 0.01255594 0.23484849 -0.24912868
+f 1 2 3
+f 5 1 3
+f 5 3 4
+f 6 3 2
+f 6 4 3
+f 7 2 1
+f 7 1 5
+f 7 6 2
+f 8 7 5
+f 8 5 4
+f 8 4 6
+f 8 6 7
\ No newline at end of file
diff --git a/apple/apple_6/collision/model_normalized_collision_31.obj b/apple/apple_6/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a4f176dfe5e175d0ac0124214d2b5096dfd559c
--- /dev/null
+++ b/apple/apple_6/collision/model_normalized_collision_31.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.14891957 -0.00757576 -0.24912868
+v 0.14891957 -0.00757576 -0.35518929
+v 0.14891957 0.23484849 -0.24912868
+v 0.01255594 0.23484849 -0.24912868
+v 0.01255594 -0.00757576 -0.24912868
+v 0.01255594 0.23484849 -0.35518929
+v 0.14891957 0.23484849 -0.35518929
+v 0.04034365 -0.00514319 -0.40098420
+v 0.03769154 0.02037405 -0.39899530
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 6 4 3
+f 6 5 4
+f 7 6 3
+f 7 3 2
+f 8 2 5
+f 8 7 2
+f 9 8 5
+f 9 5 6
+f 9 6 7
+f 9 7 8
\ No newline at end of file
diff --git a/apple/apple_6/collision/model_normalized_collision_4.obj b/apple/apple_6/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b18e3157b5b3260f3e1f945e70ff46143415c649
--- /dev/null
+++ b/apple/apple_6/collision/model_normalized_collision_4.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.01229981 -0.00848648 0.31133540
+v 0.01255594 -0.00757576 -0.26428020
+v 0.01242542 0.23517771 0.35977365
+v -0.26998960 0.25703465 0.26233510
+v -0.45679790 -0.00898169 -0.11057621
+v 0.01255594 0.23484849 -0.26428020
+v -0.28254915 -0.00745367 0.31017357
+v 0.01412653 0.17953980 0.35562186
+v -0.35148774 0.22697956 -0.25859383
+v -0.20548855 0.19913815 0.32164523
+v -0.42584284 -0.00833866 0.16793325
+v -0.21270349 -0.00771711 0.32830436
+v 0.01255594 0.23484849 0.17511375
+v -0.42212897 -0.00786334 -0.26281154
+v -0.12062769 0.23488323 0.33997069
+v -0.32544877 0.12649216 0.27801303
+v -0.39328624 0.22539928 0.02251988
+v -0.22752424 -0.00774033 0.32609040
+v -0.01679131 0.19057711 0.35543847
+v -0.42776671 -0.00856811 -0.24486981
+v -0.03045072 0.23542279 0.35525321
+v -0.25154006 0.24381581 0.28624801
+v -0.27978490 0.09614328 0.30795029
+v -0.34014843 -0.00570773 0.28128726
+v -0.42297366 0.15117973 -0.11038728
+v -0.45578954 0.06711198 0.00757850
+v -0.39334435 0.22566209 -0.06664865
+v -0.39184818 0.18143059 0.15149133
+v -0.22747919 0.06733223 0.32447143
+v -0.17764411 0.22919350 0.32403682
+v -0.26522671 0.13980996 0.30728393
+v -0.29408556 0.19870636 0.27707002
+v -0.39508059 0.04890234 0.22190546
+v -0.33952829 0.06641381 0.27778460
+v -0.43913655 0.05161761 -0.18425973
+v -0.45662773 -0.00856539 0.06547622
+v -0.43877497 0.12316471 0.05346346
+v -0.37697766 0.22480181 -0.18372880
+v -0.36263315 0.22459898 0.16669537
+v -0.22066491 0.22945573 0.30654790
+v -0.29526693 0.13970247 0.29162887
+v -0.29111698 0.22445305 0.26423379
+v -0.39419316 -0.00552984 0.22294604
+v -0.37834574 0.15336363 0.20644708
+v -0.34967239 0.07949070 0.26749384
+v -0.44007400 -0.00874042 -0.19936015
+v -0.45591748 0.06670528 -0.03583452
+v -0.42390333 0.05176840 -0.24371296
+v -0.40813087 0.19650681 -0.05148203
+v -0.39236539 0.20896963 0.09542571
+v -0.45481507 0.02162313 0.06506231
+v -0.40885892 0.09420190 0.18243724
+v -0.39352611 0.21051064 -0.14073475
+v -0.37763969 0.22435757 0.12581537
+v -0.24992765 0.22956357 0.29183003
+v -0.31017863 0.16903184 0.27627479
+v -0.34952575 0.22343831 0.19724167
+v -0.33475611 0.13879933 0.26850097
+v -0.43758304 0.10782361 -0.10983804
+v -0.43872518 0.12288159 -0.03593940
+v -0.45512361 0.05148218 -0.06608069
+v -0.43910638 0.00634506 -0.19911557
+v -0.40764774 0.09292276 -0.25817818
+v -0.40818214 0.19595852 0.02254828
+f 5 2 1
+f 6 4 3
+f 8 1 2
+f 8 2 6
+f 9 4 6
+f 12 1 8
+f 13 8 6
+f 13 6 3
+f 13 3 8
+f 14 9 6
+f 14 6 2
+f 18 7 11
+f 18 11 1
+f 18 1 12
+f 19 12 8
+f 19 8 3
+f 20 14 2
+f 21 3 4
+f 21 4 15
+f 21 19 3
+f 21 12 19
+f 21 18 12
+f 21 15 18
+f 22 15 4
+f 24 11 7
+f 24 7 23
+f 27 17 4
+f 27 4 9
+f 29 18 15
+f 29 15 10
+f 29 10 23
+f 29 23 7
+f 29 7 18
+f 30 10 15
+f 30 15 22
+f 31 23 10
+f 34 24 23
+f 34 23 16
+f 36 5 1
+f 36 1 11
+f 38 27 9
+f 40 30 22
+f 40 10 30
+f 40 31 10
+f 41 16 23
+f 41 23 31
+f 41 31 32
+f 42 32 22
+f 42 22 4
+f 43 33 11
+f 43 11 24
+f 43 24 33
+f 45 33 24
+f 45 24 34
+f 45 34 16
+f 46 5 35
+f 46 20 2
+f 46 2 5
+f 47 26 37
+f 47 36 26
+f 47 5 36
+f 48 14 20
+f 49 17 27
+f 50 37 28
+f 51 37 26
+f 51 26 36
+f 51 36 11
+f 52 28 37
+f 52 44 28
+f 52 33 44
+f 52 11 33
+f 52 51 11
+f 52 37 51
+f 53 27 38
+f 53 49 27
+f 53 25 49
+f 54 39 4
+f 54 4 17
+f 54 17 50
+f 54 50 28
+f 54 28 39
+f 55 40 22
+f 55 22 32
+f 55 32 31
+f 55 31 40
+f 56 41 32
+f 56 16 41
+f 57 42 4
+f 57 4 39
+f 57 39 28
+f 57 28 44
+f 58 44 33
+f 58 33 45
+f 58 45 16
+f 58 16 56
+f 58 56 32
+f 58 57 44
+f 58 32 42
+f 58 42 57
+f 59 25 35
+f 60 47 37
+f 60 59 47
+f 60 25 59
+f 60 49 25
+f 60 37 49
+f 61 35 5
+f 61 5 47
+f 61 59 35
+f 61 47 59
+f 62 46 35
+f 62 35 48
+f 62 48 20
+f 62 20 46
+f 63 9 14
+f 63 14 48
+f 63 38 9
+f 63 53 38
+f 63 25 53
+f 63 48 35
+f 63 35 25
+f 64 49 37
+f 64 17 49
+f 64 50 17
+f 64 37 50
\ No newline at end of file
diff --git a/apple/apple_6/collision/model_normalized_collision_5.obj b/apple/apple_6/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f18f91c2ceedaa1f69c8bc8604aa27ba5bcf6fcf
--- /dev/null
+++ b/apple/apple_6/collision/model_normalized_collision_5.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.01215429 -0.26125886 0.37627269
+v 0.01255594 -0.26515152 0.22056829
+v 0.01334021 -0.00737982 0.32639003
+v -0.21745402 0.03860492 0.32660850
+v -0.21471679 -0.26515152 0.22056829
+v -0.00001485 -0.00305932 0.23022139
+v 0.01396304 -0.15175720 0.38547556
+v -0.10819592 -0.27935737 0.35531433
+v -0.17036035 0.03817523 0.32195040
+v -0.21471679 -0.00757576 0.22056829
+v -0.18808155 0.03886892 0.32615375
+v 0.01439838 -0.08884582 0.35894334
+v -0.20351547 -0.25742982 0.32251690
+v -0.13494910 -0.18947513 0.36969215
+v -0.21215770 0.03719991 0.32763403
+v -0.20993213 -0.10287315 0.33752379
+v -0.13630787 -0.27560643 0.34925364
+v -0.03077085 -0.23047949 0.38641010
+v -0.09071440 -0.13271994 0.37000329
+v -0.18023522 -0.14780399 0.35500397
+v -0.20278628 -0.21343952 0.33862385
+v -0.08907546 -0.26033660 0.36910249
+v 0.01184050 -0.21898358 0.38629115
+v -0.03113844 -0.19037415 0.38511723
+v -0.00110253 -0.15223467 0.38444273
+v -0.14458593 -0.25791451 0.35481190
+v -0.17735244 -0.18799173 0.35389259
+v -0.10516568 -0.27313153 0.35981622
+v -0.13200225 -0.21763499 0.36830148
+v -0.00288954 -0.23132729 0.38639880
+v -0.18871116 -0.24175297 0.33724990
+v -0.13374428 -0.26958854 0.35375575
+f 6 3 2
+f 7 1 2
+f 8 5 2
+f 8 2 1
+f 9 3 6
+f 10 5 4
+f 10 9 6
+f 10 4 9
+f 10 6 2
+f 10 2 5
+f 11 7 3
+f 11 9 4
+f 11 3 9
+f 12 7 2
+f 12 2 3
+f 12 3 7
+f 15 11 4
+f 15 7 11
+f 16 4 5
+f 16 5 13
+f 17 13 5
+f 17 5 8
+f 19 15 4
+f 19 4 14
+f 20 14 4
+f 20 4 16
+f 21 20 16
+f 21 16 13
+f 22 1 18
+f 23 1 7
+f 23 7 18
+f 24 18 7
+f 24 14 18
+f 24 19 14
+f 25 7 15
+f 25 15 19
+f 25 24 7
+f 25 19 24
+f 26 13 17
+f 27 14 20
+f 27 20 21
+f 28 8 1
+f 28 1 22
+f 29 22 18
+f 29 18 14
+f 29 26 22
+f 29 14 27
+f 29 27 21
+f 29 21 26
+f 30 23 18
+f 30 18 1
+f 30 1 23
+f 31 26 21
+f 31 21 13
+f 31 13 26
+f 32 17 8
+f 32 8 28
+f 32 26 17
+f 32 28 22
+f 32 22 26
\ No newline at end of file
diff --git a/apple/apple_6/collision/model_normalized_collision_6.obj b/apple/apple_6/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98657b9a6ebc02934797d3cd4582ab72026309de
--- /dev/null
+++ b/apple/apple_6/collision/model_normalized_collision_6.obj
@@ -0,0 +1,159 @@
+# https://github.com/mikedh/trimesh
+v 0.31723676 -0.00782360 0.31209896
+v 0.41529551 -0.00710834 0.17278943
+v 0.34549366 0.22605021 0.22141198
+v 0.01242542 0.23517771 0.35977365
+v -0.01220938 -0.00581289 0.22035646
+v 0.21491675 0.22686454 0.32461799
+v 0.35785495 0.08175194 0.26941955
+v 0.10513849 -0.01668350 0.34390284
+v 0.01255594 0.23484849 0.19026526
+v 0.25498018 0.23484849 0.17511375
+v 0.25405120 -0.00783018 0.34909654
+v 0.36047372 -0.00614247 0.27014251
+v 0.40820058 0.12605814 0.16908879
+v 0.27621129 0.14100230 0.32231561
+v 0.25498018 -0.00757576 0.17511375
+v 0.01229981 -0.00848648 0.31133540
+v -0.00240681 0.09912979 0.31093922
+v 0.37670556 0.22902383 0.16734814
+v 0.15782597 0.20105709 0.35319279
+v 0.15438166 -0.01001101 0.35602913
+v 0.33239596 -0.00671559 0.29779377
+v 0.38871388 0.05208537 0.22488306
+v 0.37455794 0.15245479 0.22273127
+v 0.31648202 0.05158211 0.31020391
+v 0.31420038 0.18140328 0.28082599
+v 0.01412653 0.17953980 0.35562186
+v 0.28667553 0.22531856 0.28300744
+v 0.12931728 0.22836282 0.35189465
+v 0.21890081 0.18499103 0.33685283
+v 0.19251474 -0.00808499 0.35640070
+v 0.40580784 -0.00633558 0.19586011
+v 0.40222126 0.09454125 0.19671263
+v 0.37289689 0.18206469 0.20974961
+v 0.33160714 0.07953829 0.29461146
+v 0.34384174 0.13918711 0.26809067
+v -0.00033016 0.10622482 0.32017030
+v 0.24427204 0.22644868 0.30809323
+v 0.29989993 0.20883228 0.28114206
+v 0.24373938 0.19572782 0.32232271
+v 0.24638110 0.12600387 0.33848167
+v 0.17314715 0.17084883 0.35370601
+v 0.38837034 -0.00615659 0.22478387
+v 0.40273430 0.12494843 0.18179100
+v 0.37279127 0.11052521 0.23892392
+v 0.37112276 0.22680240 0.17953798
+v 0.39246682 0.18462841 0.16871440
+v 0.30142208 0.12415155 0.30852654
+v 0.32827836 0.18077926 0.26542517
+v 0.35780048 0.19727445 0.22148863
+v 0.34623590 0.09454044 0.27884078
+v 0.31332254 0.21108869 0.26556991
+v 0.25824706 0.21100049 0.30702044
+v 0.38724453 0.18285439 0.18148368
+v 0.35794640 0.16702910 0.23675305
+f 8 2 1
+f 10 9 4
+f 11 8 1
+f 12 1 2
+f 15 8 5
+f 15 2 8
+f 15 5 9
+f 15 13 2
+f 16 5 8
+f 17 9 5
+f 17 4 9
+f 17 5 16
+f 18 13 15
+f 18 15 9
+f 18 9 10
+f 18 10 4
+f 20 8 11
+f 21 12 7
+f 21 1 12
+f 22 7 12
+f 24 1 21
+f 24 14 11
+f 24 11 1
+f 26 16 8
+f 26 20 4
+f 26 8 20
+f 27 3 18
+f 28 19 6
+f 28 6 4
+f 28 4 19
+f 29 6 19
+f 30 4 20
+f 30 20 11
+f 31 12 2
+f 32 22 31
+f 32 31 2
+f 32 2 13
+f 32 7 22
+f 34 24 21
+f 34 21 7
+f 35 7 23
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+f 36 26 4
+f 36 4 17
+f 37 27 18
+f 37 18 4
+f 37 4 6
+f 38 3 27
+f 38 14 25
+f 39 29 14
+f 39 6 29
+f 39 37 6
+f 39 14 38
+f 40 11 14
+f 40 14 29
+f 41 19 4
+f 41 4 30
+f 41 30 11
+f 41 11 40
+f 41 40 29
+f 41 29 19
+f 42 31 22
+f 42 22 12
+f 42 12 31
+f 43 32 13
+f 43 23 32
+f 44 32 23
+f 44 23 7
+f 44 7 32
+f 45 33 18
+f 45 18 3
+f 45 3 33
+f 46 13 18
+f 47 14 24
+f 47 24 34
+f 47 25 14
+f 47 35 25
+f 48 3 25
+f 48 25 35
+f 49 33 3
+f 49 48 35
+f 49 3 48
+f 49 23 33
+f 50 34 7
+f 50 7 35
+f 50 47 34
+f 50 35 47
+f 51 38 25
+f 51 25 3
+f 51 3 38
+f 52 27 37
+f 52 37 39
+f 52 39 38
+f 52 38 27
+f 53 33 23
+f 53 23 43
+f 53 43 13
+f 53 13 46
+f 53 46 18
+f 53 18 33
+f 54 49 35
+f 54 35 23
+f 54 23 49
\ No newline at end of file
diff --git a/apple/apple_6/collision/model_normalized_collision_7.obj b/apple/apple_6/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f52577b8c69854c96d1e65a89b62077b4a1efc98
--- /dev/null
+++ b/apple/apple_6/collision/model_normalized_collision_7.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.36384986 -0.25743626 0.13939962
+v 0.44870517 -0.06433105 -0.13901382
+v 0.41713199 0.15509842 0.13599867
+v 0.25498018 0.23484849 0.17511375
+v 0.25498018 -0.26515152 -0.23397717
+v 0.38835415 0.22689361 -0.22684404
+v 0.41529551 -0.00710834 0.17278943
+v 0.37231340 -0.25583478 -0.21197623
+v 0.25498018 -0.26515152 0.14481072
+v 0.44967555 0.12589811 -0.09677021
+v 0.37051397 0.26117466 0.14217078
+v 0.25498018 0.23484849 -0.23397717
+v 0.43246511 -0.13838242 0.03564314
+v 0.38851329 -0.25684779 -0.14073652
+v 0.43412334 -0.04999003 -0.21334645
+v 0.25498018 -0.00757576 0.17511375
+v 0.44932209 0.05191624 0.06500466
+v 0.41892739 0.22807752 -0.10927865
+v 0.40324735 0.15535561 0.16686936
+v 0.41649668 -0.12261322 -0.22771195
+v 0.40258769 -0.16944720 0.12255052
+v 0.36461583 -0.25726437 -0.22954748
+v 0.38730196 -0.25721017 0.06593331
+v 0.41830823 -0.19889499 -0.09586586
+v 0.44944586 0.03635285 -0.17015825
+v 0.43389572 0.18392089 0.02187200
+v 0.43420532 0.06741053 0.12302813
+v 0.43336636 -0.04970233 0.10805832
+v 0.44801217 -0.06444226 0.03470354
+v 0.41747453 0.15528927 -0.22635014
+v 0.40265551 0.22731983 -0.18236183
+v 0.38602215 0.22789369 0.15062304
+v 0.36702431 0.24358065 0.16988390
+v 0.43321255 -0.07995229 -0.19968438
+v 0.40289847 -0.21110205 -0.16894389
+v 0.38948600 -0.19749939 0.13788933
+v 0.38729575 -0.21098854 -0.22723364
+v 0.40329057 -0.21217476 0.08116919
+v 0.44934942 -0.09465432 -0.05318189
+v 0.40325088 -0.24209611 -0.03731596
+v 0.44889879 -0.00631508 -0.16958402
+v 0.44868141 0.12568844 0.00664077
+v 0.41754748 0.22845514 0.03623189
+v 0.44923694 0.09564303 0.04968694
+v 0.41804743 0.05169147 0.16760500
+v 0.43246540 -0.09486368 0.07988143
+v 0.41752782 -0.07988232 0.13812292
+v 0.43304671 -0.00575004 0.12311611
+v 0.44881818 -0.00620470 0.06473115
+v 0.43215729 0.18255649 -0.12470264
+v 0.43225799 0.14016874 -0.18304871
+v 0.43405937 0.08140122 -0.21369368
+v 0.40212198 0.19598383 -0.22629998
+v 0.40139243 0.18251346 0.15072283
+v 0.37383100 0.23773767 0.16512362
+v 0.36594160 0.25797406 0.15411476
+v 0.44855175 -0.04914742 -0.15413152
+v 0.43342870 -0.12333196 -0.15457820
+v 0.40273670 -0.22612071 -0.14047200
+v 0.37323329 -0.24171614 -0.22752788
+v 0.40251910 -0.18357633 -0.21292272
+v 0.38870227 -0.24266110 0.09384016
+v 0.44920680 -0.07941124 -0.11145238
+v 0.41867547 -0.19913319 0.00785389
+f 9 4 5
+f 9 1 7
+f 12 5 4
+f 12 11 6
+f 12 4 11
+f 16 9 7
+f 16 7 4
+f 16 4 9
+f 20 5 12
+f 22 14 5
+f 22 8 14
+f 22 5 20
+f 23 9 5
+f 23 5 14
+f 23 1 9
+f 26 10 18
+f 30 20 12
+f 30 12 6
+f 31 6 11
+f 31 11 18
+f 33 4 7
+f 33 7 19
+f 34 20 15
+f 36 7 1
+f 37 22 20
+f 37 35 8
+f 38 21 36
+f 39 29 13
+f 39 25 10
+f 39 10 17
+f 40 23 14
+f 41 15 25
+f 42 10 26
+f 43 26 18
+f 43 18 11
+f 43 11 32
+f 43 32 3
+f 43 3 26
+f 44 27 17
+f 44 3 27
+f 44 17 10
+f 44 10 42
+f 44 42 26
+f 44 26 3
+f 45 19 7
+f 45 7 27
+f 45 27 3
+f 45 3 19
+f 46 29 28
+f 46 13 29
+f 46 38 13
+f 46 21 38
+f 47 28 7
+f 47 46 28
+f 47 21 46
+f 47 36 21
+f 47 7 36
+f 48 27 7
+f 48 7 28
+f 49 28 29
+f 49 48 28
+f 49 17 27
+f 49 27 48
+f 49 39 17
+f 49 29 39
+f 50 18 10
+f 50 31 18
+f 50 30 31
+f 51 10 25
+f 51 50 10
+f 51 30 50
+f 52 25 15
+f 52 15 20
+f 52 20 30
+f 52 51 25
+f 52 30 51
+f 53 31 30
+f 53 30 6
+f 53 6 31
+f 54 32 19
+f 54 19 3
+f 54 3 32
+f 55 33 19
+f 55 19 32
+f 55 32 11
+f 55 11 33
+f 56 33 11
+f 56 11 4
+f 56 4 33
+f 57 34 15
+f 57 2 34
+f 57 41 2
+f 57 15 41
+f 58 34 2
+f 58 20 34
+f 59 14 8
+f 59 8 35
+f 59 40 14
+f 59 24 40
+f 59 58 24
+f 59 35 58
+f 60 37 8
+f 60 8 22
+f 60 22 37
+f 61 37 20
+f 61 35 37
+f 61 58 35
+f 61 20 58
+f 62 38 36
+f 62 36 1
+f 62 1 23
+f 62 23 38
+f 63 25 39
+f 63 41 25
+f 63 2 41
+f 63 58 2
+f 63 39 24
+f 63 24 58
+f 64 38 23
+f 64 23 40
+f 64 13 38
+f 64 39 13
+f 64 40 24
+f 64 24 39
\ No newline at end of file
diff --git a/apple/apple_6/collision/model_normalized_collision_8.obj b/apple/apple_6/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..696fd66063790c8ae04ddff8759f1c779af6996f
--- /dev/null
+++ b/apple/apple_6/collision/model_normalized_collision_8.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.01255594 -0.26515152 0.22056829
+v 0.01255594 -0.26515152 -0.23397717
+v 0.01255594 -0.00757576 -0.23397717
+v -0.33592892 -0.00757576 0.19026526
+v -0.34210250 -0.26901306 -0.23648429
+v -0.00001485 -0.00305932 0.23022139
+v -0.32809183 -0.26070308 0.18583387
+v -0.33592892 -0.00757576 -0.23397717
+v -0.21471679 -0.26515152 0.22056829
+v -0.21471679 -0.00757576 0.22056829
+f 1 2 3
+f 5 2 1
+f 5 3 2
+f 6 1 3
+f 7 4 5
+f 8 5 4
+f 8 3 5
+f 8 6 3
+f 8 4 6
+f 9 7 5
+f 9 5 1
+f 9 1 6
+f 9 4 7
+f 10 9 6
+f 10 6 4
+f 10 4 9
\ No newline at end of file
diff --git a/apple/apple_6/collision/model_normalized_collision_9.obj b/apple/apple_6/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..922ac26736beae9403afb945de3e4ec099a216c5
--- /dev/null
+++ b/apple/apple_6/collision/model_normalized_collision_9.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.23982867 0.23484849 0.17511375
+v 0.23964943 0.26346984 -0.39508842
+v 0.22718303 0.44358177 0.00476466
+v 0.01347209 0.49226780 0.06742689
+v 0.01255594 0.23484849 -0.35518929
+v 0.06942815 0.44418614 -0.27058608
+v 0.17611755 0.39523173 0.21519190
+v 0.22845750 0.44456699 -0.08050216
+v 0.23982867 0.23484849 -0.24912868
+v 0.01255594 0.23484849 0.17511375
+v 0.01162540 0.41416398 -0.32988539
+v 0.22977830 0.38744778 0.16695410
+v 0.09802323 0.46010958 0.15138246
+v 0.22745872 0.39961790 -0.24057523
+v 0.09971704 0.49069815 -0.06688579
+v 0.13627946 0.40659727 0.22491678
+v 0.01197648 0.49142883 -0.12552661
+v 0.14057465 0.38200113 -0.34260224
+v 0.01187989 0.40384069 -0.34781347
+v 0.17024377 0.45841918 0.07789694
+v 0.22795696 0.42850707 -0.16820027
+v 0.15642829 0.47496400 0.02053323
+v 0.12885039 0.41904873 0.21396904
+v 0.01168645 0.44676909 -0.27306602
+v 0.09943498 0.47314918 -0.16829293
+v 0.01127224 0.47824789 0.12585899
+v 0.19740805 0.35421987 -0.34234422
+v 0.14055477 0.42832207 -0.27065774
+v 0.08427547 0.39739599 -0.34367610
+v 0.05685766 0.42888503 -0.29944997
+v 0.22717139 0.42860415 0.07720987
+v 0.22747980 0.41479846 -0.21028678
+v 0.20093915 0.45792235 0.00475193
+v 0.15683784 0.47404190 -0.09502983
+v 0.09903645 0.49082134 0.00608901
+v 0.11332007 0.47247230 0.09301576
+v 0.16942603 0.44279286 0.12301585
+v 0.01136011 0.47822449 -0.18490038
+v 0.05643691 0.48986887 -0.11011714
+v 0.01160912 0.46266468 0.16818296
+v 0.20169255 0.38433500 -0.29846421
+v 0.17081869 0.44215957 -0.21007806
+v 0.11461450 0.45764258 -0.21115676
+v 0.11465193 0.42754763 -0.28291018
+v 0.02674535 0.41356508 -0.32954099
+v 0.21475042 0.44310897 0.05023172
+v 0.14479360 0.47314819 -0.12509932
+v 0.21679417 0.44333123 -0.13798700
+v 0.20152693 0.45793485 -0.08014250
+v 0.14437603 0.47289225 0.05075024
+v 0.04093736 0.48970400 0.06677326
+v 0.12784949 0.44345438 0.16578229
+v 0.20031154 0.42773149 0.12265938
+v 0.08421471 0.45796491 -0.22655813
+v 0.05651398 0.47465420 -0.18398962
+v 0.07165551 0.45873187 0.16661926
+v 0.18605813 0.38206878 -0.31234285
+v 0.21637864 0.42718925 -0.19832522
+v 0.15558697 0.44196906 -0.22514609
+v 0.18679529 0.45801214 -0.12520942
+v 0.09720420 0.47245770 0.10891025
+v 0.05638170 0.47443699 0.12483742
+v 0.17104298 0.39986611 0.21146107
+v 0.22731683 0.39915401 0.14980418
+f 8 1 2
+f 9 5 2
+f 9 2 1
+f 9 1 5
+f 10 5 1
+f 12 7 1
+f 12 8 3
+f 12 1 8
+f 16 10 1
+f 16 1 7
+f 17 4 15
+f 19 2 5
+f 19 5 11
+f 21 8 2
+f 23 16 7
+f 26 4 17
+f 26 11 5
+f 26 5 10
+f 27 2 18
+f 29 18 2
+f 29 2 19
+f 29 28 18
+f 30 29 19
+f 30 6 29
+f 30 24 6
+f 31 12 3
+f 32 21 2
+f 32 2 14
+f 33 3 8
+f 33 22 20
+f 34 15 22
+f 35 22 15
+f 35 15 4
+f 36 13 20
+f 37 20 13
+f 38 6 24
+f 38 26 17
+f 38 24 11
+f 38 11 26
+f 39 17 15
+f 39 15 25
+f 40 26 10
+f 40 10 16
+f 40 16 23
+f 41 14 2
+f 41 2 27
+f 41 18 28
+f 43 28 6
+f 44 29 6
+f 44 6 28
+f 44 28 29
+f 45 30 19
+f 45 19 11
+f 45 11 24
+f 45 24 30
+f 46 31 3
+f 46 3 33
+f 46 33 20
+f 46 20 31
+f 47 25 15
+f 47 15 34
+f 47 43 25
+f 47 42 43
+f 48 8 21
+f 49 33 8
+f 49 8 48
+f 49 34 22
+f 49 22 33
+f 50 36 20
+f 50 20 22
+f 50 22 35
+f 50 35 36
+f 51 35 4
+f 52 37 13
+f 52 13 23
+f 53 31 20
+f 53 20 37
+f 53 37 52
+f 54 6 38
+f 54 43 6
+f 54 25 43
+f 55 38 17
+f 55 54 38
+f 55 25 54
+f 55 39 25
+f 55 17 39
+f 56 40 23
+f 56 23 13
+f 56 26 40
+f 57 41 27
+f 57 27 18
+f 57 18 41
+f 58 32 14
+f 58 14 41
+f 58 41 28
+f 58 28 42
+f 58 21 32
+f 58 48 21
+f 58 42 48
+f 59 43 42
+f 59 42 28
+f 59 28 43
+f 60 47 34
+f 60 49 48
+f 60 34 49
+f 60 48 42
+f 60 42 47
+f 61 36 35
+f 61 35 51
+f 61 13 36
+f 62 51 4
+f 62 4 26
+f 62 61 51
+f 62 13 61
+f 62 56 13
+f 62 26 56
+f 63 52 23
+f 63 23 7
+f 63 53 52
+f 63 7 53
+f 64 12 31
+f 64 31 53
+f 64 53 7
+f 64 7 12
\ No newline at end of file
diff --git a/apple/apple_6/model.xml b/apple/apple_6/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..a55d71f51c54ed10bc00cb00eb763e9026503e8a
--- /dev/null
+++ b/apple/apple_6/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="apple_12">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="Material_35.004" texture="image0" specular="0.5" shininess="0.15999998099999999"/>
+  </asset>
+  <worldbody>
+    <body>
+      <body name="object">
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+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_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"/>
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+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_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"/>
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+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_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"/>
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+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_13._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+      </body>
+      <site rgba="0 0 0 0" size="0.005" pos="-0.00024928225 2.507294999999882e-05 -0.033476419900000005" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="-0.00024928225 2.507294999999882e-05 0.033662096300000006" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.031477288500000006 0.034458746 9.283819999999971e-05" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/apple/apple_6/visual/material.mtl b/apple/apple_6/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9b69ee017d934c5b09e3ee53e590b4276cccd4fc
--- /dev/null
+++ b/apple/apple_6/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 159.99998100
+map_Kd material_0.png
\ No newline at end of file
diff --git a/apple/apple_6/visual/model_normalized_0.obj b/apple/apple_6/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5fcb57f970199fa066fc75ddd5e362080ac7836
--- /dev/null
+++ b/apple/apple_6/visual/model_normalized_0.obj
@@ -0,0 +1,4255 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/apple/apple_7/collision/model_normalized_collision_0.obj b/apple/apple_7/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58c69b70c0c0d60cccedcf2a5b13a74735e542d6
--- /dev/null
+++ b/apple/apple_7/collision/model_normalized_collision_0.obj
@@ -0,0 +1,153 @@
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+v -0.09628767 -0.24998372 -0.46399440
+v -0.09299801 -0.30181927 -0.43538104
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+v 0.00447989 -0.35723012 -0.40682021
+v 0.00504687 -0.28545348 -0.46482903
+v -0.11154913 -0.22002370 -0.46542241
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+f 50 31 41
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+f 51 26 32
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+f 52 46 28
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\ No newline at end of file
diff --git a/apple/apple_7/collision/model_normalized_collision_1.obj b/apple/apple_7/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..169617197d33e0993fe28eedccd9932964ec36c0
--- /dev/null
+++ b/apple/apple_7/collision/model_normalized_collision_1.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.33425655 0.21345119 0.23823437
+v -0.20454545 0.23267159 -0.33062344
+v -0.21969697 0.23267159 0.01786141
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+v -0.45060558 0.22560659 -0.17484261
+v -0.21367862 0.37257791 0.16256426
+v -0.20454545 0.23267159 -0.20941132
+v -0.44965000 0.20986880 0.05869630
+v -0.19794819 0.37146123 -0.32315582
+v -0.22940626 0.34017283 0.20023601
+v -0.21569056 0.36130724 0.17999313
+v -0.38943522 0.22521357 -0.30733339
+v -0.35882158 0.20980086 0.21695194
+v -0.34457143 0.36562820 -0.06000123
+v -0.19823859 0.41757209 -0.23568253
+v -0.32528984 0.21723400 0.24464902
+v -0.31428259 0.33511583 0.12737073
+v -0.41810687 0.22430738 -0.26498579
+v -0.37700109 0.22695375 -0.32438536
+v -0.43338459 0.20918541 0.10373823
+v -0.41585387 0.29250259 -0.01467122
+v -0.21251639 0.40072758 0.11579449
+v -0.24017520 0.42604038 -0.10128937
+v -0.23955847 0.35166854 0.17392031
+v -0.34026211 0.35226297 0.04104620
+v -0.32565954 0.29212116 0.17232372
+v -0.34001001 0.35199535 -0.18702797
+v -0.37190822 0.23899498 -0.32099208
+v -0.45898784 0.21560787 0.01749194
+v -0.41233818 0.28139443 0.04101595
+v -0.26871493 0.41097987 -0.04489407
+v -0.21233688 0.43076019 -0.17439286
+v -0.26863666 0.33480280 0.17263009
+v -0.25388024 0.38059151 0.11247129
+v -0.37085541 0.33768102 -0.02981346
+v -0.31804374 0.23923666 0.23522345
+v -0.38607661 0.27688754 0.11696596
+v -0.41202068 0.28120073 -0.18699479
+v -0.30000063 0.35142946 -0.25960852
+v -0.32970327 0.36608589 -0.16190361
+v -0.28554843 0.32253027 -0.32052063
+v -0.44404636 0.25192483 -0.10120214
+v -0.41229029 0.23591067 0.11675596
+v -0.44474306 0.23716343 0.02673651
+v -0.26942297 0.41212008 -0.08618110
+v -0.24023356 0.42615176 -0.04479374
+v -0.32976885 0.36619183 0.01582027
+v -0.20206588 0.42491377 -0.20782271
+v -0.22512333 0.39585069 0.11291435
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+v -0.23977830 0.37962155 0.12750336
+v -0.32929999 0.23490076 0.23021885
+v -0.35497200 0.30633958 0.11660479
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+v -0.22487553 0.39537575 -0.25872920
+v -0.26886098 0.39579222 -0.18773864
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+v -0.41992654 0.21017831 0.13106187
+v -0.42808649 0.26660229 0.01563479
+v -0.34450587 0.36552229 -0.08608211
+v -0.28405160 0.39607052 -0.14671598
+v -0.22465098 0.42535041 0.02647964
+f 7 3 1
+f 9 7 2
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+f 11 10 3
+f 12 2 8
+f 13 7 1
+f 13 2 7
+f 15 6 7
+f 15 7 9
+f 16 1 3
+f 16 3 10
+f 16 13 1
+f 18 12 8
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+f 19 2 12
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+f 22 6 15
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+f 54 38 5
+f 54 5 42
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+f 56 41 39
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+f 58 19 28
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+f 59 54 42
+f 59 21 54
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+f 60 43 20
+f 60 20 13
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+f 62 45 40
+f 62 14 45
+f 62 54 14
+f 62 40 54
+f 63 45 23
+f 63 23 32
+f 63 40 45
+f 63 57 40
+f 63 32 57
+f 64 46 31
+f 64 4 46
+f 64 31 47
+f 64 47 50
+f 64 50 34
+f 64 49 4
+f 64 34 49
\ No newline at end of file
diff --git a/apple/apple_7/collision/model_normalized_collision_10.obj b/apple/apple_7/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc1387f745a78f6851bc805c16ad77348447416f
--- /dev/null
+++ b/apple/apple_7/collision/model_normalized_collision_10.obj
@@ -0,0 +1,180 @@
+# https://github.com/mikedh/trimesh
+v 0.13948117 -0.45427566 0.00161158
+v 0.25839269 -0.26118874 -0.35395559
+v 0.25249671 -0.38646163 -0.01450834
+v 0.22811434 -0.26117674 0.23804814
+v 0.14389086 -0.26726951 -0.43658788
+v 0.25885674 -0.26161953 0.20829007
+v 0.17727875 -0.40273827 -0.26066894
+v 0.15842757 -0.28473655 0.27362881
+v 0.16956472 -0.26137417 -0.42733296
+v 0.19677974 -0.26013589 -0.41286393
+v 0.17733588 -0.40269734 0.11587385
+v 0.25118092 -0.36971571 -0.20244110
+v 0.13790144 -0.42079771 -0.26272806
+v 0.12292988 -0.37618426 0.20313203
+v 0.16210349 -0.35797920 -0.34536366
+v 0.20676968 -0.41637073 0.01573435
+v 0.24861446 -0.32762575 0.14287328
+v 0.23618135 -0.33998835 -0.28836113
+v 0.25242279 -0.38636098 -0.13157496
+v 0.13795706 -0.42077366 0.11793395
+v 0.22254816 -0.31223882 0.19898528
+v 0.13786642 -0.45083386 -0.17449650
+v 0.13814344 -0.29059798 -0.42520048
+v 0.25362842 -0.27201244 -0.34904186
+v 0.15121022 -0.37103510 -0.33529892
+v 0.19060577 -0.41511845 0.05627779
+v 0.25139318 -0.37000173 0.05645161
+v 0.22141872 -0.37080495 -0.25839466
+v 0.24825575 -0.32728794 -0.28876060
+v 0.17591935 -0.35539516 -0.33388007
+v 0.19143827 -0.43127698 -0.01459828
+v 0.16452602 -0.38464942 0.15774083
+v 0.22340927 -0.27203017 0.23309725
+v 0.16240747 -0.35820742 0.20013655
+v 0.23650061 -0.34041072 0.14253420
+v 0.25412210 -0.27247709 0.20337020
+v 0.13704030 -0.40385806 -0.29119407
+v 0.18155275 -0.43159146 -0.17317060
+v 0.15092686 -0.28772427 -0.42050855
+v 0.19197960 -0.27081653 -0.40808556
+v 0.15066539 -0.41531535 -0.26208117
+v 0.13802610 -0.37540528 -0.33791423
+v 0.15215475 -0.44870505 0.00100112
+v 0.16529181 -0.41395614 0.10199269
+v 0.22165000 -0.37107023 0.11293104
+v 0.23716140 -0.40136291 -0.04484138
+v 0.16599671 -0.44576106 -0.11647084
+v 0.15072101 -0.41529130 0.11728706
+v 0.16275416 -0.32794173 0.22963969
+v 0.13587788 -0.37096027 0.20216612
+v 0.19088641 -0.35515818 0.17247505
+v 0.23472186 -0.29892685 0.19895526
+v 0.20669535 -0.41626938 -0.16181748
+v 0.16658399 -0.27318632 -0.42151033
+v 0.16214251 -0.29685869 -0.40523358
+v 0.16514191 -0.41362054 -0.24797457
+v 0.15068409 -0.44565957 -0.17272419
+v 0.19136393 -0.43117562 -0.13148485
+v 0.16604924 -0.44587916 -0.02961159
+v 0.14043931 -0.33538321 0.23801098
+v 0.23708748 -0.40126225 -0.10124191
+f 8 4 5
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+f 10 6 2
+f 10 4 6
+f 10 9 4
+f 14 8 5
+f 19 12 2
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+f 20 14 1
+f 22 1 14
+f 23 14 5
+f 23 5 9
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+f 27 26 16
+f 27 16 3
+f 28 18 12
+f 28 12 7
+f 28 7 18
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+f 35 17 21
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+f 48 32 20
+f 48 11 32
+f 48 44 11
+f 48 20 44
+f 49 34 21
+f 49 21 8
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+f 50 14 20
+f 50 20 32
+f 51 35 34
+f 51 11 35
+f 51 34 32
+f 51 32 11
+f 52 21 17
+f 52 17 36
+f 52 36 6
+f 52 6 4
+f 52 4 21
+f 53 38 12
+f 53 12 19
+f 54 39 9
+f 54 9 10
+f 54 10 39
+f 55 15 23
+f 55 23 39
+f 55 40 15
+f 55 39 40
+f 56 41 7
+f 56 7 38
+f 56 22 41
+f 57 47 22
+f 57 38 47
+f 57 56 38
+f 57 22 56
+f 58 46 31
+f 58 47 38
+f 58 38 53
+f 58 53 19
+f 59 43 1
+f 59 1 47
+f 59 31 43
+f 59 58 31
+f 59 47 58
+f 60 50 34
+f 60 34 49
+f 60 49 8
+f 60 8 14
+f 60 14 50
+f 61 58 19
+f 61 19 46
+f 61 46 58
\ No newline at end of file
diff --git a/apple/apple_7/collision/model_normalized_collision_11.obj b/apple/apple_7/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7943159138d209660511107b2a982bbc4e5a081
--- /dev/null
+++ b/apple/apple_7/collision/model_normalized_collision_11.obj
@@ -0,0 +1,144 @@
+# https://github.com/mikedh/trimesh
+v 0.22844988 0.33087487 0.22144639
+v 0.27329505 0.36737612 0.12893797
+v 0.09400972 0.45774440 0.10329129
+v -0.09397782 0.46058358 0.07395549
+v -0.23971673 0.37734846 0.13143132
+v 0.19929349 0.43429349 0.07483694
+v 0.24479306 0.33232964 0.20787362
+v -0.02038092 0.42604283 0.17458441
+v -0.03748108 0.47190229 0.06235469
+v -0.17151246 0.43598001 0.07572146
+v 0.16513854 0.41127562 0.15819091
+v -0.22607425 0.34933910 0.19100689
+v 0.12470055 0.45924801 0.07346306
+v -0.02052450 0.45773143 0.11474130
+v -0.21437434 0.40430407 0.10536788
+v -0.05241460 0.47018579 0.06184208
+v -0.10764456 0.41046009 0.17402351
+v 0.16962521 0.42681616 0.12902333
+v 0.22626875 0.35494648 0.20092419
+v 0.03689273 0.42633987 0.17474153
+v 0.20448162 0.33860212 0.22986109
+v 0.18137667 0.44391683 0.07292537
+v 0.05217660 0.45765193 0.11459821
+v -0.17954547 0.41076587 0.12792629
+v -0.13971270 0.44629982 0.07421593
+v -0.06581880 0.45612108 0.10305902
+v 0.10873690 0.42571890 0.15876400
+v 0.24207743 0.39860712 0.11614848
+v 0.24045771 0.34215034 0.20208077
+v 0.22411054 0.34069780 0.21565739
+v 0.13889887 0.40981195 0.17345309
+v 0.13945070 0.44233858 0.11496425
+v -0.19503255 0.41140902 0.11315460
+v -0.15333449 0.39600303 0.17438914
+v -0.09234175 0.44027877 0.12830371
+v 0.05213688 0.44168872 0.14446739
+v 0.24366557 0.40186734 0.10442096
+v 0.17946342 0.44009201 0.08675431
+v 0.23604872 0.36703520 0.17245321
+v 0.20096383 0.34658604 0.22316402
+v 0.17980339 0.39514234 0.17274448
+v 0.10911047 0.44213953 0.12912929
+v -0.18746119 0.42454094 0.08693640
+v -0.21082115 0.36706611 0.17448134
+v -0.09275162 0.45663532 0.08787946
+v -0.13847553 0.44235113 0.08814912
+v -0.08099178 0.42633440 0.15961744
+v -0.13770984 0.40963506 0.15840426
+v -0.19649279 0.41423124 0.10362265
+f 10 6 2
+f 12 5 2
+f 12 2 7
+f 12 7 1
+f 13 9 3
+f 15 10 2
+f 15 2 5
+f 16 6 10
+f 17 12 8
+f 19 18 11
+f 20 14 8
+f 21 12 1
+f 21 8 12
+f 21 20 8
+f 22 9 13
+f 22 16 9
+f 22 6 16
+f 23 3 9
+f 23 9 14
+f 23 14 20
+f 25 16 10
+f 25 10 4
+f 25 4 16
+f 26 14 9
+f 26 9 16
+f 26 16 4
+f 28 6 22
+f 28 18 19
+f 29 7 2
+f 29 2 19
+f 30 21 1
+f 30 19 21
+f 30 29 19
+f 30 1 7
+f 30 7 29
+f 31 11 18
+f 31 18 27
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+f 32 22 13
+f 32 13 3
+f 32 27 18
+f 33 15 5
+f 33 24 10
+f 34 12 17
+f 35 14 26
+f 36 23 20
+f 36 20 27
+f 37 28 2
+f 37 2 6
+f 37 6 28
+f 38 28 22
+f 38 18 28
+f 38 32 18
+f 38 22 32
+f 39 28 19
+f 39 19 2
+f 39 2 28
+f 40 21 19
+f 40 31 20
+f 40 20 21
+f 41 19 11
+f 41 11 31
+f 41 40 19
+f 41 31 40
+f 42 32 3
+f 42 27 32
+f 42 36 27
+f 42 3 23
+f 42 23 36
+f 43 33 10
+f 43 10 15
+f 44 34 24
+f 44 12 34
+f 44 24 33
+f 44 33 5
+f 44 5 12
+f 45 4 10
+f 45 35 26
+f 45 26 4
+f 46 10 24
+f 46 24 35
+f 46 45 10
+f 46 35 45
+f 47 35 17
+f 47 17 8
+f 47 8 14
+f 47 14 35
+f 48 35 24
+f 48 24 34
+f 48 34 17
+f 48 17 35
+f 49 43 15
+f 49 15 33
+f 49 33 43
\ No newline at end of file
diff --git a/apple/apple_7/collision/model_normalized_collision_12.obj b/apple/apple_7/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ddc71fb24c386626b3e80106263c483360a2b5f
--- /dev/null
+++ b/apple/apple_7/collision/model_normalized_collision_12.obj
@@ -0,0 +1,144 @@
+# https://github.com/mikedh/trimesh
+v 0.00587914 -0.37968506 0.23707142
+v 0.14043931 -0.33538321 0.23801098
+v 0.06303323 -0.27152706 0.32011997
+v -0.23532617 -0.02488725 0.31948414
+v -0.23484848 -0.02490417 0.24513414
+v -0.11954845 -0.27132023 0.30266520
+v 0.07690358 -0.31504771 0.28640143
+v -0.16724053 -0.31902689 0.23595046
+v 0.14788930 -0.02600888 0.27134657
+v -0.00509887 -0.33067292 0.28825590
+v -0.06317826 -0.27187257 0.32056645
+v 0.07926552 -0.36480878 0.23701026
+v 0.13502493 -0.25596204 0.30318029
+v -0.26737030 -0.14287460 0.28520460
+v 0.13329778 -0.02192792 0.25615479
+v 0.12856565 -0.19305021 0.32042053
+v 0.00507101 -0.33051968 0.28804004
+v -0.07948980 -0.36530979 0.23748384
+v -0.02014080 -0.28518761 0.31835636
+v 0.12088018 -0.31053167 0.27449540
+v 0.15370181 -0.07534054 0.29491579
+v -0.22298348 -0.22643306 0.27154705
+v -0.22885149 -0.26165026 0.23869433
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+v -0.16266020 -0.31319993 0.24509440
+v -0.13413893 -0.28579410 0.28640692
+v -0.23706706 -0.18153398 0.28705808
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+v -0.07627477 -0.35855171 0.24623606
+v -0.00592273 -0.37992356 0.23728857
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+f 41 29 10
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+f 45 30 6
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+f 49 18 1
+f 49 1 40
+f 49 48 18
+f 49 40 29
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\ No newline at end of file
diff --git a/apple/apple_7/collision/model_normalized_collision_13.obj b/apple/apple_7/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec29d69297dc7d9a1ac45e29e2a6d984abb56254
--- /dev/null
+++ b/apple/apple_7/collision/model_normalized_collision_13.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.06523321 -0.47734190 0.01606672
+v 0.18783136 -0.43186474 0.00245279
+v 0.15842757 -0.28473655 0.27362881
+v -0.22885149 -0.26165026 0.23869433
+v -0.23484848 -0.26732841 0.00270989
+v -0.04976334 -0.40057473 0.20427850
+v 0.10489599 -0.43016165 0.12751147
+v -0.12155502 -0.46325304 0.00093518
+v 0.14393939 -0.26732841 0.00270989
+v -0.07818117 -0.37259163 0.23045120
+v 0.10543699 -0.46127100 0.04193785
+v 0.13554818 -0.41576855 0.12797336
+v 0.01931393 -0.45982665 0.10245519
+v 0.07598588 -0.37278006 0.23023339
+v 0.06549203 -0.47885683 0.00107273
+v -0.22520952 -0.40577531 0.00114307
+v -0.25932581 -0.26201047 0.20884691
+v -0.16555599 -0.41462011 0.10221812
+v 0.18531332 -0.42846925 0.03095262
+v 0.09079448 -0.44700972 0.10285557
+v -0.06502645 -0.47648816 0.02718358
+v 0.04971453 -0.40027826 0.20410677
+v 0.13665607 -0.35802629 0.21543700
+v 0.12062653 -0.46110224 0.01585080
+v 0.18307251 -0.43493550 0.00115256
+v -0.20817620 -0.41837553 0.00083718
+v -0.26471411 -0.26692912 0.19923028
+v -0.09011895 -0.40073998 0.18865319
+v 0.18170268 -0.43192714 0.02718875
+v 0.11984628 -0.42912785 0.11715103
+v 0.03472900 -0.47649333 0.04233676
+v -0.06555082 -0.47922380 0.00111096
+v -0.09527340 -0.46138112 0.05743723
+v 0.08985172 -0.40009158 0.18825941
+v 0.03463307 -0.44675723 0.12882542
+v 0.13709987 -0.34318548 0.23121474
+v 0.12123699 -0.46247460 0.00084968
+v -0.20623366 -0.41595788 0.02627799
+v -0.16302262 -0.35908988 0.20030777
+v -0.22081888 -0.31444205 0.19962673
+v 0.15083662 -0.44599774 0.02674463
+v 0.16536751 -0.42927713 0.05659546
+v 0.09364966 -0.46132032 0.05731578
+v 0.00448655 -0.47684158 0.05760035
+v -0.12032170 -0.46075281 0.02660820
+v -0.10515636 -0.43079610 0.12789675
+v 0.10489738 -0.38428009 0.20321410
+v 0.07992525 -0.43006444 0.14320215
+v -0.01922438 -0.41509093 0.18863500
+v -0.22215722 -0.37187096 0.11300555
+v -0.10515032 -0.38490640 0.20359062
+v -0.16279790 -0.32852663 0.23012350
+v -0.01937044 -0.46018017 0.10256896
+v -0.18021390 -0.42867064 0.04123972
+v -0.13471931 -0.42858134 0.10181558
+v -0.16570443 -0.38479140 0.15806726
+v -0.07982904 -0.44458195 0.11750722
+v 0.01917190 -0.41478075 0.18845378
+v -0.22307556 -0.40307102 0.02712360
+v -0.25390507 -0.28703461 0.19181326
+v -0.19125836 -0.35570111 0.17298907
+v -0.22007416 -0.29879417 0.21411738
+v -0.01929013 -0.47487068 0.05696605
+v -0.19107973 -0.41595463 0.05657981
+f 9 3 2
+f 9 4 3
+f 10 3 4
+f 14 10 6
+f 14 3 10
+f 17 9 5
+f 17 4 9
+f 19 2 3
+f 22 14 6
+f 23 19 3
+f 23 12 19
+f 24 11 1
+f 24 1 15
+f 25 9 2
+f 26 16 5
+f 26 5 9
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+f 27 17 5
+f 27 5 16
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+f 29 2 19
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+f 32 21 8
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+f 42 30 11
+f 42 11 41
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+f 44 1 31
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+f 45 21 33
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+f 47 36 14
+f 47 23 36
+f 47 12 23
+f 47 34 7
+f 47 7 12
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+f 48 20 7
+f 49 22 6
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+f 51 10 39
+f 51 46 28
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+f 52 10 4
+f 52 40 39
+f 53 33 21
+f 53 44 13
+f 53 13 35
+f 53 35 49
+f 54 45 18
+f 54 38 26
+f 54 26 8
+f 54 8 45
+f 55 46 18
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+f 55 45 33
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+f 56 18 46
+f 56 50 18
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+f 56 51 39
+f 56 46 51
+f 57 6 28
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+f 57 49 6
+f 57 53 49
+f 57 46 33
+f 57 33 53
+f 58 49 35
+f 58 35 22
+f 58 22 49
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+f 59 27 16
+f 59 16 38
+f 59 38 50
+f 60 50 40
+f 60 40 27
+f 60 27 50
+f 61 50 39
+f 61 39 40
+f 61 40 50
+f 62 52 4
+f 62 4 40
+f 62 40 52
+f 63 53 21
+f 63 21 44
+f 63 44 53
+f 64 50 38
+f 64 38 54
+f 64 54 18
+f 64 18 50
\ No newline at end of file
diff --git a/apple/apple_7/collision/model_normalized_collision_14.obj b/apple/apple_7/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00ddddd3e6d1cba47e69ae1ccce059b3279b8985
--- /dev/null
+++ b/apple/apple_7/collision/model_normalized_collision_14.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.25794044 -0.37872215 0.01668374
+v 0.47470403 -0.06687725 -0.16214208
+v 0.44498604 -0.06685515 0.11570722
+v 0.26729853 -0.02598930 0.31946803
+v 0.26515151 -0.02490417 -0.33062344
+v 0.47689524 -0.02178874 0.04322790
+v 0.25612577 -0.19847895 0.26585830
+v 0.42936409 -0.17997441 -0.01444620
+v 0.25582803 -0.30427368 -0.30903562
+v 0.40417847 -0.02217706 0.20397930
+v 0.46621583 -0.02268593 -0.22104795
+v 0.35463630 -0.22277221 0.12802797
+v 0.45826671 -0.10752661 0.02674070
+v 0.25653064 -0.21387213 -0.39715565
+v 0.25609290 -0.36475501 0.05967917
+v 0.38311823 -0.23996538 -0.17271090
+v 0.44625304 -0.02161102 0.13014819
+v 0.32754967 -0.07924967 0.27186095
+v 0.34277768 -0.02190105 0.27512040
+v 0.47653211 -0.02171588 -0.18920784
+v 0.38340859 -0.24015811 0.02671648
+v 0.47483129 -0.06690226 0.01605975
+v 0.41286321 -0.16391532 0.08697179
+v 0.40707392 -0.02909774 -0.34216772
+v 0.25583999 -0.36451394 -0.20567300
+v 0.25617834 -0.30457875 0.16316693
+v 0.44363944 -0.15331027 -0.13170522
+v 0.38162116 -0.13753281 -0.31924811
+v 0.40050782 -0.05167852 0.20078963
+v 0.26084830 -0.12805660 0.29951079
+v 0.35599864 -0.15091623 0.20050889
+v 0.31693470 -0.02294008 0.29392380
+v 0.42970906 -0.02132204 0.15966800
+v 0.45827797 -0.06658967 -0.21856578
+v 0.38514825 -0.25268223 -0.05994419
+v 0.29336264 -0.32681759 0.05655614
+v 0.45863931 -0.06666138 0.07258448
+v 0.42704766 -0.12238907 0.10230382
+v 0.36752994 -0.22452395 0.10222120
+v 0.42852086 -0.16424920 0.04169474
+v 0.26120802 -0.20306207 -0.40216100
+v 0.32410876 -0.26734932 -0.25862914
+v 0.47329628 -0.09239375 -0.04479153
+v 0.38529360 -0.06303683 0.21541558
+v 0.34046284 -0.03663720 0.27424722
+v 0.31269669 -0.10969259 0.27227945
+v 0.38211383 -0.13774538 0.17343446
+v 0.32542948 -0.19618970 0.20025836
+v 0.31271590 -0.06424705 0.28745790
+v 0.47386875 -0.03633308 -0.18836119
+v 0.42822743 -0.16405563 -0.18768723
+v 0.41501415 -0.13868527 -0.26022297
+v 0.39811967 -0.22480888 0.00059812
+v 0.41434628 -0.21034372 -0.08622717
+v 0.30955272 -0.32765513 0.00059626
+v 0.26411105 -0.37312193 -0.16184482
+v 0.26419944 -0.37320611 0.01576098
+v 0.47423188 -0.03640593 0.04238124
+v 0.32323127 -0.28182175 0.08686352
+v 0.41362759 -0.19464780 0.02668726
+v 0.44375432 -0.15335974 -0.01437803
+v 0.27112873 -0.19838849 -0.39691889
+v 0.25710691 -0.33556404 -0.26451339
+v 0.30902670 -0.29699811 -0.23315549
+f 7 4 5
+f 14 9 7
+f 14 7 5
+f 17 3 6
+f 20 6 2
+f 20 11 5
+f 20 5 19
+f 22 2 6
+f 24 5 11
+f 25 1 15
+f 25 15 7
+f 25 7 9
+f 26 7 15
+f 29 3 17
+f 30 4 7
+f 32 19 5
+f 32 5 4
+f 33 19 10
+f 33 20 19
+f 33 17 6
+f 33 6 20
+f 33 29 17
+f 33 10 29
+f 34 11 20
+f 34 24 11
+f 37 6 3
+f 37 3 13
+f 37 13 22
+f 38 13 3
+f 40 38 23
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+f 40 23 39
+f 41 14 5
+f 41 5 24
+f 42 9 28
+f 43 27 2
+f 43 2 22
+f 43 22 13
+f 45 29 10
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+f 45 19 32
+f 46 30 7
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+f 47 31 12
+f 47 23 38
+f 47 38 3
+f 47 3 29
+f 47 44 31
+f 47 29 44
+f 47 39 23
+f 47 12 39
+f 48 26 12
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+f 48 7 26
+f 48 46 7
+f 48 31 46
+f 49 45 32
+f 49 18 45
+f 49 46 18
+f 49 30 46
+f 49 32 4
+f 49 4 30
+f 50 34 20
+f 50 20 2
+f 50 2 34
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+f 51 2 27
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+f 52 34 51
+f 52 42 28
+f 52 51 16
+f 52 16 42
+f 53 35 8
+f 53 21 35
+f 54 8 35
+f 54 35 16
+f 54 16 27
+f 55 35 21
+f 56 16 35
+f 56 1 25
+f 57 36 15
+f 57 15 1
+f 57 21 36
+f 57 55 21
+f 57 1 56
+f 57 56 35
+f 57 35 55
+f 58 37 22
+f 58 22 6
+f 58 6 37
+f 59 36 21
+f 59 21 39
+f 59 15 36
+f 59 26 15
+f 59 39 12
+f 59 12 26
+f 60 8 40
+f 60 53 8
+f 60 21 53
+f 60 40 39
+f 60 39 21
+f 61 40 8
+f 61 13 40
+f 61 43 13
+f 61 27 43
+f 61 54 27
+f 61 8 54
+f 62 41 24
+f 62 24 28
+f 62 28 9
+f 62 9 14
+f 62 14 41
+f 63 25 9
+f 63 9 42
+f 64 42 16
+f 64 63 42
+f 64 25 63
+f 64 56 25
+f 64 16 56
\ No newline at end of file
diff --git a/apple/apple_7/collision/model_normalized_collision_15.obj b/apple/apple_7/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b70334dd34c5f07ae3f14e91cd1cf38afbd31b8d
--- /dev/null
+++ b/apple/apple_7/collision/model_normalized_collision_15.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v 0.14348440 -0.32733468 0.24452048
+v 0.25752635 -0.23005977 0.23711057
+v 0.13796397 -0.24455795 0.30901963
+v 0.21865297 0.14054932 0.32568905
+v 0.21969697 0.14176250 0.26028565
+v 0.29997513 -0.02253758 0.30665380
+v 0.17963276 -0.27075146 0.27139084
+v 0.16713735 -0.31856830 0.23555139
+v 0.13629231 0.07721781 0.26860670
+v 0.26266434 -0.03801706 0.31923978
+v 0.28859728 0.15737739 0.29807400
+v 0.13665852 -0.27373165 0.29142051
+v 0.23895569 -0.15130072 0.30323949
+v 0.26515151 -0.02490417 0.24513414
+v 0.16255145 -0.29737148 0.25966932
+v 0.15648600 0.08761856 0.29208782
+v 0.13329778 -0.02192792 0.25615479
+v 0.26343934 0.14001952 0.32089870
+v 0.22496489 -0.07136240 0.31971014
+v 0.15081044 -0.24161890 0.30443992
+v 0.24732784 -0.06814314 0.31784642
+v 0.26868941 -0.10769316 0.30362861
+v 0.25139205 -0.20930455 0.26095880
+v 0.30711212 -0.02412637 0.30106079
+v 0.13899985 -0.32142298 0.25362360
+v 0.22270936 -0.22607027 0.27118661
+v 0.29788213 -0.04924444 0.30305484
+v 0.25210667 -0.22510887 0.24655924
+v 0.26885206 -0.13837756 0.28916358
+v 0.30455139 -0.05236982 0.29725253
+v 0.25305242 -0.16550033 0.28640210
+f 8 2 7
+f 9 4 5
+f 11 5 4
+f 14 2 8
+f 14 5 11
+f 15 8 7
+f 16 9 3
+f 16 3 4
+f 16 4 9
+f 17 8 1
+f 17 12 3
+f 17 3 9
+f 17 9 5
+f 17 14 8
+f 17 5 14
+f 18 10 6
+f 18 4 10
+f 18 11 4
+f 19 10 4
+f 19 4 3
+f 20 12 7
+f 20 3 12
+f 20 13 3
+f 21 3 13
+f 21 19 3
+f 21 10 19
+f 22 21 13
+f 22 10 21
+f 24 14 11
+f 24 18 6
+f 24 11 18
+f 25 1 8
+f 25 8 15
+f 25 17 1
+f 25 12 17
+f 25 15 7
+f 25 7 12
+f 26 20 7
+f 26 13 20
+f 26 7 23
+f 27 6 10
+f 27 10 22
+f 27 24 6
+f 28 23 7
+f 28 7 2
+f 28 2 23
+f 29 22 13
+f 29 23 2
+f 30 2 14
+f 30 14 24
+f 30 24 27
+f 30 29 2
+f 30 27 22
+f 30 22 29
+f 31 26 23
+f 31 13 26
+f 31 29 13
+f 31 23 29
\ No newline at end of file
diff --git a/apple/apple_7/collision/model_normalized_collision_16.obj b/apple/apple_7/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73ea91a3cda9ad6b158f9d6eb60b61264905f390
--- /dev/null
+++ b/apple/apple_7/collision/model_normalized_collision_16.obj
@@ -0,0 +1,138 @@
+# https://github.com/mikedh/trimesh
+v 0.00757576 0.23267159 0.01786141
+v 0.00757576 0.23267159 -0.33062344
+v 0.00670632 0.48875330 0.01623455
+v -0.10830548 0.47301941 0.01612214
+v -0.21969697 0.23267159 0.01786141
+v -0.02031419 0.42550963 -0.32039703
+v -0.21369040 0.43334698 0.01661144
+v 0.00662830 0.42706236 -0.32122008
+v -0.00547411 0.48849169 -0.16230437
+v -0.20454545 0.23267159 -0.33062344
+v 0.00678012 0.45883785 -0.26132743
+v -0.06607382 0.48847628 -0.05954573
+v -0.21421443 0.41918838 -0.20589879
+v -0.19794819 0.37146123 -0.32315582
+v 0.00669978 0.48862720 -0.16231754
+v -0.00548953 0.48861624 0.01622124
+v -0.18333547 0.45582987 -0.10139658
+v -0.21969697 0.23267159 -0.20941132
+v -0.10815243 0.44233270 -0.26035837
+v -0.10748496 0.40994917 -0.31983903
+v -0.00533942 0.47228945 -0.21915743
+v -0.05079270 0.48743583 -0.02934412
+v -0.18338322 0.45594584 -0.04468660
+v -0.21016737 0.44175533 -0.10135130
+v -0.10755089 0.47060242 -0.17298704
+v -0.08100952 0.44162539 -0.27548348
+v -0.19478475 0.41093406 -0.25896944
+v 0.00663229 0.47239857 -0.21919004
+v -0.16833761 0.45599466 0.00077625
+v -0.13813282 0.47146398 -0.05979764
+v -0.19446294 0.44072116 -0.17264866
+v -0.21022572 0.44186671 -0.04473181
+v -0.06605838 0.48835232 -0.08653755
+v -0.06577466 0.45576625 -0.24904758
+v -0.02045705 0.45719934 -0.26055531
+v -0.08092434 0.42580237 -0.30543148
+v -0.15317518 0.39549145 -0.32020390
+v -0.19560367 0.44290529 0.01600063
+v -0.13809593 0.47134465 -0.08628563
+v -0.21041296 0.42709207 -0.18831177
+v -0.16830071 0.45587530 -0.14685952
+v -0.09264611 0.45629562 -0.23386920
+v -0.03567949 0.48770612 -0.13192457
+v -0.05065217 0.47128183 -0.20371834
+v -0.17929766 0.41029090 -0.27374113
+v -0.18045170 0.38208953 -0.32050149
+v -0.13787758 0.42532530 -0.27449203
+f 1 2 3
+f 5 2 1
+f 7 5 1
+f 7 1 3
+f 10 2 5
+f 10 8 2
+f 11 2 8
+f 11 8 6
+f 13 5 7
+f 14 8 10
+f 14 10 13
+f 15 3 2
+f 15 2 11
+f 15 12 3
+f 16 3 12
+f 16 7 3
+f 16 4 7
+f 18 13 10
+f 18 10 5
+f 18 5 13
+f 20 6 8
+f 20 8 14
+f 21 9 15
+f 22 16 12
+f 22 12 4
+f 22 4 16
+f 24 13 7
+f 27 14 13
+f 28 21 15
+f 28 15 11
+f 28 11 21
+f 29 4 23
+f 30 23 4
+f 30 4 12
+f 30 17 23
+f 31 24 17
+f 31 27 13
+f 31 19 27
+f 32 24 7
+f 32 23 17
+f 32 17 24
+f 33 15 9
+f 33 12 15
+f 33 30 12
+f 34 26 19
+f 35 11 6
+f 35 26 34
+f 35 34 21
+f 35 21 11
+f 36 20 19
+f 36 19 26
+f 36 6 20
+f 36 35 6
+f 36 26 35
+f 37 20 14
+f 38 29 23
+f 38 7 4
+f 38 4 29
+f 38 32 7
+f 38 23 32
+f 39 17 30
+f 39 33 25
+f 39 30 33
+f 40 31 13
+f 40 13 24
+f 40 24 31
+f 41 31 17
+f 41 25 31
+f 41 39 25
+f 41 17 39
+f 42 31 25
+f 42 19 31
+f 42 34 19
+f 43 33 9
+f 43 9 25
+f 43 25 33
+f 44 9 21
+f 44 21 34
+f 44 34 42
+f 44 42 25
+f 44 25 9
+f 45 14 27
+f 46 45 37
+f 46 37 14
+f 46 14 45
+f 47 45 27
+f 47 27 19
+f 47 37 45
+f 47 19 20
+f 47 20 37
\ No newline at end of file
diff --git a/apple/apple_7/collision/model_normalized_collision_17.obj b/apple/apple_7/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dbd83b82ead90ddd951613b8e33b672d9f0a442d
--- /dev/null
+++ b/apple/apple_7/collision/model_normalized_collision_17.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.25795778 0.21076658 0.29281300
+v 0.25000000 0.21752007 0.18452808
+v 0.18444915 0.38936291 0.17845257
+v -0.08098721 0.41679432 0.17766263
+v -0.35075800 0.23309516 0.21082013
+v -0.34715165 0.26844957 0.17724789
+v 0.06486415 0.31033274 0.30334016
+v 0.25318764 0.34265105 0.18728699
+v -0.31887519 0.21331061 0.25314750
+v -0.25669853 0.34005845 0.17590727
+v -0.35293105 0.25957542 0.18197068
+v 0.05225386 0.39796631 0.21642459
+v 0.26328542 0.21576818 0.28723530
+v 0.18187687 0.30815937 0.27430658
+v -0.09952055 0.21936752 0.31424738
+v -0.15296055 0.31150921 0.27378254
+v 0.15613706 0.40286939 0.17803791
+v -0.28566625 0.30703384 0.20046534
+v 0.19721511 0.36925094 0.20087580
+v 0.23900604 0.26462538 0.27451420
+v 0.15735294 0.24554194 0.31858175
+v 0.11016233 0.33974368 0.27279005
+v -0.25997737 0.21156807 0.29534475
+v -0.16521305 0.38192143 0.18945904
+v -0.07811091 0.35243784 0.26148908
+v -0.09435366 0.29542296 0.30395236
+v 0.09556728 0.41828303 0.17820844
+v -0.31303914 0.23366593 0.24394509
+v -0.34858290 0.25485263 0.19356899
+v -0.30042088 0.31268856 0.17637678
+v 0.20740356 0.32363621 0.24388531
+v 0.16684728 0.38427044 0.20075245
+v 0.26050212 0.22830673 0.28223370
+v 0.12267159 0.29572671 0.30246890
+v 0.18006675 0.26673640 0.30152047
+v 0.17274197 0.21555067 0.32096811
+v 0.07918893 0.38311889 0.23127880
+v -0.29030211 0.21159305 0.28023685
+v -0.16805189 0.38747358 0.17752116
+v -0.21066791 0.35155467 0.19904585
+v -0.02059928 0.39799891 0.21660356
+v -0.15067472 0.36789272 0.21526883
+v -0.07906388 0.34045513 0.27310340
+v -0.00748096 0.26020199 0.32042648
+v -0.22799681 0.25070196 0.28784418
+v -0.29606552 0.30803090 0.18804266
+v 0.24008196 0.32653679 0.21673020
+v 0.22261080 0.27825009 0.27426268
+v 0.18161964 0.38365482 0.19012755
+v 0.15457440 0.39672190 0.18975596
+v 0.15168598 0.32350810 0.27370773
+v 0.22557407 0.22374418 0.30381468
+v 0.11276100 0.26033496 0.31897955
+v 0.22831710 0.21123306 0.30886543
+v 0.13956019 0.38185798 0.21498810
+v 0.09399305 0.41215445 0.18995006
+v -0.24137097 0.26347511 0.27396423
+v -0.22517327 0.35108326 0.18903828
+v -0.07977537 0.41067215 0.18953287
+v -0.06394339 0.32538837 0.28836111
+v -0.12330566 0.35157359 0.24560260
+v -0.18048906 0.36694661 0.19926295
+v -0.03611265 0.30989724 0.30369675
+v 0.17234806 0.23037802 0.31904323
+f 6 3 2
+f 8 2 3
+f 9 5 2
+f 10 3 6
+f 11 6 2
+f 11 2 5
+f 13 1 2
+f 13 2 8
+f 17 10 4
+f 17 3 10
+f 19 8 3
+f 27 17 4
+f 29 11 5
+f 29 28 18
+f 29 5 28
+f 30 18 10
+f 30 10 6
+f 30 6 11
+f 31 19 14
+f 32 14 19
+f 33 13 8
+f 33 8 20
+f 33 1 13
+f 34 22 7
+f 35 34 21
+f 35 14 34
+f 36 15 23
+f 37 7 22
+f 38 1 23
+f 38 9 2
+f 38 2 1
+f 38 28 5
+f 38 5 9
+f 39 24 4
+f 39 4 10
+f 41 27 4
+f 41 37 12
+f 41 7 37
+f 42 40 16
+f 43 16 26
+f 44 15 36
+f 44 26 23
+f 44 23 15
+f 45 26 16
+f 45 23 26
+f 46 29 18
+f 46 18 30
+f 46 30 11
+f 46 11 29
+f 47 8 19
+f 47 19 31
+f 47 20 8
+f 48 31 14
+f 48 47 31
+f 48 20 47
+f 48 35 20
+f 48 14 35
+f 49 32 19
+f 49 19 3
+f 49 3 32
+f 50 32 3
+f 50 3 17
+f 51 14 32
+f 51 34 14
+f 51 22 34
+f 52 33 20
+f 52 20 35
+f 53 34 7
+f 53 21 34
+f 53 7 44
+f 53 44 36
+f 53 36 21
+f 54 36 23
+f 54 23 1
+f 54 1 33
+f 54 33 52
+f 54 52 35
+f 54 35 21
+f 55 37 22
+f 55 32 50
+f 55 51 32
+f 55 22 51
+f 56 12 37
+f 56 41 12
+f 56 27 41
+f 56 37 55
+f 56 55 50
+f 56 50 17
+f 56 17 27
+f 57 18 28
+f 57 28 38
+f 57 38 23
+f 57 23 45
+f 57 45 16
+f 57 40 18
+f 57 16 40
+f 58 10 18
+f 58 18 40
+f 58 39 10
+f 58 40 24
+f 58 24 39
+f 59 41 4
+f 59 25 41
+f 59 4 24
+f 59 24 42
+f 60 41 25
+f 60 7 41
+f 60 25 43
+f 60 43 26
+f 61 42 16
+f 61 59 42
+f 61 25 59
+f 61 43 25
+f 61 16 43
+f 62 42 24
+f 62 24 40
+f 62 40 42
+f 63 44 7
+f 63 26 44
+f 63 60 26
+f 63 7 60
+f 64 54 21
+f 64 21 36
+f 64 36 54
\ No newline at end of file
diff --git a/apple/apple_7/collision/model_normalized_collision_18.obj b/apple/apple_7/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..720aed8e09550274ba4efee2b9d080ff9129d6a2
--- /dev/null
+++ b/apple/apple_7/collision/model_normalized_collision_18.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.25000000 0.33873220 0.01786141
+v 0.27329505 0.36737612 0.12893797
+v -0.23971673 0.37734846 0.13143132
+v -0.10830548 0.47301941 0.01612214
+v 0.18364916 0.46068140 0.01630044
+v 0.12593510 0.44888323 0.10527764
+v -0.21969697 0.33873220 0.01786141
+v 0.24298338 0.43084126 0.01629451
+v -0.02032265 0.47093855 0.07265544
+v 0.22576758 0.41148746 0.10249314
+v -0.21369040 0.43334698 0.01661144
+v -0.19560367 0.44290529 0.01600063
+v -0.18050963 0.42785413 0.08792704
+v 0.09383326 0.47221172 0.05762069
+v 0.14022242 0.44553250 0.10421955
+v 0.18288655 0.45883986 0.02758448
+v 0.24366557 0.40186734 0.10442096
+v -0.10790448 0.45663965 0.07272929
+v -0.19462847 0.44103677 0.02665937
+v -0.21437434 0.40430407 0.10536788
+v 0.02176403 0.47202517 0.07298227
+v 0.12505739 0.47580742 0.01638092
+v 0.20976402 0.42493563 0.08675263
+v 0.24021684 0.42529818 0.04144683
+v -0.10765636 0.47094287 0.02699777
+v -0.19649279 0.41423124 0.10362265
+v -0.21057850 0.42740769 0.04232247
+v 0.12455332 0.47374650 0.02778395
+f 6 3 2
+f 7 1 2
+f 7 2 3
+f 8 2 1
+f 9 3 6
+f 11 7 3
+f 12 8 1
+f 12 1 7
+f 12 7 11
+f 12 4 5
+f 12 5 8
+f 15 6 2
+f 15 2 10
+f 16 8 5
+f 16 14 6
+f 16 6 15
+f 17 10 2
+f 17 16 10
+f 19 4 12
+f 19 12 11
+f 20 13 19
+f 21 9 6
+f 21 6 14
+f 21 4 9
+f 22 5 4
+f 22 21 14
+f 22 4 21
+f 22 16 5
+f 23 16 15
+f 23 15 10
+f 23 10 16
+f 24 8 16
+f 24 16 17
+f 24 17 2
+f 24 2 8
+f 25 18 9
+f 25 9 4
+f 25 4 19
+f 25 19 13
+f 25 13 18
+f 26 18 13
+f 26 3 9
+f 26 9 18
+f 26 20 3
+f 26 13 20
+f 27 20 19
+f 27 19 11
+f 27 11 3
+f 27 3 20
+f 28 22 14
+f 28 14 16
+f 28 16 22
\ No newline at end of file
diff --git a/apple/apple_7/collision/model_normalized_collision_19.obj b/apple/apple_7/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6e3652683958e7eaf69655816eee65af02b81bb
--- /dev/null
+++ b/apple/apple_7/collision/model_normalized_collision_19.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.28765899 0.21020159 0.27658001
+v 0.43603735 0.22579176 -0.19027847
+v 0.45143493 0.21079510 0.02912120
+v 0.24365962 0.43218586 0.00129401
+v 0.25000000 0.23267159 -0.22456283
+v 0.36959890 0.33881531 -0.06013331
+v 0.31206835 0.33705124 0.12722221
+v 0.24288403 0.25612489 0.27748600
+v 0.24732443 0.40915826 -0.22272565
+v 0.42355617 0.22748902 -0.22154192
+v 0.25000000 0.21752007 0.01786141
+v 0.44448487 0.23678549 -0.10128826
+v 0.41920887 0.20961054 0.11931156
+v 0.33847080 0.35313114 0.04081600
+v 0.24368839 0.41706434 -0.20507744
+v 0.24427336 0.38783122 0.13207937
+v 0.33930993 0.24763930 0.20237382
+v 0.32737833 0.36756071 -0.17249124
+v 0.25109864 0.21855148 0.29256295
+v 0.41308908 0.28155614 -0.01463185
+v 0.45122737 0.22585982 -0.10207185
+v 0.28191448 0.41300400 -0.02974164
+v 0.39730862 0.28109545 0.05626615
+v 0.24176170 0.35890715 0.17739780
+v 0.26604170 0.41210692 0.04118088
+v 0.25228547 0.25117594 0.27485865
+v 0.38385482 0.26704821 0.11746471
+v 0.36149181 0.21122613 0.20480857
+v 0.33871940 0.33820441 -0.21731826
+v 0.40012697 0.29353072 -0.16177164
+v 0.26580969 0.41182166 -0.18716262
+v 0.41424138 0.28227730 -0.11644674
+v 0.38491611 0.30857241 0.02607840
+v 0.45301585 0.21182662 0.01679251
+v 0.44332593 0.23607067 -0.02979956
+v 0.34245676 0.36751466 -0.06002405
+v 0.40022116 0.29361557 0.01568873
+v 0.24360143 0.43207016 -0.14737638
+v 0.24366557 0.40186734 0.10442096
+v 0.29437287 0.30871912 0.18760715
+v 0.26624003 0.38204751 0.11624926
+v 0.25577168 0.42616481 0.00062729
+v 0.29653638 0.39720172 0.00047735
+v 0.35408328 0.30794161 0.10169853
+v 0.35506793 0.22246612 0.20398026
+v 0.38464269 0.30832521 -0.17205954
+v 0.39699803 0.28089999 -0.20224841
+v 0.42830853 0.25130605 -0.16176609
+v 0.25605584 0.41151661 -0.20316576
+v 0.26718710 0.39836367 -0.21814015
+v 0.36950362 0.33872967 -0.08594933
+v 0.28183288 0.41290374 -0.11634076
+v 0.41239560 0.26590332 0.04109113
+v 0.42841749 0.25137418 0.01568352
+v 0.24385288 0.41739211 0.05909504
+v 0.26671963 0.32203188 0.20094031
+v 0.35444470 0.29297438 0.12649214
+v 0.25290624 0.38428406 0.12847522
+v 0.25444492 0.39713812 0.10244680
+v 0.31127200 0.35122515 0.10167713
+v 0.37018080 0.26321017 0.14208229
+v 0.39962590 0.26740223 -0.21835694
+v 0.41208500 0.26570786 -0.18707339
+v 0.32606460 0.35079495 -0.21730332
+f 10 2 3
+f 10 3 5
+f 10 5 9
+f 11 5 3
+f 11 8 5
+f 13 11 3
+f 13 1 11
+f 15 5 8
+f 15 9 5
+f 19 11 1
+f 19 8 11
+f 24 15 8
+f 26 1 17
+f 26 19 1
+f 26 8 19
+f 27 13 3
+f 27 3 23
+f 28 1 13
+f 29 10 9
+f 32 20 12
+f 32 6 20
+f 33 14 23
+f 34 3 2
+f 34 2 21
+f 35 21 12
+f 35 12 20
+f 35 34 21
+f 36 33 6
+f 36 14 33
+f 37 33 23
+f 37 20 6
+f 37 6 33
+f 38 24 4
+f 38 15 24
+f 38 31 15
+f 39 24 16
+f 41 24 7
+f 42 25 22
+f 42 4 25
+f 42 38 4
+f 42 22 38
+f 43 25 14
+f 43 22 25
+f 43 36 22
+f 43 14 36
+f 44 27 23
+f 44 23 14
+f 45 17 1
+f 45 1 28
+f 45 28 13
+f 46 29 18
+f 47 46 30
+f 47 29 46
+f 48 21 2
+f 48 30 32
+f 48 32 12
+f 48 12 21
+f 49 31 9
+f 49 9 15
+f 49 15 31
+f 50 9 31
+f 51 32 30
+f 51 6 32
+f 51 36 6
+f 51 30 46
+f 51 46 18
+f 51 18 36
+f 52 36 18
+f 52 18 31
+f 52 31 38
+f 52 38 22
+f 52 22 36
+f 53 37 23
+f 53 23 3
+f 54 20 37
+f 54 35 20
+f 54 34 35
+f 54 3 34
+f 54 53 3
+f 54 37 53
+f 55 25 4
+f 55 4 24
+f 55 24 39
+f 56 40 7
+f 56 7 24
+f 56 24 8
+f 56 8 26
+f 56 26 17
+f 56 17 40
+f 57 7 40
+f 57 44 7
+f 57 27 44
+f 58 16 24
+f 58 24 41
+f 59 41 25
+f 59 58 41
+f 59 39 16
+f 59 16 58
+f 59 55 39
+f 59 25 55
+f 60 41 7
+f 60 14 25
+f 60 25 41
+f 60 44 14
+f 60 7 44
+f 61 17 45
+f 61 27 57
+f 61 57 40
+f 61 40 17
+f 61 45 13
+f 61 13 27
+f 62 10 29
+f 62 29 47
+f 62 2 10
+f 63 47 30
+f 63 30 48
+f 63 48 2
+f 63 62 47
+f 63 2 62
+f 64 29 9
+f 64 9 50
+f 64 18 29
+f 64 50 31
+f 64 31 18
\ No newline at end of file
diff --git a/apple/apple_7/collision/model_normalized_collision_2.obj b/apple/apple_7/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a941e4ec63e9fe246c7a3c00b8647153f94028b
--- /dev/null
+++ b/apple/apple_7/collision/model_normalized_collision_2.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v 0.25000000 0.23267159 0.01786141
+v 0.25000000 0.23267159 -0.22456283
+v 0.24087795 0.44182828 -0.07239594
+v 0.00748812 0.48856949 0.01769742
+v 0.00757576 0.23267159 -0.22456283
+v 0.24298338 0.43084126 0.01629451
+v 0.00757576 0.23267159 0.01786141
+v 0.00663229 0.47239857 -0.21919004
+v 0.13927018 0.47217381 0.01600837
+v 0.24177671 0.41325499 -0.21891630
+v 0.00678273 0.49021618 0.00122601
+v 0.18364916 0.46068140 0.01630044
+v 0.09408380 0.48836327 -0.11675559
+v 0.18121205 0.44358776 -0.21890693
+v 0.09411584 0.48848736 -0.02932703
+v 0.00677618 0.49009012 -0.14730900
+v 0.16953875 0.47201371 -0.08632330
+v 0.09374222 0.47185870 -0.20360456
+v 0.18274549 0.45849921 -0.17356552
+v 0.03700409 0.48865258 0.00107319
+v 0.21006284 0.45596283 -0.06003523
+v 0.16957087 0.47213821 -0.05975925
+v 0.13892282 0.45554763 -0.21836816
+v 0.03699755 0.48852660 -0.14715619
+v 0.24005235 0.42497043 -0.18742923
+v 0.21000488 0.45584772 -0.08604726
+v 0.13923813 0.47204972 -0.16209099
+v 0.10904833 0.48761348 -0.08636942
+v 0.02174508 0.47166610 -0.21896955
+v 0.22545695 0.44127059 -0.14670801
+v 0.19518918 0.45649221 -0.14671588
+v 0.15420335 0.47130088 -0.13170451
+v 0.10870118 0.48629580 -0.04470325
+f 5 2 1
+f 6 4 1
+f 6 1 2
+f 7 5 1
+f 7 1 4
+f 8 2 5
+f 8 5 7
+f 10 6 2
+f 10 3 6
+f 11 8 7
+f 11 7 4
+f 12 9 4
+f 12 4 6
+f 14 10 2
+f 14 2 8
+f 15 4 9
+f 16 8 11
+f 16 15 13
+f 16 11 15
+f 18 8 16
+f 19 10 14
+f 20 15 11
+f 20 11 4
+f 20 4 15
+f 21 12 6
+f 21 6 3
+f 22 21 17
+f 22 12 21
+f 22 15 9
+f 22 9 12
+f 23 19 14
+f 23 18 19
+f 24 18 16
+f 24 16 13
+f 24 13 18
+f 25 3 10
+f 25 10 19
+f 26 21 3
+f 26 17 21
+f 27 13 17
+f 27 19 18
+f 27 18 13
+f 28 22 17
+f 28 17 13
+f 28 13 15
+f 29 8 18
+f 29 18 23
+f 29 23 14
+f 29 14 8
+f 30 25 19
+f 30 3 25
+f 30 26 3
+f 31 19 17
+f 31 17 26
+f 31 30 19
+f 31 26 30
+f 32 27 17
+f 32 17 19
+f 32 19 27
+f 33 28 15
+f 33 15 22
+f 33 22 28
\ No newline at end of file
diff --git a/apple/apple_7/collision/model_normalized_collision_20.obj b/apple/apple_7/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d800538ea4f9c2f2b7332c1e976ccf1e908b51f9
--- /dev/null
+++ b/apple/apple_7/collision/model_normalized_collision_20.obj
@@ -0,0 +1,174 @@
+# https://github.com/mikedh/trimesh
+v 0.48334381 -0.02312015 0.01693150
+v 0.49109177 0.00864735 -0.14710742
+v 0.44627164 0.22276107 0.01600079
+v -0.45231808 0.22668904 0.01670547
+v -0.46517982 -0.02202105 -0.22075268
+v -0.41666667 -0.02490417 0.01786141
+v 0.49075158 0.11060543 -0.02930529
+v 0.46621583 -0.02268593 -0.22104795
+v -0.49076501 -0.00582043 -0.02930950
+v 0.49121973 0.00862214 0.00102524
+v 0.42878637 0.22126561 -0.21791430
+v 0.48986253 -0.02141343 -0.10152627
+v -0.47917210 0.15326713 0.01644143
+v -0.48651105 -0.02352101 -0.02819687
+v 0.47396735 0.15122431 0.01588722
+v 0.47384131 0.15118546 -0.16196909
+v 0.44488683 0.22182583 -0.17283188
+v -0.43434020 0.22492321 -0.21988455
+v 0.47231191 -0.02086923 -0.20301780
+v 0.48999048 -0.02143865 -0.04455592
+v -0.48942248 0.12161535 -0.14686011
+v -0.48918769 -0.00545148 -0.13177633
+v 0.49069876 0.05001829 0.00097113
+v 0.45991390 0.20666584 -0.01447941
+v 0.45984908 0.19696390 0.01602867
+v 0.49062060 0.11059878 -0.11677674
+v 0.47422121 0.01968782 -0.21877474
+v 0.44333997 0.19657301 -0.21841765
+v 0.48973362 -0.00623651 -0.13181602
+v -0.48870241 0.13656870 -0.02961543
+v -0.47440824 0.10906862 -0.21869111
+v -0.47343479 0.19711287 -0.10134381
+v -0.48876503 -0.02050413 -0.10143015
+v -0.49106270 0.00926145 -0.14711929
+v 0.48972671 0.12110866 -0.04465383
+v 0.45980494 0.20659771 -0.13160315
+v 0.47341844 0.00921181 -0.21852107
+v 0.49056617 0.05001173 -0.14705283
+v 0.45825953 0.19650143 -0.17288720
+v 0.44386759 0.20607001 -0.20273709
+v 0.47188305 0.12043115 -0.20255272
+v 0.45754336 0.15097842 -0.21797530
+v -0.45818031 0.20580660 -0.18718750
+v -0.48857392 0.13653334 -0.11646616
+v -0.47356146 0.19714792 -0.04473817
+v -0.48889000 -0.02053336 -0.04465245
+v -0.47548418 -0.02086542 -0.18892245
+v -0.47347487 0.00991666 -0.21859240
+v 0.48960067 0.12106981 -0.10142805
+v 0.47224066 0.13553421 -0.18765577
+v -0.47385186 0.16697646 -0.17300270
+v -0.44562293 0.20739814 -0.21845146
+v -0.45903335 0.22152121 -0.13148561
+v -0.46322362 0.20893136 0.01619139
+v -0.45887659 0.16702475 -0.21851518
+v -0.44318956 0.22105675 -0.20239857
+v -0.45914502 0.22158948 -0.01459647
+v -0.47533699 0.16736325 0.01603050
+v -0.47243570 0.13641783 -0.20272545
+f 6 1 3
+f 6 3 4
+f 8 6 5
+f 8 1 6
+f 10 2 7
+f 12 1 8
+f 13 6 4
+f 14 5 6
+f 14 13 9
+f 14 6 13
+f 17 4 3
+f 18 8 5
+f 18 17 11
+f 18 4 17
+f 19 12 8
+f 20 10 1
+f 20 1 12
+f 20 12 2
+f 20 2 10
+f 23 10 7
+f 23 7 15
+f 23 15 1
+f 23 1 10
+f 25 3 1
+f 25 1 15
+f 25 24 3
+f 26 7 2
+f 28 18 11
+f 28 8 18
+f 29 19 2
+f 29 2 12
+f 29 12 19
+f 30 9 13
+f 31 18 5
+f 34 21 31
+f 34 30 21
+f 34 9 30
+f 34 33 9
+f 34 22 33
+f 35 15 7
+f 35 7 26
+f 35 25 15
+f 35 24 25
+f 36 17 3
+f 36 3 24
+f 36 24 35
+f 37 19 8
+f 37 8 27
+f 37 27 2
+f 37 2 19
+f 38 26 2
+f 38 2 27
+f 39 36 16
+f 39 17 36
+f 40 28 11
+f 40 11 17
+f 40 39 28
+f 40 17 39
+f 41 38 27
+f 41 26 38
+f 42 27 8
+f 42 8 28
+f 42 41 27
+f 44 32 21
+f 44 21 30
+f 45 44 30
+f 45 32 44
+f 46 33 14
+f 46 14 9
+f 46 9 33
+f 47 33 22
+f 47 5 14
+f 47 14 33
+f 47 22 34
+f 48 34 31
+f 48 31 5
+f 48 47 34
+f 48 5 47
+f 49 26 16
+f 49 16 36
+f 49 36 35
+f 49 35 26
+f 50 16 26
+f 50 26 41
+f 50 39 16
+f 50 41 42
+f 50 42 28
+f 50 28 39
+f 51 31 21
+f 51 21 32
+f 51 32 43
+f 53 43 32
+f 53 4 18
+f 53 32 45
+f 54 13 4
+f 55 51 43
+f 55 43 52
+f 55 52 18
+f 55 18 31
+f 56 53 18
+f 56 43 53
+f 56 52 43
+f 56 18 52
+f 57 53 45
+f 57 4 53
+f 57 54 4
+f 57 45 54
+f 58 54 45
+f 58 13 54
+f 58 45 30
+f 58 30 13
+f 59 55 31
+f 59 31 51
+f 59 51 55
\ No newline at end of file
diff --git a/apple/apple_7/collision/model_normalized_collision_21.obj b/apple/apple_7/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4fe5609d5d0f20046b2655b8ea58dbd127c52cde
--- /dev/null
+++ b/apple/apple_7/collision/model_normalized_collision_21.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v -0.09437425 -0.39459236 -0.34033012
+v -0.09203477 -0.38979358 -0.35011628
+v -0.08869828 -0.02198553 -0.35607430
+v -0.13689993 0.02138849 -0.39827740
+v -0.22272332 -0.16701067 -0.44939224
+v -0.09429995 -0.27360014 -0.45407942
+v -0.22395478 -0.31767001 -0.33815535
+v -0.10030272 -0.15155821 -0.44890956
+v -0.16267918 -0.35867863 -0.34576012
+v -0.23484848 -0.02490417 -0.34577495
+v -0.17961918 -0.27067361 -0.41740148
+v -0.12936444 0.02060995 -0.39065353
+v -0.23573042 -0.02487130 -0.46438834
+v -0.10494863 -0.38449206 -0.34922708
+v -0.16549628 -0.36174608 -0.33817948
+v -0.10754648 -0.39021079 -0.33770839
+v -0.22242622 -0.24041510 -0.40819302
+v -0.11928542 -0.27075254 -0.44793768
+v -0.16239526 -0.29721917 -0.40591976
+v -0.15965177 0.02060833 -0.42097225
+v -0.22046564 -0.31391325 -0.34521353
+v -0.20772513 -0.24148917 -0.41747095
+v -0.22311313 -0.19627006 -0.43300129
+v -0.09408212 -0.31913703 -0.42348067
+v -0.13555879 -0.30266055 -0.42015172
+v -0.15204360 0.02138768 -0.41343675
+v -0.19492498 -0.02472133 -0.45058606
+v -0.10773046 -0.31567624 -0.42123551
+f 1 2 3
+f 6 3 2
+f 8 3 6
+f 12 8 4
+f 12 3 8
+f 12 10 3
+f 12 4 10
+f 13 8 6
+f 13 6 5
+f 13 7 10
+f 15 7 9
+f 16 1 3
+f 16 3 10
+f 16 10 7
+f 16 7 15
+f 16 14 2
+f 16 2 1
+f 16 15 9
+f 16 9 14
+f 17 7 13
+f 18 11 5
+f 18 5 6
+f 20 13 10
+f 21 17 11
+f 21 7 17
+f 21 11 19
+f 21 19 9
+f 21 9 7
+f 22 5 11
+f 22 11 17
+f 23 17 13
+f 23 13 5
+f 23 22 17
+f 23 5 22
+f 24 18 6
+f 24 6 2
+f 25 19 11
+f 25 11 18
+f 25 9 19
+f 26 4 8
+f 26 8 20
+f 26 20 10
+f 26 10 4
+f 27 20 8
+f 27 8 13
+f 27 13 20
+f 28 25 18
+f 28 18 24
+f 28 24 2
+f 28 2 14
+f 28 14 9
+f 28 9 25
\ No newline at end of file
diff --git a/apple/apple_7/collision/model_normalized_collision_22.obj b/apple/apple_7/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2cf1c389e0b11780ee02de12d5e36de93fa2bb2
--- /dev/null
+++ b/apple/apple_7/collision/model_normalized_collision_22.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.01120505 -0.04254856 0.43765357
+v 0.02043710 0.03522858 0.19977968
+v 0.00847808 0.04783054 0.35819221
+v -0.00545665 0.06436089 0.28837397
+v -0.01374108 0.01392900 0.19530472
+v 0.00813638 0.07200930 0.18950986
+v -0.02011780 -0.02788050 0.46305924
+v 0.01946764 -0.02744588 0.46381222
+v 0.01458527 0.01521353 0.19468322
+v 0.00286261 0.06495435 0.28840900
+v -0.02425195 0.07093724 0.19094643
+v -0.01051617 0.04676198 0.35761444
+v -0.01524074 -0.04094663 0.44042951
+v 0.00369346 -0.01152120 0.46068696
+v 0.01480610 -0.04042625 0.44132996
+v -0.01401153 -0.04083305 0.43886307
+v 0.01056736 0.01758360 0.41404236
+v -0.01178742 -0.02246700 0.47243577
+v 0.01364256 -0.02408768 0.46962878
+v -0.01195694 0.01707574 0.41426043
+v 0.01029876 -0.02308333 0.47136879
+v -0.00454204 -0.01222865 0.45983178
+f 6 3 2
+f 8 2 3
+f 9 1 5
+f 9 6 2
+f 9 5 6
+f 10 3 6
+f 11 6 5
+f 11 10 6
+f 11 4 10
+f 11 5 7
+f 12 11 7
+f 12 4 11
+f 12 10 4
+f 12 3 10
+f 13 7 5
+f 15 1 9
+f 15 13 1
+f 15 9 2
+f 15 2 8
+f 16 13 5
+f 16 5 1
+f 16 1 13
+f 17 8 3
+f 18 7 13
+f 19 8 17
+f 20 17 3
+f 20 3 12
+f 20 14 17
+f 20 12 7
+f 20 7 18
+f 21 19 17
+f 21 17 14
+f 21 14 18
+f 21 18 13
+f 21 8 19
+f 21 15 8
+f 21 13 15
+f 22 20 18
+f 22 18 14
+f 22 14 20
\ No newline at end of file
diff --git a/apple/apple_7/collision/model_normalized_collision_23.obj b/apple/apple_7/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..afe59b973d22d8714540e1611eea180ffc756785
--- /dev/null
+++ b/apple/apple_7/collision/model_normalized_collision_23.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v -0.14116047 -0.02832954 0.26269586
+v -0.09303472 0.13549628 0.26857218
+v -0.22964980 0.19568159 0.31951813
+v -0.09729172 0.35009183 0.25709904
+v -0.13385956 -0.02630827 0.25506283
+v -0.09607420 0.28568821 0.31100718
+v -0.09952055 0.21936752 0.31424738
+v -0.24879856 0.23356734 0.28831293
+v -0.09507236 0.34303848 0.26632307
+v -0.14316267 0.21456375 0.32069109
+v -0.23532617 -0.02488725 0.31948414
+v -0.21459441 0.30002863 0.25238669
+v -0.16743639 0.26466706 0.30220813
+v -0.09486991 0.31221075 0.29093548
+v -0.18870532 0.21424048 0.31856391
+v -0.23962302 0.02157489 0.32193576
+v -0.17188605 -0.02844652 0.29256375
+v -0.12594015 0.34481329 0.25265857
+v -0.21309154 0.23599153 0.30363887
+v -0.12459798 0.32555385 0.27342923
+v -0.19453775 -0.02473591 0.30567215
+v -0.22692020 0.22353134 0.30492800
+v -0.21288587 0.28107767 0.27279863
+v -0.13716073 0.27987269 0.30228325
+v -0.12371345 0.33775668 0.26188435
+v -0.21688484 -0.02554033 0.31321784
+v -0.23169948 0.22904122 0.29939964
+v -0.21075362 0.29370540 0.26159251
+f 5 4 2
+f 7 5 2
+f 7 1 5
+f 7 2 6
+f 9 2 4
+f 10 7 6
+f 11 5 1
+f 11 7 10
+f 12 11 8
+f 12 5 11
+f 13 3 6
+f 14 6 2
+f 14 2 9
+f 15 10 6
+f 15 6 3
+f 15 3 10
+f 16 3 8
+f 16 8 11
+f 16 11 10
+f 16 10 3
+f 17 11 1
+f 17 1 7
+f 18 4 5
+f 18 5 12
+f 18 9 4
+f 19 3 13
+f 20 6 14
+f 20 14 9
+f 21 17 7
+f 22 3 19
+f 23 19 13
+f 23 12 8
+f 23 8 19
+f 23 13 20
+f 24 20 13
+f 24 13 6
+f 24 6 20
+f 25 20 9
+f 25 9 18
+f 25 18 12
+f 26 21 7
+f 26 7 11
+f 26 11 17
+f 26 17 21
+f 27 22 19
+f 27 19 8
+f 27 8 3
+f 27 3 22
+f 28 23 20
+f 28 20 25
+f 28 25 12
+f 28 12 23
\ No newline at end of file
diff --git a/apple/apple_7/collision/model_normalized_collision_24.obj b/apple/apple_7/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f70121a1896529651ff045489b20f56c0ed6fcc7
--- /dev/null
+++ b/apple/apple_7/collision/model_normalized_collision_24.obj
@@ -0,0 +1,174 @@
+# https://github.com/mikedh/trimesh
+v -0.26662135 -0.24678715 0.21496808
+v -0.23164536 -0.21899940 0.27029705
+v -0.40063069 0.00956728 0.21617474
+v -0.29707918 0.20924664 0.27655910
+v -0.23484848 0.21752007 0.18452808
+v -0.29287528 0.02132126 0.31887189
+v -0.35394375 -0.12303419 0.21512063
+v -0.38944875 0.21007042 0.17639868
+v -0.34036910 0.12243942 0.27613862
+v -0.22965665 0.21153458 0.31043788
+v -0.29489223 -0.15098482 0.26099595
+v -0.40263109 -0.07894740 0.17648167
+v -0.34354950 -0.02135618 0.27371594
+v -0.40061184 0.10728990 0.21512678
+v -0.38515446 0.16781653 0.21484376
+v -0.28280771 0.12337192 0.31798132
+v -0.23734166 -0.05443931 0.31981296
+v -0.22919879 -0.20165234 0.28152251
+v -0.33972121 -0.18079347 0.18983707
+v -0.25057094 -0.21044116 0.26146825
+v -0.34479760 -0.18414183 0.17774347
+v -0.31398428 0.07834580 0.30386707
+v -0.26738560 -0.10695651 0.30236072
+v -0.32868795 -0.06423557 0.27376018
+v -0.39913388 -0.05064970 0.19973438
+v -0.42092731 0.12371883 0.17806241
+v -0.32636102 0.16316751 0.27549996
+v -0.38336477 0.19128386 0.20273788
+v -0.25295027 0.17966548 0.31646281
+v -0.23376951 0.18452749 0.32124499
+v -0.23305895 -0.12935450 0.30975179
+v -0.36843197 -0.13755729 0.18951760
+v -0.23981263 -0.19881624 0.27587264
+v -0.31002351 -0.20961981 0.19986069
+v -0.31967839 -0.21711030 0.18070567
+v -0.32881102 0.10836095 0.28846202
+v -0.31256672 0.00913962 0.30310225
+v -0.29844018 -0.12264596 0.27317311
+v -0.41870457 -0.02177244 0.17732163
+v -0.36952345 -0.06227471 0.23026489
+v -0.39812567 0.15199031 0.20382373
+v -0.38382814 0.20671837 0.18789510
+v -0.26874334 0.19371746 0.30120217
+v -0.25358409 -0.12303365 0.30429741
+v -0.26234767 -0.03812058 0.31771095
+v -0.32411548 -0.15027823 0.22970058
+v -0.37411294 -0.13990632 0.17751457
+v -0.39689896 -0.07647319 0.18855505
+v -0.26443089 -0.19427692 0.26023086
+v -0.29716703 -0.04847386 0.30238618
+v -0.41257787 -0.02030929 0.18910628
+v -0.36894212 -0.09229868 0.21460008
+v -0.41460596 0.12204014 0.18946108
+v -0.40563315 0.18256955 0.17757770
+v -0.24243455 0.20879814 0.30565859
+v -0.24730230 -0.05334536 0.31840500
+v -0.34028639 -0.16575735 0.20050120
+v -0.27926463 -0.19411327 0.24488151
+v -0.39956007 0.18004001 0.18890995
+f 5 2 1
+f 10 8 4
+f 10 5 8
+f 15 14 9
+f 18 2 5
+f 18 5 10
+f 20 1 2
+f 21 12 8
+f 21 8 5
+f 22 3 13
+f 22 6 16
+f 25 13 3
+f 26 3 14
+f 27 15 9
+f 28 27 4
+f 28 15 27
+f 30 16 6
+f 30 6 17
+f 30 29 16
+f 30 10 29
+f 31 18 10
+f 31 30 17
+f 31 10 30
+f 33 20 2
+f 33 2 18
+f 34 11 19
+f 35 21 5
+f 35 5 1
+f 35 1 34
+f 35 34 19
+f 35 19 21
+f 36 9 14
+f 36 14 3
+f 36 3 22
+f 36 22 16
+f 36 27 9
+f 36 16 27
+f 37 22 13
+f 37 6 22
+f 38 24 7
+f 38 7 11
+f 38 23 24
+f 38 11 33
+f 39 12 25
+f 39 3 26
+f 39 26 8
+f 39 8 12
+f 40 24 13
+f 40 13 25
+f 40 7 24
+f 41 14 15
+f 42 28 4
+f 42 4 8
+f 43 29 10
+f 43 4 27
+f 43 27 16
+f 43 16 29
+f 44 18 31
+f 44 33 18
+f 44 38 33
+f 44 23 38
+f 44 6 23
+f 45 17 6
+f 45 44 31
+f 45 6 44
+f 46 11 7
+f 46 7 32
+f 47 32 12
+f 47 12 21
+f 47 21 19
+f 47 19 32
+f 48 25 12
+f 48 12 32
+f 48 40 25
+f 49 33 11
+f 49 20 33
+f 49 1 20
+f 50 37 13
+f 50 13 24
+f 50 24 23
+f 50 23 6
+f 50 6 37
+f 51 39 25
+f 51 25 3
+f 51 3 39
+f 52 32 7
+f 52 7 40
+f 52 48 32
+f 52 40 48
+f 53 26 14
+f 53 14 41
+f 54 8 26
+f 54 53 41
+f 54 26 53
+f 54 42 8
+f 54 28 42
+f 55 43 10
+f 55 10 4
+f 55 4 43
+f 56 45 31
+f 56 31 17
+f 56 17 45
+f 57 46 32
+f 57 32 19
+f 57 19 11
+f 57 11 46
+f 58 49 11
+f 58 11 34
+f 58 34 1
+f 58 1 49
+f 59 54 41
+f 59 41 15
+f 59 15 28
+f 59 28 54
\ No newline at end of file
diff --git a/apple/apple_7/collision/model_normalized_collision_25.obj b/apple/apple_7/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5ea1bb208cb7a76187734f875bbd3ca8bb97ee3
--- /dev/null
+++ b/apple/apple_7/collision/model_normalized_collision_25.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.25000000 0.21752007 0.18452808
+v 0.25000000 0.21752007 0.01786141
+v 0.25318764 0.34265105 0.18728699
+v -0.22607425 0.34933910 0.19100689
+v -0.32575757 0.21752007 0.01786141
+v 0.25000000 0.33873220 0.01786141
+v -0.35075800 0.23309516 0.21082013
+v -0.34962157 0.34875402 0.02847392
+v -0.21969697 0.33873220 0.01786141
+v -0.31448566 0.31152639 0.16035554
+v -0.30042088 0.31268856 0.17637678
+v -0.31595012 0.29794099 0.17667908
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 6 2 5
+f 7 1 3
+f 7 3 4
+f 7 5 1
+f 8 4 3
+f 8 3 6
+f 8 5 7
+f 9 8 6
+f 9 6 5
+f 9 5 8
+f 10 8 7
+f 11 7 4
+f 11 4 8
+f 11 8 10
+f 12 11 10
+f 12 10 7
+f 12 7 11
\ No newline at end of file
diff --git a/apple/apple_7/collision/model_normalized_collision_26.obj b/apple/apple_7/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bcefa8e8419e1dfffdf274086f541d57ecb61b28
--- /dev/null
+++ b/apple/apple_7/collision/model_normalized_collision_26.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v 0.42069222 -0.14574198 -0.23570583
+v 0.46355683 -0.03733410 -0.22023243
+v 0.42355617 0.22748902 -0.22154192
+v 0.38372324 0.26129400 -0.26827033
+v 0.39735921 -0.02730533 -0.35532973
+v 0.40786558 0.24615926 -0.23242477
+v 0.43434096 -0.12552856 -0.22046357
+v 0.44499483 -0.06680872 -0.26050044
+v 0.38080356 -0.12856582 -0.32744420
+v 0.45671031 0.12042476 -0.24800018
+v 0.41267332 0.22066246 -0.26301728
+v 0.46133567 0.13696782 -0.21924154
+v 0.44413649 -0.09282037 -0.23377919
+v 0.37828344 0.25783155 -0.27982252
+v 0.42763715 -0.09211257 -0.27390071
+v 0.41209206 -0.06636442 -0.31962775
+v 0.45915943 0.00902988 -0.26329948
+v 0.39045911 0.25595378 -0.26322728
+v 0.41384377 0.10606559 -0.33512244
+v 0.44798572 -0.09449864 -0.21989796
+v 0.43500978 0.21001790 -0.22018982
+v 0.42671983 -0.12224795 -0.24829279
+v 0.37734262 0.19666890 -0.33978006
+v 0.41265301 -0.02102346 -0.33509195
+v 0.45916035 0.03485057 -0.26388016
+v 0.42759169 0.18138701 -0.27369656
+v 0.44722881 0.18262152 -0.21969007
+v 0.39680531 -0.12239537 -0.30411525
+v 0.41451401 0.19143543 -0.28882095
+v 0.44407081 0.00914491 -0.29016762
+v 0.42778857 0.12085499 -0.30410425
+v 0.42775454 0.20546686 -0.24784006
+v 0.44310536 0.18134910 -0.23349240
+v 0.38426329 0.19146848 -0.33431026
+v 0.44378985 0.05006758 -0.28998498
+f 6 4 1
+f 7 6 1
+f 7 3 6
+f 14 9 1
+f 14 1 4
+f 16 9 5
+f 16 15 9
+f 16 8 15
+f 17 8 16
+f 17 2 8
+f 18 4 6
+f 18 6 3
+f 18 3 11
+f 18 14 4
+f 20 2 12
+f 20 7 1
+f 20 13 8
+f 20 8 2
+f 21 3 7
+f 22 8 13
+f 22 15 8
+f 22 20 1
+f 22 13 20
+f 23 5 9
+f 23 9 14
+f 23 19 5
+f 24 17 16
+f 24 16 5
+f 24 5 19
+f 25 12 2
+f 25 2 17
+f 25 10 12
+f 25 19 10
+f 27 20 12
+f 27 21 7
+f 27 7 20
+f 28 22 1
+f 28 1 9
+f 28 9 15
+f 28 15 22
+f 29 18 11
+f 29 11 26
+f 29 26 19
+f 29 23 14
+f 29 14 18
+f 30 24 19
+f 30 25 17
+f 30 17 24
+f 31 26 10
+f 31 10 19
+f 31 19 26
+f 32 26 11
+f 32 21 27
+f 32 11 3
+f 32 3 21
+f 33 27 12
+f 33 12 10
+f 33 10 26
+f 33 32 27
+f 33 26 32
+f 34 29 19
+f 34 19 23
+f 34 23 29
+f 35 30 19
+f 35 19 25
+f 35 25 30
\ No newline at end of file
diff --git a/apple/apple_7/collision/model_normalized_collision_27.obj b/apple/apple_7/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f2213733e088208462771e235cce3971c9caf4d6
--- /dev/null
+++ b/apple/apple_7/collision/model_normalized_collision_27.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.38636364 -0.02490417 -0.22456283
+v 0.39735921 -0.02730533 -0.35532973
+v 0.40786558 0.24615926 -0.23242477
+v -0.43434020 0.22492321 -0.21988455
+v -0.46517982 -0.02202105 -0.22075268
+v 0.29301154 0.25858996 -0.37829944
+v -0.46238167 0.15293234 -0.21958200
+v 0.37214221 0.20853468 -0.33632413
+v -0.41205069 -0.02018338 -0.33491193
+v 0.36002112 0.22560088 -0.33833799
+v -0.45980437 0.10678866 -0.26417447
+v -0.37144484 0.22356048 -0.33583486
+v 0.37241158 0.22385639 -0.32135163
+v -0.45958804 0.00964792 -0.26252153
+v -0.43119474 0.19321634 -0.27467198
+v -0.41406202 0.12189570 -0.33523351
+v -0.45695330 -0.02013478 -0.24853686
+v -0.44530314 0.19776019 -0.23418548
+v -0.41435037 0.22188715 -0.27340041
+v -0.39903754 0.17982223 -0.33467665
+v -0.44486116 0.10687593 -0.29007349
+v -0.44951306 0.19891376 -0.22041796
+v -0.42933698 0.20676372 -0.26354677
+v -0.44274499 0.15179713 -0.27364277
+v -0.44414873 0.00983556 -0.29030205
+v -0.43063219 0.22264829 -0.23366253
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 4 3
+f 7 5 1
+f 7 1 4
+f 8 3 2
+f 8 2 6
+f 9 6 2
+f 9 2 5
+f 10 8 6
+f 10 6 3
+f 11 5 7
+f 12 4 6
+f 13 10 3
+f 13 3 8
+f 13 8 10
+f 14 5 11
+f 16 12 6
+f 16 6 9
+f 17 14 9
+f 17 9 5
+f 17 5 14
+f 18 15 11
+f 18 11 7
+f 19 4 12
+f 19 12 15
+f 20 16 15
+f 20 15 12
+f 20 12 16
+f 21 15 16
+f 22 18 7
+f 22 7 4
+f 22 4 18
+f 23 18 4
+f 23 19 15
+f 23 15 18
+f 24 21 11
+f 24 11 15
+f 24 15 21
+f 25 14 11
+f 25 11 21
+f 25 9 14
+f 25 21 16
+f 25 16 9
+f 26 23 4
+f 26 4 19
+f 26 19 23
\ No newline at end of file
diff --git a/apple/apple_7/collision/model_normalized_collision_28.obj b/apple/apple_7/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db545bc4dc6a532f031283f36770d5702e79116d
--- /dev/null
+++ b/apple/apple_7/collision/model_normalized_collision_28.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.42355617 0.22748902 -0.22154192
+v 0.41992855 0.22521350 -0.23536704
+v 0.24177671 0.41325499 -0.21891630
+v 0.00736477 0.47110423 -0.22336129
+v 0.00757576 0.23267159 -0.22456283
+v 0.14237442 0.24563127 -0.46460255
+v 0.35381470 0.30769640 -0.24768300
+v 0.41733276 0.23873674 -0.21926640
+v 0.12460951 0.45889500 -0.21944694
+v 0.00741433 0.23566205 -0.45801981
+v 0.22592266 0.35442794 -0.34645256
+v 0.38904547 0.28189252 -0.21941449
+v 0.21151264 0.42843136 -0.21890524
+v 0.00662830 0.42706236 -0.32122008
+v 0.21282070 0.22605262 -0.45432579
+v 0.26624018 0.38204731 -0.26104104
+v 0.28360242 0.38476602 -0.21875902
+v 0.38369852 0.26693092 -0.26288513
+v 0.16941527 0.42630907 -0.27481850
+v 0.00693195 0.31090689 -0.45098353
+v 0.00678012 0.45883785 -0.26132743
+v 0.14253954 0.23071100 -0.46645271
+v 0.27223049 0.22509307 -0.42217761
+v 0.13849186 0.32737364 -0.42019565
+v 0.31103998 0.35093987 -0.24765887
+v 0.38592404 0.27904258 -0.23327726
+v 0.13941930 0.44216231 -0.26008584
+v 0.23570264 0.36660973 -0.31824902
+v 0.23986502 0.40944563 -0.23275515
+v 0.09391868 0.45739136 -0.24927516
+v 0.05464651 0.25207791 -0.46674529
+v 0.36002112 0.22560088 -0.33833799
+v 0.15280974 0.28018089 -0.44797545
+v 0.23900614 0.26462507 -0.41930594
+v 0.07903039 0.38249844 -0.37684414
+v 0.31172230 0.33662573 -0.27301797
+v 0.20959938 0.42460653 -0.23273418
+v 0.05215015 0.45711090 -0.26040437
+v 0.08290675 0.26008433 -0.46472419
+v 0.07030573 0.23845206 -0.46420752
+v 0.40804938 0.22718665 -0.26431563
+v 0.12239864 0.29515980 -0.44774203
+v 0.18092853 0.32145049 -0.40537724
+v 0.26633576 0.23503933 -0.42026173
+v 0.19531272 0.25170026 -0.44781205
+v 0.28325333 0.30857839 -0.34573864
+v 0.09532184 0.34091642 -0.41941982
+v 0.00671593 0.39860609 -0.36314604
+v 0.16656446 0.38369420 -0.34630938
+v 0.09385760 0.41162708 -0.33575198
+v 0.33937937 0.30820534 -0.27265215
+v 0.05262140 0.26020416 -0.46544618
+v 0.03720488 0.31031417 -0.45023509
+v 0.22258007 0.29336389 -0.40516552
+v 0.16790035 0.29520542 -0.43263960
+v 0.32488438 0.26339126 -0.34717151
+v 0.21101307 0.23715732 -0.44883143
+v 0.28100672 0.29522129 -0.35950605
+v 0.16489507 0.41078449 -0.30398712
+v 0.13970454 0.36728262 -0.37672919
+v 0.10897602 0.44161058 -0.27492920
+v 0.02174613 0.42643186 -0.32088569
+v 0.03709230 0.39775277 -0.36234473
+v 0.29396740 0.30834792 -0.33340096
+f 5 2 1
+f 8 5 1
+f 9 4 5
+f 9 5 8
+f 13 9 8
+f 15 5 10
+f 17 8 12
+f 17 13 8
+f 17 3 13
+f 17 16 3
+f 18 12 8
+f 18 8 1
+f 18 1 2
+f 20 10 5
+f 20 5 14
+f 21 14 5
+f 21 5 4
+f 22 15 10
+f 22 6 15
+f 23 2 5
+f 23 5 15
+f 25 17 12
+f 25 12 7
+f 25 16 17
+f 26 18 7
+f 26 7 12
+f 26 12 18
+f 27 9 13
+f 27 13 19
+f 28 19 16
+f 28 11 19
+f 29 13 3
+f 29 3 16
+f 29 16 19
+f 30 4 9
+f 30 9 27
+f 31 6 22
+f 31 10 20
+f 32 2 23
+f 33 15 6
+f 36 25 7
+f 36 16 25
+f 36 28 16
+f 37 29 19
+f 37 19 13
+f 37 13 29
+f 38 21 4
+f 38 4 30
+f 38 14 21
+f 39 6 31
+f 40 31 22
+f 40 22 10
+f 40 10 31
+f 41 32 18
+f 41 18 2
+f 41 2 32
+f 42 33 6
+f 44 23 15
+f 44 15 34
+f 45 15 33
+f 46 11 28
+f 46 28 36
+f 47 24 42
+f 48 20 14
+f 48 47 20
+f 48 35 47
+f 49 43 24
+f 49 11 43
+f 50 27 19
+f 50 38 30
+f 51 36 7
+f 51 7 18
+f 52 39 31
+f 52 31 20
+f 52 20 39
+f 53 39 20
+f 53 47 42
+f 53 20 47
+f 53 42 6
+f 53 6 39
+f 54 43 11
+f 54 34 43
+f 54 46 34
+f 54 11 46
+f 55 43 34
+f 55 24 43
+f 55 42 24
+f 55 33 42
+f 55 45 33
+f 55 34 45
+f 56 32 23
+f 56 23 44
+f 56 18 32
+f 56 51 18
+f 57 45 34
+f 57 34 15
+f 57 15 45
+f 58 44 34
+f 58 34 46
+f 58 56 44
+f 58 46 56
+f 59 19 11
+f 59 11 49
+f 59 50 19
+f 59 49 50
+f 60 47 35
+f 60 50 49
+f 60 35 50
+f 60 49 24
+f 60 24 47
+f 61 50 30
+f 61 30 27
+f 61 27 50
+f 62 14 38
+f 62 38 50
+f 63 50 35
+f 63 35 48
+f 63 62 50
+f 63 48 14
+f 63 14 62
+f 64 46 36
+f 64 36 51
+f 64 56 46
+f 64 51 56
\ No newline at end of file
diff --git a/apple/apple_7/collision/model_normalized_collision_29.obj b/apple/apple_7/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7513c8096041a3dd681caf74101bd2880fbaa4b
--- /dev/null
+++ b/apple/apple_7/collision/model_normalized_collision_29.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v 0.03549291 -0.46573349 -0.22014855
+v 0.13802610 -0.37540528 -0.33791423
+v 0.14393939 -0.26732841 -0.22456283
+v -0.23484848 -0.26732841 -0.22456283
+v -0.22395478 -0.31767001 -0.33815535
+v -0.19504257 -0.40611226 -0.21980910
+v 0.13777369 -0.43534261 -0.21989390
+v -0.01912179 -0.41453725 -0.33440688
+v 0.14393939 -0.26732841 -0.34577495
+v -0.22877585 -0.38035965 -0.22153905
+v 0.09072029 -0.44663822 -0.24882957
+v 0.10691415 -0.44939445 -0.21945801
+v -0.08988737 -0.40023887 -0.33444335
+v -0.24443861 -0.27608266 -0.35562597
+v -0.22185892 -0.37149144 -0.25871231
+v 0.13531723 -0.41526691 -0.27376323
+v 0.08962079 -0.39958996 -0.33404930
+v 0.00450237 -0.46178109 -0.24917957
+v -0.10722299 -0.45013474 -0.21971110
+v 0.11969639 -0.42879227 -0.26313292
+v -0.17635108 -0.35602625 -0.33444806
+v 0.00429506 -0.41626514 -0.33541639
+v -0.03458283 -0.44651075 -0.27477678
+v -0.03555027 -0.46608309 -0.22026106
+v -0.11998637 -0.42951495 -0.26337823
+v 0.13603155 -0.43144225 -0.23372619
+v 0.10466504 -0.42966000 -0.27330134
+v -0.19075986 -0.38559814 -0.27317102
+v 0.03453061 -0.44620349 -0.27459727
+v -0.07987425 -0.42980333 -0.28914719
+v -0.01930598 -0.45981019 -0.24854527
+v -0.16540573 -0.41428496 -0.24820018
+v -0.16547886 -0.38429204 -0.30386384
+v 0.06472140 -0.41461986 -0.31943127
+v -0.10492478 -0.43029497 -0.27368689
+v -0.09290877 -0.44659867 -0.24895530
+v -0.19255354 -0.40277762 -0.23371550
+f 6 3 4
+f 7 3 6
+f 9 7 2
+f 9 3 7
+f 9 4 3
+f 10 6 4
+f 12 7 6
+f 12 1 11
+f 14 4 9
+f 14 10 4
+f 14 9 2
+f 15 14 5
+f 15 10 14
+f 16 2 7
+f 18 11 1
+f 19 12 6
+f 19 1 12
+f 20 12 11
+f 21 14 13
+f 21 5 14
+f 22 8 13
+f 22 13 14
+f 22 14 2
+f 22 2 17
+f 23 22 18
+f 23 8 22
+f 24 18 1
+f 24 1 19
+f 26 20 16
+f 26 16 7
+f 26 7 12
+f 26 12 20
+f 27 20 11
+f 27 17 2
+f 27 2 16
+f 27 16 20
+f 28 15 5
+f 28 5 21
+f 29 11 18
+f 29 18 22
+f 30 13 8
+f 30 8 23
+f 31 23 18
+f 31 18 24
+f 32 19 6
+f 32 15 28
+f 33 21 13
+f 33 28 21
+f 33 32 28
+f 33 25 32
+f 34 29 22
+f 34 22 17
+f 34 17 27
+f 34 27 11
+f 34 11 29
+f 35 13 30
+f 35 33 13
+f 35 25 33
+f 36 31 24
+f 36 24 19
+f 36 23 31
+f 36 25 35
+f 36 32 25
+f 36 19 32
+f 36 35 30
+f 36 30 23
+f 37 32 6
+f 37 15 32
+f 37 6 10
+f 37 10 15
\ No newline at end of file
diff --git a/apple/apple_7/collision/model_normalized_collision_3.obj b/apple/apple_7/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5afabe3ad961462447c0830ff4301d47d5eb809b
--- /dev/null
+++ b/apple/apple_7/collision/model_normalized_collision_3.obj
@@ -0,0 +1,177 @@
+# https://github.com/mikedh/trimesh
+v 0.34277768 -0.02190105 0.27512040
+v 0.48334381 -0.02312015 0.01693150
+v 0.41524071 0.20696844 0.12810483
+v -0.24879856 0.23356734 0.28831293
+v -0.35606060 -0.02490417 0.01786141
+v 0.20250701 0.21505206 0.31775023
+v 0.45877668 0.04997696 0.11804073
+v -0.39080881 -0.03393667 0.21444825
+v -0.35606060 0.21752007 0.01786141
+v 0.32633632 0.15051060 0.27647847
+v 0.45301585 0.21182662 0.01679251
+v -0.21688484 -0.02554033 0.31321784
+v 0.41319061 -0.02113234 0.18929627
+v 0.26270038 -0.02366532 0.32037088
+v -0.36894747 0.22539027 0.19311433
+v 0.33985721 0.20702829 0.22842694
+v 0.41437987 0.10622646 0.18934481
+v 0.35519850 0.20715117 0.21347110
+v 0.11610930 0.22199991 0.32068994
+v 0.45984908 0.19696390 0.01602867
+v 0.45923733 0.00897754 0.11822783
+v 0.27760591 -0.02341721 0.31809359
+v 0.27014456 0.20798328 0.28748536
+v 0.45707245 0.12053371 0.10202573
+v 0.38596581 0.09183360 0.23087768
+v 0.38446460 0.17644415 0.20350020
+v -0.11433787 0.21877141 0.31639130
+v 0.26965350 0.13483304 0.31917379
+v 0.44417975 0.20626581 0.05675586
+v 0.45815818 -0.02111136 0.10273561
+v 0.47394620 0.03482630 0.07259191
+v 0.40054592 0.00891923 0.21597425
+v 0.31065657 0.17758690 0.27494619
+v 0.44385462 0.06522187 0.14392616
+v 0.32859314 0.09261186 0.28821834
+v 0.42812729 0.18154814 0.12791829
+v 0.39720131 0.13592120 0.20329500
+v 0.36928737 0.15179191 0.22941166
+v 0.29046050 0.00716969 0.31869590
+v 0.24061896 0.20849003 0.30361836
+v 0.45861434 0.19661092 0.02690793
+v 0.42806669 0.20566265 0.10185883
+v 0.47378152 0.00913897 0.07254110
+v 0.47224521 0.12054010 0.05657828
+v 0.44461016 0.00903296 0.14437563
+v 0.40054011 0.05027162 0.21590247
+v 0.38466035 -0.00607199 0.23048790
+v 0.28313053 0.19434954 0.28621827
+v 0.44225445 0.13578541 0.12731184
+v 0.34009555 0.10663973 0.27591184
+v 0.28243290 0.10781797 0.31723917
+v 0.41498466 0.19173279 0.14303838
+v 0.39711711 0.16618387 0.18810570
+v 0.29997513 -0.02253758 0.30665380
+v 0.32821879 -0.00673535 0.28846139
+v 0.47267502 -0.02094208 0.05703784
+v 0.47818866 0.13737410 0.01633874
+v 0.35473268 -0.02147742 0.26129361
+v 0.26823571 0.17936506 0.30177642
+v 0.47259548 0.13564370 0.04167650
+f 8 5 2
+f 9 5 8
+f 11 9 4
+f 12 4 8
+f 13 1 2
+f 14 8 2
+f 14 12 8
+f 15 9 8
+f 15 8 4
+f 15 4 9
+f 18 11 6
+f 18 3 11
+f 18 6 16
+f 18 16 10
+f 19 11 4
+f 19 6 11
+f 19 12 14
+f 20 2 5
+f 20 5 9
+f 20 9 11
+f 22 14 2
+f 22 2 1
+f 23 16 6
+f 26 3 18
+f 26 18 10
+f 27 19 4
+f 27 4 12
+f 27 12 19
+f 28 19 14
+f 28 6 19
+f 30 21 13
+f 30 13 2
+f 31 7 21
+f 32 25 1
+f 33 10 16
+f 33 16 23
+f 34 7 24
+f 35 1 25
+f 37 25 17
+f 38 26 10
+f 38 37 26
+f 38 25 37
+f 39 28 14
+f 39 14 22
+f 40 23 6
+f 40 6 28
+f 41 20 11
+f 41 11 29
+f 41 36 24
+f 41 29 36
+f 42 29 11
+f 42 11 3
+f 42 36 29
+f 42 3 36
+f 43 21 30
+f 43 31 21
+f 43 2 31
+f 44 24 7
+f 44 7 31
+f 45 32 13
+f 45 13 21
+f 45 21 7
+f 45 7 34
+f 46 17 25
+f 46 25 32
+f 46 34 17
+f 46 45 34
+f 46 32 45
+f 47 13 32
+f 48 28 10
+f 48 10 33
+f 48 33 23
+f 49 34 24
+f 49 17 34
+f 49 24 36
+f 50 35 25
+f 50 10 35
+f 50 38 10
+f 50 25 38
+f 51 35 10
+f 51 10 28
+f 51 39 35
+f 51 28 39
+f 52 36 3
+f 52 3 26
+f 52 26 36
+f 53 36 26
+f 53 26 37
+f 53 49 36
+f 53 37 17
+f 53 17 49
+f 54 39 22
+f 54 22 1
+f 55 1 35
+f 55 35 39
+f 55 54 1
+f 55 39 54
+f 56 43 30
+f 56 30 2
+f 56 2 43
+f 57 20 41
+f 57 2 20
+f 57 44 31
+f 57 31 2
+f 58 1 13
+f 58 13 47
+f 58 47 32
+f 58 32 1
+f 59 40 28
+f 59 28 48
+f 59 48 23
+f 59 23 40
+f 60 57 41
+f 60 44 57
+f 60 41 24
+f 60 24 44
\ No newline at end of file
diff --git a/apple/apple_7/collision/model_normalized_collision_30.obj b/apple/apple_7/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0fd515e2357fea8ea4d2e875df9712d7ab82ae34
--- /dev/null
+++ b/apple/apple_7/collision/model_normalized_collision_30.obj
@@ -0,0 +1,120 @@
+# https://github.com/mikedh/trimesh
+v 0.00757576 0.23267159 -0.33062344
+v 0.00741433 0.23566205 -0.45801981
+v 0.00725881 0.42370991 -0.32747773
+v -0.06666015 0.41764574 -0.32428126
+v -0.37018879 0.23204663 -0.32994161
+v -0.02097692 0.31001947 -0.44994569
+v -0.21373104 0.22579371 -0.45497464
+v -0.36050070 0.25533325 -0.32313759
+v 0.00693195 0.31090689 -0.45098353
+v -0.06596097 0.36697636 -0.39241820
+v -0.35976611 0.22562312 -0.35147249
+v -0.30004610 0.31228777 -0.32217219
+v -0.02051778 0.39736738 -0.36218656
+v -0.07791994 0.35183091 -0.40707438
+v -0.31514283 0.22486604 -0.39472332
+v -0.06590653 0.41145926 -0.33613251
+v 0.00671593 0.39860609 -0.36314604
+v -0.07887089 0.33984813 -0.41840836
+v -0.24145361 0.26341732 -0.41876384
+v -0.35398342 0.23730130 -0.34944733
+v 0.00692442 0.41745226 -0.33931049
+v -0.09320860 0.39768420 -0.34679509
+v -0.09416085 0.29481593 -0.44925708
+v -0.28573944 0.30698522 -0.34526303
+v -0.27438056 0.22585878 -0.42478515
+v -0.12440499 0.32494684 -0.41873419
+v -0.16780405 0.38699857 -0.32333598
+v -0.12496529 0.40225274 -0.32392182
+v -0.28249027 0.29450902 -0.36003185
+v -0.35509384 0.25170108 -0.33458185
+v -0.26926268 0.23583013 -0.42162331
+v -0.21278283 0.23543857 -0.44892792
+v -0.15038266 0.36732732 -0.36085361
+v -0.22807174 0.35596353 -0.32295267
+v -0.12311052 0.39631519 -0.33582162
+v -0.31260848 0.23318657 -0.38948714
+v -0.29569074 0.30763010 -0.33383806
+v -0.12311504 0.35096644 -0.39118742
+v -0.21079260 0.33651412 -0.36047760
+v -0.16496715 0.38144713 -0.33527603
+v -0.22487699 0.35063656 -0.33485273
+f 1 2 3
+f 1 3 4
+f 7 2 1
+f 8 5 1
+f 9 3 2
+f 9 2 7
+f 11 1 5
+f 11 5 8
+f 12 8 1
+f 12 1 4
+f 14 10 9
+f 15 7 1
+f 15 1 11
+f 16 13 10
+f 17 3 9
+f 17 9 10
+f 17 10 13
+f 18 14 9
+f 18 9 6
+f 20 15 11
+f 21 13 16
+f 21 17 13
+f 21 3 17
+f 21 16 4
+f 21 4 3
+f 22 16 10
+f 22 10 14
+f 23 18 6
+f 23 9 7
+f 23 6 9
+f 25 7 15
+f 26 14 18
+f 26 18 23
+f 27 12 4
+f 28 4 16
+f 28 27 4
+f 29 24 19
+f 29 20 24
+f 30 24 20
+f 30 20 11
+f 30 11 8
+f 31 19 7
+f 31 7 25
+f 31 25 15
+f 31 29 19
+f 31 15 29
+f 32 26 23
+f 32 23 7
+f 32 7 19
+f 32 19 26
+f 34 24 12
+f 34 12 27
+f 35 28 16
+f 35 16 22
+f 35 22 33
+f 36 29 15
+f 36 15 20
+f 36 20 29
+f 37 30 8
+f 37 8 12
+f 37 12 24
+f 37 24 30
+f 38 33 22
+f 38 22 14
+f 38 14 26
+f 38 26 33
+f 39 33 26
+f 39 26 19
+f 39 19 24
+f 40 35 33
+f 40 27 28
+f 40 28 35
+f 40 33 39
+f 41 40 39
+f 41 39 24
+f 41 24 34
+f 41 34 27
+f 41 27 40
\ No newline at end of file
diff --git a/apple/apple_7/collision/model_normalized_collision_31.obj b/apple/apple_7/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86dbcc03b06546f225177157797e12c3fbddd6bb
--- /dev/null
+++ b/apple/apple_7/collision/model_normalized_collision_31.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.09824859 -0.47806879 -0.10320713
+v -0.09462711 -0.45523462 -0.22147349
+v -0.09848485 -0.28247992 -0.10335071
+v -0.23484848 -0.28247992 -0.10335071
+v -0.22286136 -0.40278404 -0.17311184
+v -0.23484848 -0.28247992 -0.22456283
+v -0.13599605 -0.46165843 -0.10140279
+v -0.09848485 -0.28247992 -0.22456283
+v -0.22771583 -0.40918666 -0.10218460
+v -0.22211149 -0.38653312 -0.21822063
+v -0.19366277 -0.43441251 -0.10157151
+v -0.12016874 -0.46041502 -0.17258789
+v -0.18010904 -0.41763572 -0.21879998
+v -0.19193038 -0.43206704 -0.13159131
+v -0.09597742 -0.46534211 -0.18966985
+v -0.13538460 -0.46028893 -0.11640436
+v -0.20601945 -0.41567089 -0.17226624
+v -0.16567156 -0.44510534 -0.13155074
+v -0.10558927 -0.46167834 -0.18817216
+v -0.16548091 -0.42960417 -0.20280234
+f 1 2 3
+f 6 4 3
+f 7 1 3
+f 8 6 3
+f 8 3 2
+f 8 2 6
+f 9 4 6
+f 10 9 6
+f 10 5 9
+f 11 7 3
+f 11 3 4
+f 11 4 9
+f 13 10 6
+f 13 6 2
+f 14 11 9
+f 15 2 1
+f 15 1 12
+f 16 12 1
+f 16 1 7
+f 17 12 14
+f 17 5 10
+f 17 10 13
+f 17 14 9
+f 17 9 5
+f 18 7 11
+f 18 11 14
+f 18 16 7
+f 18 14 12
+f 18 12 16
+f 19 15 12
+f 19 2 15
+f 19 13 2
+f 19 12 13
+f 20 17 13
+f 20 13 12
+f 20 12 17
\ No newline at end of file
diff --git a/apple/apple_7/collision/model_normalized_collision_4.obj b/apple/apple_7/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0cf7d940b5bbf8a6fd280bd98241a809e90db4d1
--- /dev/null
+++ b/apple/apple_7/collision/model_normalized_collision_4.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.22692418 -0.40811484 -0.02888868
+v -0.22495027 -0.30341100 -0.35029738
+v -0.23484848 -0.02490417 0.18452808
+v -0.45530529 -0.02330433 0.10664751
+v -0.42957777 -0.16488728 -0.16201546
+v -0.22854455 -0.23139763 0.26532026
+v -0.26473501 -0.37389958 -0.16194557
+v -0.39754064 -0.20909831 0.02654941
+v -0.23573042 -0.02487130 -0.46438834
+v -0.39080881 -0.03393667 0.21444825
+v -0.22615065 -0.34665886 0.14667152
+v -0.33850394 -0.25357702 -0.24858723
+v -0.22703838 -0.39322861 -0.19035287
+v -0.47510648 -0.07952481 -0.04453269
+v -0.35412470 -0.28427178 -0.05990920
+v -0.29903056 -0.02187434 -0.45173477
+v -0.23164536 -0.21899940 0.27029705
+v -0.46140196 -0.02117898 0.08867563
+v -0.36936327 -0.15005447 0.17428740
+v -0.26482360 -0.37398290 0.01586165
+v -0.36894610 -0.25369797 -0.16189415
+v -0.23668438 -0.34051163 -0.28875664
+v -0.22631260 -0.37704123 -0.23546403
+v -0.22684964 -0.40801392 -0.11719450
+v -0.46028459 -0.09286015 0.02749701
+v -0.42858255 -0.17937988 -0.05994936
+v -0.46104954 -0.02109625 -0.23466123
+v -0.23252685 -0.14402104 -0.45249317
+v -0.24255819 -0.21609851 0.26468720
+v -0.30905952 -0.28460170 0.11348249
+v -0.44324278 -0.07684054 0.10264082
+v -0.22725257 -0.39351557 0.04436463
+v -0.32455525 -0.31256054 0.00060207
+v -0.23679127 -0.40093553 -0.02974023
+v -0.30930794 -0.29745849 -0.23334207
+v -0.38204937 -0.22402287 -0.18768149
+v -0.32446682 -0.31247741 -0.14668604
+v -0.29276619 -0.26850086 -0.30425475
+v -0.22582958 -0.34623146 -0.29248806
+v -0.25164827 -0.37034935 -0.20268757
+v -0.25203103 -0.38590365 -0.14667251
+v -0.47371961 -0.05074775 0.02711958
+v -0.44331461 -0.15271919 -0.08621829
+v -0.42967798 -0.16495372 0.01593127
+v -0.38326308 -0.24007550 -0.01447973
+v -0.39829356 -0.22484373 -0.08614757
+v -0.47354986 -0.06596323 -0.14689717
+v -0.47548418 -0.02086542 -0.18892245
+v -0.36794311 -0.13735529 -0.33534204
+v -0.22806603 -0.23097042 -0.41064766
+v -0.37842635 -0.12733615 0.18006127
+v -0.38201525 -0.19383294 0.10208318
+v -0.30902856 -0.22391677 0.18916090
+v -0.24874560 -0.35626469 0.10183137
+v -0.25210502 -0.38600396 0.00058917
+v -0.22652453 -0.37732673 0.08947417
+v -0.33755771 -0.28317750 0.04158453
+v -0.35363562 -0.26874965 -0.17285784
+v -0.39725827 -0.20890969 -0.17254937
+v -0.41310228 -0.15276523 -0.23372672
+v -0.35403018 -0.28419788 -0.08617504
+v -0.27941193 -0.35830173 -0.16188425
+v -0.23459105 -0.29871704 -0.34509834
+v -0.30869229 -0.28425933 -0.25928724
+f 6 2 3
+f 9 3 2
+f 11 2 6
+f 16 3 9
+f 17 6 3
+f 17 3 10
+f 18 10 3
+f 18 4 10
+f 18 3 16
+f 20 15 7
+f 24 13 23
+f 24 23 2
+f 24 2 1
+f 28 16 9
+f 29 17 10
+f 29 6 17
+f 31 10 4
+f 33 15 20
+f 34 20 7
+f 34 24 1
+f 36 12 21
+f 39 23 22
+f 39 22 2
+f 39 2 23
+f 40 23 13
+f 40 13 7
+f 40 7 35
+f 40 35 22
+f 40 22 23
+f 41 7 13
+f 41 13 24
+f 41 34 7
+f 41 24 34
+f 42 14 25
+f 42 25 31
+f 42 31 4
+f 42 4 18
+f 43 26 14
+f 44 25 14
+f 44 14 26
+f 44 31 25
+f 45 44 26
+f 45 8 44
+f 45 33 8
+f 45 15 33
+f 46 45 26
+f 46 15 45
+f 46 5 21
+f 46 43 5
+f 46 26 43
+f 47 43 14
+f 47 5 43
+f 48 18 16
+f 48 16 27
+f 48 42 18
+f 48 27 47
+f 48 47 14
+f 48 14 42
+f 49 38 12
+f 49 27 16
+f 49 16 28
+f 50 28 9
+f 50 9 2
+f 50 49 28
+f 51 29 10
+f 51 31 19
+f 51 10 31
+f 52 44 8
+f 52 19 31
+f 52 31 44
+f 53 52 30
+f 53 19 52
+f 53 51 19
+f 53 29 51
+f 53 6 29
+f 53 30 11
+f 53 11 6
+f 54 11 30
+f 54 20 32
+f 55 32 20
+f 55 1 32
+f 55 34 1
+f 55 20 34
+f 56 32 1
+f 56 54 32
+f 56 11 54
+f 56 1 2
+f 56 2 11
+f 57 8 33
+f 57 52 8
+f 57 30 52
+f 57 33 20
+f 57 54 30
+f 57 20 54
+f 58 21 12
+f 58 12 35
+f 58 37 21
+f 58 35 37
+f 59 36 21
+f 59 21 5
+f 60 12 36
+f 60 49 12
+f 60 27 49
+f 60 47 27
+f 60 5 47
+f 60 59 5
+f 60 36 59
+f 61 37 7
+f 61 7 15
+f 61 15 46
+f 61 46 21
+f 61 21 37
+f 62 37 35
+f 62 35 7
+f 62 7 37
+f 63 2 22
+f 63 22 38
+f 63 38 49
+f 63 50 2
+f 63 49 50
+f 64 35 12
+f 64 12 38
+f 64 38 22
+f 64 22 35
\ No newline at end of file
diff --git a/apple/apple_7/collision/model_normalized_collision_5.obj b/apple/apple_7/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23ddff05e492e5702ab0fd4bf2a0a52e263c190c
--- /dev/null
+++ b/apple/apple_7/collision/model_normalized_collision_5.obj
@@ -0,0 +1,132 @@
+# https://github.com/mikedh/trimesh
+v 0.08021832 -0.47636787 0.00081392
+v 0.13777369 -0.43534261 -0.21989390
+v 0.14393939 -0.28247992 0.00270989
+v -0.23484848 -0.28247992 0.00270989
+v -0.09462711 -0.45523462 -0.22147349
+v 0.14393939 -0.28247992 -0.22456283
+v 0.13948117 -0.45427566 0.00161158
+v 0.00459855 -0.49226291 -0.11669422
+v -0.09848485 -0.28247992 -0.22456283
+v -0.12155502 -0.46325304 0.00093518
+v 0.10538085 -0.47603726 -0.08616687
+v 0.00442217 -0.47647151 -0.20357663
+v -0.23484848 -0.28247992 -0.10335071
+v -0.08027588 -0.47673135 0.00085179
+v 0.10543333 -0.47615527 -0.05991558
+v 0.13569005 -0.46089960 -0.10131991
+v -0.06496197 -0.47611807 -0.17315986
+v 0.06491793 -0.46106030 -0.21857950
+v -0.22771583 -0.40918666 -0.10218460
+v -0.00468106 -0.49277333 -0.02934839
+v 0.12123699 -0.46247460 0.00084968
+v 0.01958422 -0.49128866 -0.10144199
+v 0.12057400 -0.46098414 -0.16193323
+v 0.13574252 -0.46101760 -0.04476254
+v -0.00465896 -0.49264371 -0.11673358
+v -0.00447965 -0.47682837 -0.20369148
+v -0.10509520 -0.47547098 -0.10125619
+v -0.22520952 -0.40577531 0.00114307
+v 0.01960629 -0.49141831 -0.04463998
+v 0.08019604 -0.47623751 -0.14689573
+v 0.13609411 -0.44690453 -0.18830213
+v -0.06497539 -0.46140937 -0.21869334
+v -0.10514782 -0.47558884 -0.04482628
+v -0.19366277 -0.43441251 -0.10157151
+v -0.09520711 -0.46100817 -0.20341129
+v -0.01964375 -0.49166579 -0.10148097
+v 0.00462062 -0.49239255 -0.02938775
+v 0.03466462 -0.47612324 -0.18831303
+v 0.09357549 -0.46094875 -0.20328976
+v -0.01966585 -0.49179542 -0.04460100
+v -0.19200492 -0.43216796 -0.01449187
+v 0.10528446 -0.46093284 -0.18791741
+v 0.11973182 -0.44422016 -0.21768571
+v -0.20817620 -0.41837553 0.00083718
+v -0.16572423 -0.44522327 -0.01453171
+f 6 4 3
+f 6 2 5
+f 7 3 4
+f 7 6 3
+f 7 2 6
+f 9 6 5
+f 9 4 6
+f 10 7 4
+f 13 9 5
+f 13 4 9
+f 14 1 7
+f 14 7 10
+f 16 2 7
+f 16 15 11
+f 18 5 2
+f 19 4 13
+f 19 13 5
+f 20 1 14
+f 21 7 1
+f 21 1 15
+f 22 11 15
+f 23 16 11
+f 24 16 7
+f 24 15 16
+f 24 21 15
+f 24 7 21
+f 26 25 17
+f 26 12 8
+f 26 8 25
+f 26 18 12
+f 28 10 4
+f 28 4 19
+f 29 15 1
+f 29 22 15
+f 29 8 22
+f 30 22 8
+f 30 11 22
+f 30 23 11
+f 31 2 16
+f 31 16 23
+f 32 26 17
+f 32 5 18
+f 32 18 26
+f 33 14 10
+f 34 19 5
+f 34 27 33
+f 35 17 27
+f 35 32 17
+f 35 5 32
+f 35 34 5
+f 35 27 34
+f 36 27 17
+f 36 17 25
+f 37 29 1
+f 37 1 20
+f 37 8 29
+f 37 25 8
+f 37 20 25
+f 38 30 8
+f 38 8 12
+f 38 12 18
+f 39 38 18
+f 39 30 38
+f 40 20 14
+f 40 14 33
+f 40 33 27
+f 40 27 36
+f 40 36 25
+f 40 25 20
+f 41 28 19
+f 41 19 34
+f 42 23 30
+f 42 30 39
+f 42 31 23
+f 42 39 2
+f 42 2 31
+f 43 39 18
+f 43 18 2
+f 43 2 39
+f 44 41 10
+f 44 10 28
+f 44 28 41
+f 45 41 34
+f 45 34 33
+f 45 33 10
+f 45 10 41
\ No newline at end of file
diff --git a/apple/apple_7/collision/model_normalized_collision_6.obj b/apple/apple_7/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2122393cfda5dd4f35d4d7ab35499ca4eefe6a82
--- /dev/null
+++ b/apple/apple_7/collision/model_normalized_collision_6.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.25343195 -0.25669966 0.21780457
+v 0.29476724 -0.31070750 -0.23645271
+v 0.26515151 -0.02490417 -0.34577495
+v -0.23484848 -0.02490417 0.24513414
+v -0.23484848 -0.28247992 0.00270989
+v 0.26515151 -0.02490417 0.24513414
+v -0.22885149 -0.26165026 0.23869433
+v -0.24443861 -0.27608266 -0.35562597
+v 0.23811528 -0.25647168 0.23262846
+v 0.26380195 -0.26610248 -0.34438305
+v -0.23484848 -0.28247992 -0.22456283
+v -0.23484848 -0.02490417 -0.34577495
+v 0.25282128 -0.24091319 0.23215968
+f 6 3 4
+f 6 1 2
+f 6 2 3
+f 7 5 2
+f 7 4 5
+f 7 6 4
+f 8 5 4
+f 9 7 2
+f 9 2 1
+f 9 6 7
+f 10 8 3
+f 10 3 2
+f 10 2 8
+f 11 8 2
+f 11 2 5
+f 11 5 8
+f 12 8 4
+f 12 4 3
+f 12 3 8
+f 13 9 1
+f 13 1 6
+f 13 6 9
\ No newline at end of file
diff --git a/apple/apple_7/collision/model_normalized_collision_7.obj b/apple/apple_7/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9ff27a1b1f8f9d7a6026e9ca9ccb07a14f840fc
--- /dev/null
+++ b/apple/apple_7/collision/model_normalized_collision_7.obj
@@ -0,0 +1,183 @@
+# https://github.com/mikedh/trimesh
+v 0.28826828 -0.22772142 -0.35446545
+v 0.41495875 -0.02455834 -0.32967141
+v 0.05570488 -0.02629059 -0.34067417
+v 0.08333333 0.23267159 -0.34577495
+v 0.26912836 0.13449133 -0.46443727
+v 0.40417951 -0.07998820 -0.32334517
+v 0.36002112 0.22560088 -0.33833799
+v 0.13662305 -0.14850725 -0.45349200
+v 0.26515151 -0.02490417 -0.33062344
+v 0.33491460 -0.20270295 -0.32694914
+v 0.29730828 -0.04897551 -0.44834577
+v 0.10022846 0.23741703 -0.46741817
+v 0.38521349 0.08056834 -0.37699647
+v 0.38946371 0.17960270 -0.33776619
+v 0.14393939 -0.16126780 -0.34577495
+v 0.35960500 -0.16873251 -0.32344962
+v 0.34278952 -0.02182590 -0.41991645
+v 0.23653197 -0.05456561 -0.46631546
+v 0.23846107 -0.15092268 -0.44857174
+v 0.22512255 0.22330959 -0.44907870
+v 0.08366177 0.23356548 -0.46421423
+v 0.40605011 0.12342510 -0.33948306
+v 0.32573896 0.15026159 -0.42200003
+v 0.39987939 -0.05154126 -0.34633890
+v 0.32809586 0.09272476 -0.43333246
+v 0.27759883 -0.00826178 -0.46414179
+v 0.18810364 -0.15991551 -0.45829304
+v 0.28039052 -0.17788680 -0.40599590
+v 0.15757316 0.23054589 -0.46513170
+v 0.04979127 0.09211256 -0.35471407
+v 0.40050166 0.01989784 -0.36202736
+v 0.38399392 0.17614677 -0.34928277
+v 0.28092407 0.21938816 -0.42001731
+v 0.38467551 -0.09306087 -0.34580439
+v 0.29756462 0.12267172 -0.44845966
+v 0.33947655 0.10645286 -0.42143814
+v 0.24727762 -0.05316718 -0.46485085
+v 0.26818059 -0.10726282 -0.44893210
+v 0.32760887 -0.00659031 -0.43372630
+v 0.25653269 -0.19881294 -0.41021551
+v 0.32490309 -0.19583278 -0.34588024
+v 0.24683420 0.16935143 -0.46419188
+v 0.39989615 0.12157845 -0.35080193
+v 0.39991752 0.00905647 -0.36152356
+v 0.35509252 0.22242525 -0.34877369
+v 0.39831522 -0.07759229 -0.33528164
+v 0.31212280 -0.10942365 -0.41757033
+v 0.35446130 -0.16532609 -0.33542205
+v 0.18747444 0.21519736 -0.46407366
+v 0.25495500 0.19279605 -0.44866384
+v 0.35399667 0.10626225 -0.40570617
+v 0.35413628 0.15179205 -0.39065894
+v 0.31011193 0.17723958 -0.42047738
+v 0.38471117 -0.06277393 -0.36098792
+v 0.28245153 -0.12179322 -0.43246906
+v 0.31214203 -0.06397811 -0.43274881
+v 0.35547105 -0.15055847 -0.34612928
+v 0.38554493 0.13697217 -0.36137387
+v 0.32391305 -0.10845723 -0.40661735
+v 0.29369759 -0.18006727 -0.39048643
+v 0.30921314 -0.13512871 -0.40583675
+v 0.32403268 -0.13490823 -0.39037028
+f 7 4 6
+f 9 6 4
+f 9 4 3
+f 12 4 7
+f 14 7 6
+f 14 6 2
+f 15 8 1
+f 15 3 8
+f 15 10 3
+f 15 1 10
+f 16 9 3
+f 16 6 9
+f 16 3 10
+f 18 12 5
+f 21 12 8
+f 21 8 3
+f 21 4 12
+f 22 14 2
+f 24 2 6
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+f 26 18 5
+f 26 5 25
+f 27 8 12
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+f 29 7 20
+f 30 21 3
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+f 31 22 2
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+f 32 14 22
+f 33 20 7
+f 35 25 5
+f 35 5 23
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+f 36 13 25
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+f 37 27 18
+f 37 19 27
+f 38 26 11
+f 38 37 26
+f 38 19 37
+f 39 26 25
+f 39 25 17
+f 39 17 11
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+f 40 27 19
+f 40 1 8
+f 40 8 27
+f 40 28 1
+f 40 19 28
+f 41 10 1
+f 41 1 28
+f 42 5 12
+f 42 12 29
+f 42 23 5
+f 43 31 13
+f 43 22 31
+f 43 32 22
+f 44 31 2
+f 44 2 24
+f 44 24 17
+f 44 17 31
+f 45 32 23
+f 45 33 7
+f 45 7 14
+f 45 14 32
+f 46 34 24
+f 46 24 6
+f 46 6 34
+f 47 38 11
+f 48 16 10
+f 48 10 41
+f 48 34 6
+f 48 6 16
+f 49 42 29
+f 49 29 20
+f 49 20 42
+f 50 42 20
+f 50 20 33
+f 51 43 13
+f 51 13 36
+f 51 36 43
+f 52 23 32
+f 52 36 23
+f 53 45 23
+f 53 33 45
+f 53 50 33
+f 53 23 42
+f 53 42 50
+f 54 17 24
+f 54 24 34
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+f 55 19 38
+f 55 38 47
+f 56 47 11
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+f 56 17 47
+f 57 34 48
+f 57 48 41
+f 58 52 32
+f 58 32 43
+f 58 43 36
+f 58 36 52
+f 59 47 17
+f 59 17 54
+f 59 54 34
+f 59 34 57
+f 60 57 41
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+f 61 28 47
+f 61 47 59
+f 61 60 28
+f 62 61 59
+f 62 59 57
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+f 62 60 61
\ No newline at end of file
diff --git a/apple/apple_7/collision/model_normalized_collision_8.obj b/apple/apple_7/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..542fe50688b5b64cb66caf2ac1a1c0a371b677f0
--- /dev/null
+++ b/apple/apple_7/collision/model_normalized_collision_8.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v -0.36703177 -0.13820128 0.19113688
+v -0.35606060 -0.02490417 0.01786141
+v -0.35606060 0.21752007 0.01786141
+v -0.36894747 0.22539027 0.19311433
+v -0.49253752 0.12247258 -0.02920450
+v -0.48651105 -0.02352101 -0.02819687
+v -0.42825830 0.01001795 0.17409784
+v -0.46322362 0.20893136 0.01619139
+v -0.39241371 -0.15494305 0.13066888
+v -0.41666667 0.15691401 -0.02759314
+v -0.47383013 0.00983196 0.07260895
+v -0.46017285 0.10688718 0.11820235
+v -0.41666667 -0.02490417 -0.02759314
+v -0.44306301 -0.06568921 0.11401152
+v -0.48365190 0.15449994 -0.02853310
+v -0.49118766 0.00923222 0.00103668
+v -0.42825865 0.10649060 0.17341975
+v -0.43171726 0.19343400 0.12890525
+v -0.45957449 0.00958668 0.11772695
+v -0.47421412 0.16707572 0.02702642
+v -0.49076501 -0.00582043 -0.02930950
+v -0.41670928 -0.12390008 0.11526029
+v -0.41337957 -0.05080378 0.17439533
+v -0.47583948 -0.02095013 0.04293901
+v -0.48955098 0.12165071 0.00077853
+v -0.42965445 0.20695740 0.11756792
+v -0.41246885 0.16695574 0.17301797
+v -0.44328973 0.15194098 0.12787147
+v -0.45849937 0.20600235 0.04121031
+v -0.41360411 -0.07699360 0.15893468
+v -0.42023611 -0.12570307 0.10506513
+v -0.47194510 0.12113513 0.07161749
+v -0.41436386 0.20674398 0.14246569
+v -0.40144118 0.19296852 0.17427034
+v -0.44257748 0.12142099 0.14262237
+v -0.39794768 -0.09210414 0.17399372
+v -0.41389874 0.19130530 0.15730384
+f 1 2 3
+f 1 3 4
+f 7 1 4
+f 8 4 3
+f 9 2 1
+f 10 3 2
+f 13 9 6
+f 13 2 9
+f 13 10 2
+f 15 8 3
+f 15 3 10
+f 15 10 5
+f 17 12 7
+f 17 7 4
+f 19 12 11
+f 19 7 12
+f 19 11 14
+f 20 8 15
+f 21 13 6
+f 21 5 10
+f 21 10 13
+f 21 16 5
+f 21 6 16
+f 22 9 1
+f 23 1 7
+f 23 19 14
+f 23 7 19
+f 24 14 11
+f 24 11 16
+f 24 16 6
+f 25 5 16
+f 25 20 15
+f 25 15 5
+f 25 16 11
+f 26 4 8
+f 27 18 17
+f 27 17 4
+f 28 18 12
+f 28 17 18
+f 29 8 20
+f 29 26 8
+f 29 18 26
+f 29 20 12
+f 29 12 18
+f 30 22 1
+f 30 14 22
+f 30 23 14
+f 31 6 9
+f 31 9 22
+f 31 24 6
+f 31 22 14
+f 31 14 24
+f 32 12 20
+f 32 20 25
+f 32 25 11
+f 32 11 12
+f 33 26 18
+f 33 18 4
+f 33 4 26
+f 34 27 4
+f 35 28 12
+f 35 12 17
+f 35 17 28
+f 36 30 1
+f 36 1 23
+f 36 23 30
+f 37 18 27
+f 37 27 34
+f 37 34 4
+f 37 4 18
\ No newline at end of file
diff --git a/apple/apple_7/collision/model_normalized_collision_9.obj b/apple/apple_7/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d48981e00c0bc7efb8c487ae21420ccaf8df54c3
--- /dev/null
+++ b/apple/apple_7/collision/model_normalized_collision_9.obj
@@ -0,0 +1,132 @@
+# https://github.com/mikedh/trimesh
+v -0.07360360 -0.02933648 -0.34900527
+v 0.08827994 0.10003979 -0.38515131
+v 0.08333333 0.23267159 -0.34577495
+v -0.36463254 0.22865335 -0.34139111
+v -0.26238466 -0.02300428 -0.46409706
+v -0.38844289 0.19438515 -0.33706517
+v 0.05367950 0.06647781 -0.34442585
+v -0.17243384 -0.02859249 -0.43799029
+v 0.08366177 0.23356548 -0.46421423
+v -0.40804797 -0.02284589 -0.34103864
+v -0.26848358 0.14959876 -0.46317088
+v 0.05906260 0.07039895 -0.34839066
+v 0.09012503 0.15071560 -0.42546714
+v -0.24034068 -0.02469948 -0.46595510
+v -0.06848053 -0.02514837 -0.34511815
+v -0.32580905 0.16282990 -0.42102283
+v -0.22650894 0.22305726 -0.45019535
+v 0.08917373 0.16769649 -0.43983643
+v -0.24413694 0.17997401 -0.46610837
+v -0.29903056 -0.02187434 -0.45173477
+v -0.38288664 0.19099187 -0.34851466
+v -0.28420811 0.22059594 -0.42276411
+v 0.08586307 0.19154526 -0.45139153
+v -0.19492498 -0.02472133 -0.45058606
+v -0.17347259 0.21405898 -0.46413104
+v -0.29887395 0.17979683 -0.43270928
+v -0.29108882 0.05149736 -0.46528662
+v -0.35976611 0.22562312 -0.35147249
+v -0.39998469 0.10712703 -0.36064184
+v -0.21858035 0.19930545 -0.46438082
+v -0.15824533 0.21416860 -0.46483713
+v -0.29843324 0.13793421 -0.44922060
+v -0.29652720 0.20890904 -0.42208197
+v -0.27765621 0.00720698 -0.46492689
+v -0.28345059 0.10859378 -0.46478041
+v -0.38452733 0.16765366 -0.36035883
+v -0.40390308 0.15352455 -0.33819749
+v -0.34294302 -0.02118418 -0.41899342
+v -0.33974337 0.12227308 -0.42165776
+v -0.39758173 0.15184586 -0.34959615
+v -0.32745165 -0.00593628 -0.43368660
+v -0.40001014 0.00972860 -0.36173577
+v -0.32821141 0.10820739 -0.43370104
+v -0.40286768 -0.02131723 -0.34904477
+v -0.35370212 -0.02062797 -0.40673082
+f 6 3 4
+f 7 3 6
+f 8 2 1
+f 9 4 3
+f 10 7 6
+f 10 8 1
+f 12 7 1
+f 12 1 2
+f 12 2 3
+f 12 3 7
+f 13 3 2
+f 13 2 8
+f 14 8 10
+f 15 10 1
+f 15 1 7
+f 15 7 10
+f 17 4 9
+f 18 9 3
+f 18 3 13
+f 18 13 8
+f 19 9 14
+f 20 14 10
+f 20 5 14
+f 21 6 4
+f 22 4 17
+f 22 17 19
+f 23 18 14
+f 23 14 9
+f 23 9 18
+f 24 18 8
+f 24 8 14
+f 24 14 18
+f 25 17 9
+f 26 19 11
+f 27 19 14
+f 28 21 4
+f 28 4 22
+f 30 19 17
+f 30 17 25
+f 31 25 9
+f 31 9 19
+f 31 30 25
+f 31 19 30
+f 32 26 11
+f 32 16 26
+f 33 22 19
+f 33 19 26
+f 33 26 16
+f 33 28 22
+f 33 16 28
+f 34 27 14
+f 34 14 5
+f 34 5 20
+f 34 20 27
+f 35 11 19
+f 35 19 27
+f 35 32 11
+f 36 28 16
+f 36 21 28
+f 37 29 10
+f 37 10 6
+f 37 6 21
+f 38 20 10
+f 39 16 32
+f 39 36 16
+f 39 29 36
+f 40 36 29
+f 40 29 37
+f 40 37 21
+f 40 21 36
+f 41 27 20
+f 41 20 38
+f 42 10 29
+f 43 35 27
+f 43 27 41
+f 43 41 38
+f 43 38 42
+f 43 42 29
+f 43 29 39
+f 43 39 32
+f 43 32 35
+f 44 38 10
+f 44 10 42
+f 45 44 42
+f 45 42 38
+f 45 38 44
\ No newline at end of file
diff --git a/apple/apple_7/model.xml b/apple/apple_7/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..346fa6ce028b6582b32b37d3b010ef91d5356b86
--- /dev/null
+++ b/apple/apple_7/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="apple_45">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="Apple.001" texture="image0" specular="0.5" shininess="0.25"/>
+  </asset>
+  <worldbody>
+    <body>
+      <body name="object">
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_0_vis" conaffinity="0" contype="0" group="1" material="Apple.001"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_22._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_23._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_21._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_20._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_24._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_30._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
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+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_10._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_12._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_13._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+      </body>
+      <site rgba="0 0 0 0" size="0.005" pos="-4.941712499999946e-05 -9.589312500000031e-05 -0.03505636275000001" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="-4.941712499999946e-05 -9.589312500000031e-05 0.03543268275000001" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.03684147975000001 0.036766213500000006 0.00018815999999999836" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/apple/apple_7/visual/material.mtl b/apple/apple_7/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fbcf6b4b1af9257e08a0fd6e283841743ce8fad5
--- /dev/null
+++ b/apple/apple_7/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/apple/apple_7/visual/model_normalized_0.obj b/apple/apple_7/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26923164a9fffbad1d0746022e6d331bf0718dcc
--- /dev/null
+++ b/apple/apple_7/visual/model_normalized_0.obj
@@ -0,0 +1,3618 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_0.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eada643d425a9c71bd50334e5b98a6f4411043a0
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_0.obj
@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
+v -0.00005540 -0.04034977 -0.00118948
+v 0.00064700 -0.04016595 -0.00118948
+v -0.00005540 -0.04010511 -0.00006253
+v -0.00005540 -0.03319124 -0.00118948
+v 0.01067070 -0.03753158 -0.00118948
+v 0.01067070 -0.03681877 0.00209051
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+f 31 39 32
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\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_1.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9bb28bde70cef3cc4e1aca6c4a58f7453a6d53b0
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_1.obj
@@ -0,0 +1,117 @@
+# https://github.com/mikedh/trimesh
+v -0.00138802 0.00803826 0.11344128
+v -0.00277310 0.00803024 0.11344128
+v 0.00220740 0.00585914 0.11695674
+v 0.00220740 0.00795969 0.11344128
+v -0.00256236 0.00571162 0.11695674
+v -0.00129150 0.00582707 0.11695674
+v -0.00483705 0.00666088 0.11344128
+v -0.00476466 0.00434546 0.11695674
+v 0.00310022 0.00558815 0.11695674
+v 0.00284283 0.00780094 0.11344128
+v -0.00705543 0.00433905 0.11344128
+v -0.00832629 0.00236357 0.11344128
+v -0.00603391 0.00214068 0.11695674
+v 0.00313079 0.00557532 0.11695674
+v 0.00496952 0.00479443 0.11695674
+v 0.00631277 0.00613814 0.11344128
+v -0.00834720 0.00106636 0.11344128
+v -0.00602748 -0.00243883 0.11695674
+v 0.00498239 0.00476397 0.11695674
+v 0.00795685 0.00263936 0.11344128
+v -0.00824425 -0.00295515 0.11344128
+v -0.00506870 -0.00415936 0.11695674
+v -0.00786299 -0.00390922 0.11344128
+v 0.00573364 0.00292478 0.11695674
+v 0.00808715 0.00203165 0.11344128
+v 0.00600069 0.00203165 0.11695674
+v -0.00624626 -0.00642988 0.11344128
+v -0.00396031 -0.00525133 0.11695674
+v 0.00804694 -0.00290064 0.11344128
+v 0.00596690 -0.00130839 0.11695674
+v -0.00365949 -0.00792432 0.11344128
+v -0.00223258 -0.00612362 0.11695674
+v 0.00682433 -0.00470454 0.11344128
+v 0.00584625 -0.00255268 0.11695674
+v -0.00276827 -0.00829632 0.11344128
+v 0.00132584 -0.00834282 0.11344128
+v 0.00209479 -0.00612682 0.11695674
+v 0.00429869 -0.00475425 0.11695674
+v 0.00419574 -0.00720436 0.11344128
+v 0.00250822 -0.00829793 0.11344128
+f 1 2 3
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+f 1 33 39
+f 1 39 40
+f 1 40 36
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+f 32 35 36
+f 33 34 38
+f 33 38 39
+f 36 40 37
+f 37 40 38
+f 38 40 39
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_10.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e11591d1adba66f9f9b750063108be112eac3dde
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_10.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v -0.00654905 -0.02683761 0.01673232
+v -0.00654905 -0.02525868 0.01973342
+v -0.00005540 -0.02573223 0.02002312
+v -0.00005540 -0.02683761 0.01800083
+v -0.00654905 -0.02683761 0.03328756
+v -0.00654905 -0.02063678 0.02862982
+v -0.00005540 -0.02479662 0.02193572
+v -0.00654905 -0.01851793 0.03285441
+v -0.00005540 -0.02683761 0.03434511
+v -0.00631005 -0.02683761 0.03358851
+v -0.00527460 -0.02267139 0.04546069
+v -0.00654905 -0.02195021 0.04546069
+v -0.00654905 -0.01849495 0.03290223
+v -0.00005540 -0.02139369 0.02903484
+v -0.00005540 -0.02280413 0.04546069
+v -0.00104445 -0.02683761 0.03485420
+v -0.00492945 -0.02683761 0.03505109
+v -0.00222228 -0.02310537 0.04546069
+v -0.00459066 -0.02674315 0.03560799
+v -0.00654905 -0.01379774 0.04546069
+v -0.00654905 -0.01846304 0.03296973
+v -0.00005540 -0.02047850 0.03100369
+v -0.00005540 -0.01527838 0.04546069
+v -0.00346558 -0.02683761 0.03538017
+v -0.00654905 -0.01480355 0.04227396
+v -0.00005540 -0.01561153 0.04436095
+v -0.00005540 -0.01687901 0.04022917
+v -0.00654905 -0.01754019 0.03498077
+v -0.00005540 -0.01938717 0.03338881
+v -0.00005540 -0.01745340 0.03851064
+v -0.00654905 -0.01489546 0.04200114
+v -0.00654905 -0.01652544 0.03755153
+v -0.00005540 -0.01858558 0.03537173
+f 1 2 3
+f 1 3 4
+f 1 4 9
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+f 1 16 24
+f 1 24 17
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+f 1 5 12
+f 1 12 20
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+f 7 8 13
+f 7 13 14
+f 9 15 16
+f 10 17 11
+f 11 18 15
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+f 11 19 18
+f 13 21 14
+f 14 21 22
+f 15 18 16
+f 16 18 24
+f 17 24 19
+f 18 19 24
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+f 20 26 27
+f 20 27 25
+f 21 28 22
+f 22 28 29
+f 25 27 30
+f 25 30 31
+f 28 32 33
+f 28 33 29
+f 30 33 31
+f 31 33 32
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_100.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_100.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d91a9f11e19ad8a1e68d151f52f28e1e39212c46
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_100.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v -0.01301883 0.01352903 0.04546350
+v -0.01818121 0.01352903 0.04546350
+v -0.01301883 0.00912632 0.04546350
+v -0.01301883 0.01352903 0.03593310
+v -0.01827676 0.01337189 0.04546350
+v -0.02657372 0.01352903 0.02688958
+v -0.01333467 0.00777190 0.04546350
+v -0.01301883 0.00835489 0.04546005
+v -0.01301883 0.01218550 0.03824319
+v -0.01497894 0.00658007 0.04237993
+v -0.01672008 0.00658007 0.03772868
+v -0.01672539 0.00658007 0.03771487
+v -0.01872664 0.00658007 0.03301182
+v -0.02090970 0.00658007 0.02870242
+v -0.01442952 0.01352903 0.03316031
+v -0.01953086 0.01122496 0.04546350
+v -0.02657372 0.01352903 0.01018720
+v -0.02657372 0.01346713 0.02695864
+v -0.02223679 0.00658007 0.04546350
+v -0.02155732 0.00775285 0.04546350
+v -0.01400087 0.00658007 0.04546350
+v -0.01301883 0.01023380 0.04171695
+v -0.01301883 0.01106509 0.04016999
+v -0.01484092 0.00658007 0.04280466
+v -0.02551338 0.00658007 0.01993169
+v -0.01583889 0.01352903 0.03044621
+v -0.02657372 0.00658007 0.01800489
+v -0.02657372 0.00658007 0.03449318
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+f 17 26 25
+f 17 25 27
+f 18 28 19
+f 21 24 22
+f 22 24 23
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_101.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_101.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3cfaedb30f5e00275de518acb039d221ea36e99
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_101.obj
@@ -0,0 +1,144 @@
+# https://github.com/mikedh/trimesh
+v -0.02910936 0.00676593 -0.04015022
+v -0.02910936 -0.00005971 -0.04091094
+v -0.02910936 0.00676593 -0.04971234
+v -0.03410554 0.00678604 -0.02801025
+v -0.03442151 0.00678604 -0.02652613
+v -0.03566217 0.00678604 -0.02179817
+v -0.03575245 -0.00005435 -0.02179817
+v -0.02910936 -0.00005971 -0.05059937
+v -0.03579114 -0.00005971 -0.02179817
+v -0.02910936 0.00612666 -0.05020322
+v -0.02937632 0.00676593 -0.04936213
+v -0.03997482 0.00678604 -0.02801025
+v -0.04150308 0.00678604 -0.02179817
+v -0.03289196 -0.00005971 -0.04504754
+v -0.03385534 0.00200956 -0.04440739
+v -0.02910936 0.00082616 -0.05090079
+v -0.04089307 -0.00005971 -0.02179817
+v -0.02910936 0.00203368 -0.05112183
+v -0.03355098 0.00669021 -0.04388206
+v -0.03353164 0.00676593 -0.04385335
+v -0.03999417 0.00678604 -0.02795571
+v -0.03556157 0.00676593 -0.04007845
+v -0.03603875 0.00676593 -0.03891010
+v -0.03730392 0.00676593 -0.03576387
+v -0.04097174 0.00678604 -0.02443917
+v -0.04216984 0.00469398 -0.02449084
+v -0.04228204 0.00499419 -0.02179817
+v -0.03359999 -0.00005971 -0.04399976
+v -0.03387211 0.00200956 -0.04438155
+v -0.03387469 0.00203368 -0.04438442
+v -0.02910936 0.00200956 -0.05111896
+v -0.02910936 0.00099302 -0.05093237
+v -0.04228204 0.00351595 -0.02179817
+v -0.04216984 0.00394548 -0.02449084
+v -0.04018375 -0.00005971 -0.02631657
+v -0.03747931 0.00456733 -0.03832449
+v -0.03577695 0.00634779 -0.04009280
+v -0.04059902 0.00678604 -0.02620461
+v -0.03852653 0.00676593 -0.03225019
+v -0.03792683 0.00554903 -0.03576387
+v -0.04077313 0.00642418 -0.02620461
+v -0.03475166 -0.00005971 -0.04173769
+v -0.03747931 0.00402924 -0.03832449
+v -0.03967304 -0.00005971 -0.02801025
+v -0.03792296 0.00229971 -0.03561460
+v -0.03789072 0.00200956 -0.03546245
+v -0.03765729 -0.00005971 -0.03438309
+v -0.03951054 -0.00005971 -0.02854706
+v -0.03539263 -0.00005971 -0.04024208
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+f 1 8 16
+f 1 16 32
+f 1 32 31
+f 1 31 18
+f 1 18 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
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+f 17 33 34
+f 17 34 35
+f 18 30 19
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+f 19 36 37
+f 19 37 20
+f 20 37 22
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+f 21 39 38
+f 22 37 36
+f 22 36 23
+f 23 36 24
+f 24 36 40
+f 24 40 39
+f 25 38 26
+f 26 34 33
+f 26 33 27
+f 26 38 41
+f 26 41 40
+f 26 40 36
+f 26 36 43
+f 26 43 34
+f 28 42 43
+f 28 43 29
+f 29 43 30
+f 30 43 36
+f 34 44 35
+f 34 43 45
+f 34 45 46
+f 34 46 47
+f 34 47 48
+f 34 48 44
+f 38 39 40
+f 38 40 41
+f 42 49 43
+f 43 49 47
+f 43 47 46
+f 43 46 45
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_102.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_102.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0d12e9e696f2d048ab707722b158fb38d80b36b
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_102.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v -0.02544597 -0.03218813 -0.01089679
+v -0.02538408 -0.03222381 -0.01089679
+v -0.02544597 -0.03183728 -0.00742786
+v -0.02544597 -0.02428308 -0.01089679
+v -0.01049408 -0.04071362 -0.01089679
+v -0.02544597 -0.03158158 -0.00623544
+v -0.01031936 -0.04081273 -0.01089679
+v -0.00989164 -0.04056892 -0.00680077
+v -0.01211395 -0.03930228 -0.00680077
+v -0.02544597 -0.02228303 -0.00273610
+v -0.00718519 -0.03468770 -0.01089679
+v -0.02544597 -0.03068562 -0.00235795
+v -0.01780167 -0.03556780 -0.00451950
+v -0.00685212 -0.04228947 -0.01089679
+v -0.00685212 -0.04182762 -0.00680077
+v -0.00928010 -0.04022005 -0.00366438
+v -0.02544597 -0.02204120 -0.00119119
+v -0.00685212 -0.03294534 -0.00119119
+v -0.00685212 -0.03488196 -0.01089679
+v -0.02321274 -0.03167672 -0.00119119
+v -0.02544597 -0.03040216 -0.00119119
+v -0.00685212 -0.04109024 -0.00334894
+v -0.00691218 -0.04083057 -0.00225249
+v -0.00803699 -0.04016455 -0.00119119
+v -0.00867583 -0.03991677 -0.00119119
+v -0.01095274 -0.03866203 -0.00119119
+v -0.01516256 -0.03626554 -0.00119119
+v -0.00685212 -0.04061252 -0.00119119
+v -0.00685212 -0.04081273 -0.00207006
+f 1 2 3
+f 1 3 6
+f 1 6 12
+f 1 12 21
+f 1 21 17
+f 1 17 10
+f 1 10 4
+f 1 4 11
+f 1 11 19
+f 1 19 14
+f 1 14 7
+f 1 7 5
+f 1 5 2
+f 2 5 3
+f 3 5 7
+f 3 7 8
+f 3 8 9
+f 3 9 6
+f 4 10 11
+f 6 9 8
+f 6 8 13
+f 6 13 12
+f 7 14 8
+f 8 14 15
+f 8 15 16
+f 8 16 13
+f 10 17 18
+f 10 18 19
+f 10 19 11
+f 12 20 21
+f 12 13 20
+f 13 16 20
+f 14 19 18
+f 14 18 28
+f 14 28 29
+f 14 29 22
+f 14 22 15
+f 15 22 16
+f 16 22 23
+f 16 23 24
+f 16 24 25
+f 16 25 26
+f 16 26 27
+f 16 27 20
+f 17 21 20
+f 17 20 27
+f 17 27 26
+f 17 26 25
+f 17 25 24
+f 17 24 28
+f 17 28 18
+f 22 29 23
+f 23 29 24
+f 24 29 28
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_103.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_103.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7035acafd674e05294a0612e5a9a34b8de4ac1bc
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_103.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v -0.00276350 0.01505509 0.09985418
+v -0.00276350 0.00978536 0.09985418
+v -0.00276350 0.01500201 0.09936903
+v -0.00703725 0.01398952 0.09985418
+v -0.00276350 0.00956795 0.09949063
+v -0.01005685 0.00214178 0.09985418
+v -0.00989865 0.00214178 0.09960535
+v -0.00818004 0.00214178 0.09666070
+v -0.00276350 0.01443193 0.09697267
+v -0.00516298 0.01377590 0.09666070
+v -0.00686008 0.01401101 0.09973101
+v -0.00880775 0.01344472 0.09985418
+v -0.00276350 0.00788426 0.09666070
+v -0.01569233 0.00214178 0.09985418
+v -0.01494439 0.00214178 0.09666070
+v -0.00276350 0.01435735 0.09666070
+v -0.00754727 0.01286706 0.09666070
+v -0.00824458 0.01322605 0.09843780
+v -0.01048966 0.01071821 0.09666070
+v -0.01062128 0.01169025 0.09985418
+v -0.01474443 0.00547755 0.09985418
+v -0.01471153 0.00542067 0.09934152
+v -0.01563285 0.00214178 0.09934152
+v -0.01437236 0.00483795 0.09666070
+v -0.01301949 0.00700576 0.09666070
+v -0.01332069 0.00775027 0.09934152
+v -0.01070481 0.01154362 0.09973101
+v -0.01334853 0.00780715 0.09985418
+v -0.01350546 0.00755056 0.09985418
+f 1 2 5
+f 1 5 13
+f 1 13 16
+f 1 16 9
+f 1 9 3
+f 1 3 4
+f 1 4 12
+f 1 12 20
+f 1 20 28
+f 1 28 29
+f 1 29 21
+f 1 21 14
+f 1 14 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 5
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 4 11 10
+f 4 10 12
+f 5 8 13
+f 6 14 23
+f 6 23 15
+f 6 15 8
+f 6 8 7
+f 8 15 24
+f 8 24 25
+f 8 25 19
+f 8 19 17
+f 8 17 10
+f 8 10 16
+f 8 16 13
+f 9 16 10
+f 10 17 18
+f 10 18 12
+f 12 18 19
+f 12 19 20
+f 14 21 22
+f 14 22 23
+f 15 23 24
+f 17 19 18
+f 19 25 26
+f 19 26 27
+f 19 27 20
+f 20 27 26
+f 20 26 28
+f 21 29 26
+f 21 26 22
+f 22 26 24
+f 22 24 23
+f 24 26 25
+f 26 29 28
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_104.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_104.obj
new file mode 100644
index 0000000000000000000000000000000000000000..671dac38831c75149d47fa6375fbd322d1edae19
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_104.obj
@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
+v 0.01968303 -0.03514729 -0.00119024
+v 0.02016467 -0.03502080 -0.00119024
+v 0.01968303 -0.03348785 0.00650621
+v 0.01968303 -0.02749762 -0.00119024
+v 0.02451735 -0.03328396 -0.00119024
+v 0.02330428 -0.03176610 0.00812465
+v 0.02097937 -0.03268927 0.00812465
+v 0.01999977 -0.03339912 0.00653083
+v 0.01968303 -0.03309139 0.00812465
+v 0.01968303 -0.02449212 0.00812465
+v 0.02587572 -0.01586075 0.00812465
+v 0.02837206 -0.01586075 -0.00119024
+v 0.02539735 -0.03271759 -0.00119024
+v 0.02362591 -0.03196244 0.00653083
+v 0.02684226 -0.03133756 0.00057955
+v 0.02638838 -0.03078441 0.00354106
+v 0.02472959 -0.03060695 0.00812465
+v 0.01999977 -0.03300833 0.00812465
+v 0.03401291 -0.01586075 0.00812465
+v 0.03636067 -0.01586075 -0.00119024
+v 0.02706103 -0.03162640 -0.00119024
+v 0.02816145 -0.02986124 -0.00119024
+v 0.02870839 -0.02895317 -0.00119024
+v 0.02780226 -0.02913629 0.00207125
+v 0.02740552 -0.02792994 0.00653083
+v 0.02584797 -0.03015197 0.00653083
+v 0.02719491 -0.02757124 0.00812465
+v 0.02639980 -0.02870586 0.00812465
+v 0.02562756 -0.02967245 0.00812465
+v 0.03421699 -0.01586075 0.00739612
+v 0.03368637 -0.01642523 0.00812465
+v 0.03405699 -0.01980641 -0.00119024
+v 0.03555087 -0.01586075 0.00208766
+v 0.03499250 -0.01681791 0.00208766
+v 0.03187738 -0.02353685 -0.00119024
+v 0.03080309 -0.02169806 0.00751192
+v 0.03032962 -0.02220968 0.00812465
+v 0.03438679 -0.01586075 0.00677975
+v 0.03094350 -0.02115624 0.00812465
+v 0.03527332 -0.01586075 0.00321008
+v 0.03474107 -0.01586075 0.00535370
+v 0.03071493 -0.02154892 0.00812465
+f 1 2 3
+f 1 3 9
+f 1 9 10
+f 1 10 4
+f 1 4 12
+f 1 12 20
+f 1 20 32
+f 1 32 35
+f 1 35 23
+f 1 23 22
+f 1 22 21
+f 1 21 13
+f 1 13 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 3 8 9
+f 4 10 11
+f 4 11 12
+f 5 13 14
+f 5 14 6
+f 6 14 15
+f 6 15 16
+f 6 16 17
+f 6 17 29
+f 6 29 28
+f 6 28 27
+f 6 27 37
+f 6 37 42
+f 6 42 39
+f 6 39 31
+f 6 31 19
+f 6 19 11
+f 6 11 10
+f 6 10 9
+f 6 9 18
+f 6 18 7
+f 7 18 8
+f 8 18 9
+f 11 19 30
+f 11 30 38
+f 11 38 41
+f 11 41 40
+f 11 40 33
+f 11 33 20
+f 11 20 12
+f 13 21 15
+f 13 15 14
+f 15 21 22
+f 15 22 23
+f 15 23 24
+f 15 24 25
+f 15 25 16
+f 16 26 17
+f 16 25 27
+f 16 27 28
+f 16 28 26
+f 17 26 29
+f 19 31 30
+f 20 33 34
+f 20 34 32
+f 23 35 24
+f 24 35 32
+f 24 32 36
+f 24 36 25
+f 25 36 27
+f 26 28 29
+f 27 36 37
+f 30 31 36
+f 30 36 38
+f 31 39 36
+f 32 34 36
+f 33 40 34
+f 34 40 36
+f 36 40 41
+f 36 41 38
+f 36 39 42
+f 36 42 37
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_105.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_105.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2082112853a83580d5a1a69936ea691e59a023b5
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_105.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v -0.01603276 -0.00001585 0.10359503
+v -0.01584469 -0.00262689 0.10359503
+v -0.01589327 -0.00262689 0.10400178
+v -0.01607977 -0.00001585 0.10400178
+v -0.00815762 -0.00001585 0.10359503
+v -0.01575066 -0.00297949 0.10359503
+v -0.01560648 -0.00001585 0.10661193
+v -0.01465363 -0.00699057 0.10359503
+v -0.01467870 -0.00706510 0.10400178
+v -0.01448907 -0.00638405 0.10782158
+v -0.01493885 -0.00298639 0.10908714
+v -0.00006934 -0.00001585 0.10650301
+v -0.00006934 -0.00706510 0.10414925
+v -0.00376008 -0.00706510 0.10359503
+v -0.01519901 -0.00001585 0.10883364
+v -0.01463169 -0.00706510 0.10359503
+v -0.01467243 -0.00706510 0.10405961
+v -0.01394369 -0.00477975 0.11092523
+v -0.01387003 -0.00706510 0.10848955
+v -0.01428847 -0.00167397 0.11111416
+v -0.00006934 -0.00001585 0.11344093
+v -0.00006934 -0.00706510 0.11344093
+v -0.01429631 -0.00001585 0.11111994
+v -0.01344689 -0.00706510 0.10947462
+v -0.01090490 -0.00706510 0.11122211
+v -0.01064475 -0.00706510 0.11135609
+v -0.00625034 -0.00643028 0.11344093
+v -0.00786612 -0.00390964 0.11344093
+v -0.00822344 -0.00300709 0.11344093
+v -0.00824381 -0.00295534 0.11344093
+v -0.00831904 -0.00001585 0.11344093
+v -0.00467062 -0.00706510 0.11344093
+v -0.00688976 -0.00706510 0.11266694
+f 1 2 3
+f 1 3 4
+f 1 4 7
+f 1 7 15
+f 1 15 23
+f 1 23 31
+f 1 31 21
+f 1 21 12
+f 1 12 5
+f 1 5 14
+f 1 14 16
+f 1 16 8
+f 1 8 6
+f 1 6 2
+f 2 6 3
+f 3 7 4
+f 3 6 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 7
+f 5 12 13
+f 5 13 14
+f 7 11 15
+f 8 16 9
+f 9 16 14
+f 9 14 13
+f 9 13 22
+f 9 22 32
+f 9 32 33
+f 9 33 26
+f 9 26 25
+f 9 25 24
+f 9 24 19
+f 9 19 17
+f 9 17 10
+f 10 18 11
+f 10 17 19
+f 10 19 18
+f 11 18 20
+f 11 20 15
+f 12 21 22
+f 12 22 13
+f 15 20 23
+f 18 19 24
+f 18 24 25
+f 18 25 26
+f 18 26 27
+f 18 27 28
+f 18 28 29
+f 18 29 30
+f 18 30 20
+f 20 30 31
+f 20 31 23
+f 21 31 30
+f 21 30 29
+f 21 29 28
+f 21 28 27
+f 21 27 32
+f 21 32 22
+f 26 33 27
+f 27 33 32
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_106.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_106.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42a7a555a12aa801e2febc30d22eacb425ea659d
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_106.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.03984678 -0.00675287 -0.04235637
+v 0.03983735 -0.00675287 -0.04235036
+v 0.03947988 -0.00767113 -0.04235036
+v 0.03948107 -0.00766556 -0.04235637
+v 0.03899383 -0.00675287 -0.04512202
+v 0.03204514 -0.00675287 -0.04235036
+v 0.03635238 -0.01009808 -0.04235036
+v 0.03820104 -0.01009808 -0.04235637
+v 0.03686321 -0.01009808 -0.04646179
+v 0.03853373 -0.00675287 -0.04646980
+v 0.03018350 -0.01009808 -0.04235036
+v 0.02779452 -0.00675287 -0.05009458
+v 0.03609048 -0.01009808 -0.04851049
+v 0.03594419 -0.00958558 -0.04957790
+v 0.03639367 -0.00675287 -0.05091967
+v 0.02779452 -0.01009808 -0.04732292
+v 0.02779452 -0.00675287 -0.06280736
+v 0.03524696 -0.01009808 -0.05011460
+v 0.03485529 -0.00754439 -0.05253981
+v 0.03588284 -0.00675287 -0.05164262
+v 0.02779452 -0.01009808 -0.06008376
+v 0.03367554 -0.00675287 -0.05469065
+v 0.03181627 -0.01009808 -0.05471067
+v 0.02779452 -0.00944411 -0.06061646
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 15
+f 1 15 20
+f 1 20 22
+f 1 22 17
+f 1 17 12
+f 1 12 6
+f 1 6 2
+f 2 6 11
+f 2 11 7
+f 2 7 3
+f 3 7 8
+f 3 8 4
+f 4 8 9
+f 4 9 5
+f 5 9 10
+f 6 12 11
+f 7 11 16
+f 7 16 21
+f 7 21 23
+f 7 23 18
+f 7 18 13
+f 7 13 9
+f 7 9 8
+f 9 13 10
+f 10 13 14
+f 10 14 15
+f 11 12 16
+f 12 17 24
+f 12 24 21
+f 12 21 16
+f 13 18 14
+f 14 18 17
+f 14 17 19
+f 14 19 20
+f 14 20 15
+f 17 22 19
+f 17 18 23
+f 17 23 24
+f 19 22 20
+f 21 24 23
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_107.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_107.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b741d65b7ebe39cae413f5ead4a4f648e22be70
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_107.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v -0.00003950 0.03893147 0.00354604
+v -0.00003950 0.03828725 0.00621514
+v -0.00003950 0.03371053 0.00354604
+v -0.00248593 0.03838085 0.00354604
+v -0.00252926 0.03767056 0.00626729
+v -0.00003950 0.03733028 0.00982097
+v -0.00003950 0.02820437 0.01399232
+v -0.00509305 0.03226681 0.00354604
+v -0.00635147 0.03742058 0.00354604
+v -0.00207428 0.03753070 0.00720403
+v -0.00102891 0.03720914 0.00935669
+v -0.01461878 0.03245182 0.01360474
+v -0.01387853 0.03252120 0.01399232
+v -0.00003950 0.03628081 0.01313842
+v -0.00003950 0.03594383 0.01399232
+v -0.00035546 0.02818785 0.01399232
+v -0.01848432 0.02768129 0.00720403
+v -0.01848432 0.02870433 0.00354604
+v -0.00593982 0.03203335 0.00354604
+v -0.01848432 0.03408055 0.00354604
+v -0.01848432 0.03349028 0.00613639
+v -0.01848432 0.03257626 0.00953770
+v -0.01627261 0.03283285 0.01070555
+v -0.01772421 0.03197169 0.01217816
+v -0.01848432 0.03143979 0.01292571
+v -0.01848432 0.03101251 0.01399232
+v -0.01499974 0.03215779 0.01399232
+v -0.00091877 0.03573900 0.01399232
+v -0.01848432 0.02818785 0.01399232
+v -0.01848432 0.03183513 0.01183455
+f 1 2 6
+f 1 6 14
+f 1 14 15
+f 1 15 7
+f 1 7 3
+f 1 3 8
+f 1 8 19
+f 1 19 18
+f 1 18 20
+f 1 20 9
+f 1 9 4
+f 1 4 2
+f 2 4 5
+f 2 5 6
+f 3 7 8
+f 4 9 5
+f 5 10 6
+f 5 9 10
+f 6 10 11
+f 6 11 12
+f 6 12 13
+f 6 13 14
+f 7 15 28
+f 7 28 13
+f 7 13 27
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+f 7 26 29
+f 7 29 16
+f 7 16 17
+f 7 17 18
+f 7 18 19
+f 7 19 8
+f 9 20 21
+f 9 21 22
+f 9 22 11
+f 9 11 10
+f 11 22 23
+f 11 23 12
+f 12 23 22
+f 12 22 24
+f 12 24 25
+f 12 25 26
+f 12 26 27
+f 12 27 13
+f 13 28 14
+f 14 28 15
+f 16 29 17
+f 17 29 26
+f 17 26 25
+f 17 25 30
+f 17 30 22
+f 17 22 21
+f 17 21 20
+f 17 20 18
+f 22 30 24
+f 24 30 25
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_108.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_108.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6284b89b24a18f3b48172f7ab530b2263a933b70
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_108.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v 0.02675128 0.01738082 -0.04468353
+v 0.02702739 0.01608255 -0.04468353
+v 0.02702271 0.01738082 -0.04329992
+v 0.03407976 0.01738082 -0.04468353
+v 0.02774807 0.01308813 -0.04468353
+v 0.02782919 0.01738082 -0.04014812
+v 0.03422327 0.01738082 -0.04419321
+v 0.03556791 0.01211401 -0.04468353
+v 0.03003334 0.01738082 -0.03155690
+v 0.02950453 0.00666026 -0.04468353
+v 0.03470372 0.01738082 -0.04250929
+v 0.03602809 0.01047445 -0.04468353
+v 0.03071034 0.01737739 -0.02903179
+v 0.03073998 0.01738082 -0.02903179
+v 0.03019557 0.00419921 -0.04468353
+v 0.03500322 0.00199713 -0.02903179
+v 0.03608425 0.01738082 -0.03744220
+v 0.03586118 0.01445500 -0.04128810
+v 0.03635723 0.01136454 -0.04260429
+v 0.03641963 0.00904413 -0.04468353
+v 0.03790310 0.01738082 -0.02903179
+v 0.03076026 0.00221151 -0.04468353
+v 0.03561159 -0.00013806 -0.02903179
+v 0.03665205 0.01738082 -0.03531087
+v 0.04028509 0.00629324 -0.03306921
+v 0.04020086 -0.00013806 -0.03999643
+v 0.03770968 0.00666712 -0.04235454
+v 0.03943962 -0.00013806 -0.04280348
+v 0.03897008 -0.00013806 -0.04441232
+v 0.03889053 -0.00013806 -0.04468353
+v 0.04011662 0.00932539 -0.02903179
+v 0.04001835 0.00896352 -0.03132247
+v 0.03712159 0.01738082 -0.03354574
+v 0.03154178 -0.00013806 -0.04468353
+v 0.03170245 -0.00013806 -0.04402467
+v 0.04259220 -0.00013806 -0.02903179
+v 0.04129280 0.00222351 -0.03346760
+v 0.04193392 -0.00013806 -0.03346760
+v 0.04007138 -0.00013806 -0.04048215
+v 0.03965801 -0.00013806 -0.04200672
+v 0.04084510 0.00666712 -0.02903179
+v 0.04206183 0.00222351 -0.02903179
+v 0.04268736 -0.00013463 -0.02903179
+v 0.04232858 -0.00013806 -0.03110643
+f 1 2 3
+f 1 3 6
+f 1 6 9
+f 1 9 14
+f 1 14 21
+f 1 21 33
+f 1 33 24
+f 1 24 17
+f 1 17 11
+f 1 11 7
+f 1 7 4
+f 1 4 8
+f 1 8 12
+f 1 12 20
+f 1 20 30
+f 1 30 34
+f 1 34 22
+f 1 22 15
+f 1 15 10
+f 1 10 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 4 7 8
+f 5 9 6
+f 5 10 9
+f 7 11 8
+f 8 11 12
+f 9 13 14
+f 9 10 13
+f 10 15 16
+f 10 16 13
+f 11 17 18
+f 11 18 12
+f 12 19 20
+f 12 18 19
+f 13 16 23
+f 13 23 36
+f 13 36 43
+f 13 43 42
+f 13 42 41
+f 13 41 31
+f 13 31 21
+f 13 21 14
+f 15 22 16
+f 16 22 23
+f 17 24 19
+f 17 19 18
+f 19 24 25
+f 19 25 26
+f 19 26 27
+f 19 27 20
+f 20 27 28
+f 20 28 29
+f 20 29 30
+f 21 31 32
+f 21 32 33
+f 22 34 35
+f 22 35 23
+f 23 35 34
+f 23 34 30
+f 23 30 29
+f 23 29 28
+f 23 28 40
+f 23 40 39
+f 23 39 26
+f 23 26 38
+f 23 38 44
+f 23 44 36
+f 24 33 25
+f 25 37 26
+f 25 33 32
+f 25 32 37
+f 26 39 27
+f 26 37 38
+f 27 39 40
+f 27 40 28
+f 31 41 32
+f 32 41 42
+f 32 42 43
+f 32 43 38
+f 32 38 37
+f 36 44 43
+f 38 43 44
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_109.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_109.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50778c81ec051361f901b333fec808d6e858ec26
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_109.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.02101908 0.01582161 0.01491308
+v 0.02101908 0.02776732 0.01491308
+v 0.02101908 0.01993775 0.01331274
+v 0.02131268 0.01131940 0.01491308
+v 0.02845913 0.02349008 0.01491308
+v 0.02277456 0.02733959 0.01331274
+v 0.02101908 0.02831447 0.01331274
+v 0.02906633 -0.00005971 0.01331274
+v 0.02232724 0.00669221 0.01491308
+v 0.02851293 0.02353452 0.01467776
+v 0.02565989 0.02565925 0.01331274
+v 0.02986875 0.02103761 0.01491308
+v 0.03058047 0.02092096 0.01331274
+v 0.03672313 -0.00005971 0.01331274
+v 0.02562761 -0.00005971 0.01491308
+v 0.02879885 0.02375949 0.01331274
+v 0.03162884 0.01636599 0.01491308
+v 0.03202083 0.01721588 0.01331274
+v 0.03442501 0.00669221 0.01491308
+v 0.03610210 -0.00005971 0.01491308
+v 0.03281864 0.01485229 0.01331274
+v 0.03272640 0.01454955 0.01391982
+v 0.03297850 0.01243315 0.01491308
+v 0.03193936 0.01551609 0.01491308
+v 0.03248506 0.01396073 0.01491308
+f 1 2 7
+f 1 7 3
+f 1 3 4
+f 1 4 9
+f 1 9 15
+f 1 15 20
+f 1 20 19
+f 1 19 23
+f 1 23 25
+f 1 25 24
+f 1 24 17
+f 1 17 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 3 7 6
+f 3 6 11
+f 3 11 16
+f 3 16 13
+f 3 13 18
+f 3 18 21
+f 3 21 14
+f 3 14 8
+f 3 8 9
+f 3 9 4
+f 5 10 11
+f 5 11 6
+f 5 12 13
+f 5 13 10
+f 8 14 20
+f 8 20 15
+f 8 15 9
+f 10 13 16
+f 10 16 11
+f 12 17 18
+f 12 18 13
+f 14 19 20
+f 14 21 22
+f 14 22 23
+f 14 23 19
+f 17 24 18
+f 18 24 22
+f 18 22 21
+f 22 24 25
+f 22 25 23
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_11.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8deb9fa83a65f147ac4248de54becd11294cc05
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_11.obj
@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
+v -0.03678684 -0.00006256 0.01402424
+v -0.03450883 -0.00728526 0.01548602
+v -0.03623088 -0.00005971 0.01560547
+v -0.03677409 -0.00005971 0.01404803
+v -0.03674861 -0.00005971 0.01402424
+v -0.03299548 -0.01492076 0.01402424
+v -0.03336346 -0.01182328 0.01547843
+v -0.03288397 -0.01018914 0.01797379
+v -0.03397199 -0.00005971 0.01849310
+v -0.03322965 -0.00728526 0.01825268
+v -0.03369003 -0.00262766 0.01847893
+v -0.02869754 -0.00005971 0.01402424
+v -0.03294450 -0.01508019 0.01402424
+v -0.03288715 -0.01524531 0.01402424
+v -0.03173381 -0.01665739 0.01547843
+v -0.03221490 -0.01329515 0.01702525
+v -0.02804281 -0.02355839 0.01778347
+v -0.02874532 -0.02045237 0.01827495
+v -0.03040206 -0.00005971 0.01918300
+v -0.03040206 -0.00262766 0.01916882
+v -0.02935385 -0.01660046 0.01850475
+v -0.03040206 -0.00728526 0.01894308
+v -0.02051265 -0.00005971 0.01501327
+v -0.02051265 -0.02018476 0.01402424
+v -0.03209065 -0.01743176 0.01402424
+v -0.02965812 -0.02170787 0.01593296
+v -0.02493803 -0.02430713 0.01827495
+v -0.02619173 -0.02170787 0.01864293
+v -0.03050719 -0.02156837 0.01402424
+v -0.02875488 -0.02413062 0.01467819
+v -0.02051265 -0.02914409 0.01402424
+v -0.02051265 -0.02864303 0.01548602
+v -0.02051265 -0.02635124 0.01838681
+v -0.02574569 -0.01660046 0.01919464
+v -0.02574569 -0.00005971 0.01919464
+v -0.02051265 -0.00005971 0.01919464
+v -0.02082807 -0.02588434 0.01847438
+v -0.02108614 -0.02126090 0.01919464
+v -0.02051265 -0.02588434 0.01851082
+v -0.02889188 -0.02423596 0.01402424
+v -0.02597986 -0.02595551 0.01402424
+v -0.02051265 -0.02126090 0.01919464
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 24
+f 1 24 31
+f 1 31 41
+f 1 41 40
+f 1 40 29
+f 1 29 25
+f 1 25 14
+f 1 14 13
+f 1 13 6
+f 1 6 7
+f 1 7 2
+f 2 8 3
+f 2 7 8
+f 3 9 19
+f 3 19 35
+f 3 35 36
+f 3 36 23
+f 3 23 12
+f 3 12 5
+f 3 5 4
+f 3 8 10
+f 3 10 11
+f 3 11 9
+f 6 13 8
+f 6 8 7
+f 8 13 14
+f 8 14 15
+f 8 15 16
+f 8 16 17
+f 8 17 18
+f 8 18 10
+f 9 11 20
+f 9 20 19
+f 10 18 21
+f 10 21 22
+f 10 22 11
+f 11 22 20
+f 12 23 24
+f 14 25 15
+f 15 25 26
+f 15 26 16
+f 16 26 17
+f 17 27 28
+f 17 28 18
+f 17 26 29
+f 17 29 30
+f 17 30 31
+f 17 31 32
+f 17 32 33
+f 17 33 27
+f 18 28 34
+f 18 34 21
+f 19 20 34
+f 19 34 35
+f 20 22 34
+f 21 34 22
+f 23 36 42
+f 23 42 39
+f 23 39 33
+f 23 33 32
+f 23 32 31
+f 23 31 24
+f 25 29 26
+f 27 33 37
+f 27 37 28
+f 28 38 34
+f 28 37 39
+f 28 39 38
+f 29 40 30
+f 30 40 41
+f 30 41 31
+f 33 39 37
+f 34 38 42
+f 34 42 36
+f 34 36 35
+f 38 39 42
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_110.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_110.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75455d4f2dc4e97253a6a8fa7799e542d73e8b79
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_110.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v 0.01632937 -0.02881966 -0.00119123
+v 0.01632937 -0.03604063 -0.00119123
+v 0.01632937 -0.03068409 -0.01125940
+v -0.00359328 -0.03346191 -0.00119123
+v 0.01560587 -0.03623569 -0.00119123
+v 0.01632937 -0.03626662 -0.00219755
+v 0.01632937 -0.03768983 -0.01125940
+v -0.00001477 -0.03498332 -0.01125940
+v -0.00359328 -0.03588056 -0.01123870
+v -0.00359328 -0.03449098 -0.00551320
+v -0.00359328 -0.04084296 -0.00119123
+v 0.01110884 -0.03741811 -0.00119123
+v 0.01632937 -0.03704683 -0.00597644
+v 0.00064828 -0.04016633 -0.00119123
+v 0.00113191 -0.04029412 -0.00235821
+v 0.01110884 -0.03767235 -0.00235821
+v 0.00433405 -0.03995110 -0.00473061
+v 0.01632937 -0.03768983 -0.01124462
+v -0.00222038 -0.04256211 -0.01123870
+v -0.00001477 -0.04198233 -0.01125940
+v -0.00359328 -0.04251368 -0.01123870
+v -0.00359328 -0.04139583 -0.00372921
+v -0.00228084 -0.04093174 -0.00119123
+v 0.01632937 -0.03720960 -0.00678071
+v -0.00001477 -0.04059410 -0.00235821
+v -0.00222038 -0.04116984 -0.00235821
+v -0.00222038 -0.04208457 -0.00680043
+v 0.00260037 -0.04075283 -0.00644659
+v 0.00541833 -0.04025242 -0.00769242
+v -0.00359328 -0.04218411 -0.00816946
+v -0.00359328 -0.04202941 -0.00680043
+f 1 2 6
+f 1 6 13
+f 1 13 24
+f 1 24 18
+f 1 18 7
+f 1 7 3
+f 1 3 4
+f 1 4 11
+f 1 11 23
+f 1 23 14
+f 1 14 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 3 7 20
+f 3 20 8
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 4 10 9
+f 4 9 21
+f 4 21 30
+f 4 30 31
+f 4 31 22
+f 4 22 11
+f 5 12 6
+f 6 12 14
+f 6 14 15
+f 6 15 16
+f 6 16 17
+f 6 17 13
+f 7 18 19
+f 7 19 20
+f 8 20 21
+f 8 21 9
+f 11 22 23
+f 13 17 24
+f 14 23 25
+f 14 25 15
+f 15 17 16
+f 15 25 17
+f 17 25 26
+f 17 26 27
+f 17 27 28
+f 17 28 24
+f 18 24 29
+f 18 29 19
+f 19 29 27
+f 19 27 30
+f 19 30 21
+f 19 21 20
+f 22 31 23
+f 23 31 27
+f 23 27 26
+f 23 26 25
+f 24 28 29
+f 27 31 30
+f 27 29 28
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_111.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_111.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9cc2d482a230341aaeb6620e04868db30edd9a26
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_111.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.03069608 0.01664476 -0.04062552
+v 0.02974608 0.01963328 -0.04062552
+v 0.02458440 0.01664476 -0.04062552
+v 0.03058600 0.01664476 -0.04088228
+v 0.02842211 0.01980312 -0.04359817
+v 0.02919719 0.02108045 -0.04083708
+v 0.02928465 0.02105761 -0.04062552
+v 0.01529098 0.02441292 -0.04062552
+v 0.01529098 0.01664476 -0.04975685
+v 0.02891671 0.01664476 -0.04431964
+v 0.02775861 0.02290867 -0.04266696
+v 0.02415313 0.01664476 -0.05058861
+v 0.02302218 0.01664476 -0.05205323
+v 0.02908259 0.02150004 -0.04062552
+v 0.01529098 0.03122344 -0.04062552
+v 0.01529098 0.01664476 -0.05909792
+v 0.02274623 0.01774226 -0.05176754
+v 0.01666924 0.01664476 -0.05802567
+v 0.02465377 0.02387915 -0.04376995
+v 0.01894019 0.02790096 -0.04304306
+v 0.01529098 0.03116921 -0.04077198
+v 0.02592345 0.02478399 -0.04083708
+v 0.02635020 0.02459274 -0.04062552
+v 0.02155194 0.01664476 -0.05353052
+v 0.01555487 0.03107073 -0.04062552
+v 0.01529098 0.02901987 -0.04425997
+v 0.01618519 0.02872302 -0.04399055
+v 0.01529098 0.02969350 -0.04336492
+v 0.02571687 0.02498950 -0.04062552
+f 1 2 7
+f 1 7 14
+f 1 14 23
+f 1 23 29
+f 1 29 25
+f 1 25 15
+f 1 15 8
+f 1 8 3
+f 1 3 9
+f 1 9 16
+f 1 16 18
+f 1 18 24
+f 1 24 13
+f 1 13 12
+f 1 12 10
+f 1 10 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 3 8 9
+f 4 10 5
+f 5 11 6
+f 5 10 12
+f 5 12 13
+f 5 13 11
+f 6 11 7
+f 7 11 14
+f 8 15 21
+f 8 21 28
+f 8 28 26
+f 8 26 16
+f 8 16 9
+f 11 13 17
+f 11 17 18
+f 11 18 16
+f 11 16 19
+f 11 19 20
+f 11 20 21
+f 11 21 22
+f 11 22 23
+f 11 23 14
+f 13 24 17
+f 15 25 21
+f 16 26 27
+f 16 27 20
+f 16 20 19
+f 17 24 18
+f 20 27 26
+f 20 26 28
+f 20 28 21
+f 21 25 22
+f 22 25 29
+f 22 29 23
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_112.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_112.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bfa5225255fdd9f4bf87e9e2c48e5686debff34a
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_112.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v -0.02278359 0.02218939 0.01015037
+v -0.02286482 0.02198180 0.01015037
+v -0.02529509 0.02218939 0.00354569
+v -0.02937883 0.02218939 0.01015037
+v -0.02294098 0.02179542 0.01015037
+v -0.03142493 0.02218939 0.00354569
+v -0.03110337 0.00723332 0.01015037
+v -0.03139108 0.00673175 0.01015037
+v -0.03435276 0.00671054 0.00354569
+v -0.03000501 0.02218939 0.00817660
+v -0.03303946 0.01886481 0.00482318
+v -0.03354210 0.01512806 0.01015037
+v -0.03128953 0.02218939 0.00398790
+v -0.03324086 0.01920879 0.00354569
+v -0.03141139 0.00670902 0.01015037
+v -0.03435445 0.00670902 0.00354569
+v -0.03063627 0.02218939 0.00612007
+v -0.03747183 0.00916230 0.00876039
+v -0.03618731 0.01058972 0.01015037
+v -0.03818771 0.01073216 0.00354569
+v -0.03787970 0.00985783 0.00616855
+v -0.03823002 0.00670902 0.01015037
+v -0.04007134 0.00670902 0.00354569
+v -0.03799985 0.00721513 0.01015037
+v -0.03949762 0.00800764 0.00354569
+f 1 2 3
+f 1 3 6
+f 1 6 13
+f 1 13 17
+f 1 17 10
+f 1 10 4
+f 1 4 12
+f 1 12 19
+f 1 19 24
+f 1 24 22
+f 1 22 15
+f 1 15 8
+f 1 8 7
+f 1 7 5
+f 1 5 2
+f 2 5 3
+f 3 5 7
+f 3 7 8
+f 3 8 9
+f 3 9 16
+f 3 16 23
+f 3 23 25
+f 3 25 20
+f 3 20 14
+f 3 14 6
+f 4 10 11
+f 4 11 12
+f 6 14 13
+f 8 15 9
+f 9 15 16
+f 10 17 14
+f 10 14 11
+f 11 14 18
+f 11 18 12
+f 12 18 19
+f 13 14 17
+f 14 20 21
+f 14 21 18
+f 15 22 23
+f 15 23 16
+f 18 21 24
+f 18 24 19
+f 20 25 21
+f 21 25 24
+f 22 24 25
+f 22 25 23
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_113.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_113.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61f11f3e8ce80abd408a856a336fb7a0f7c42f8b
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_113.obj
@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
+v -0.00662803 -0.03795734 -0.04670304
+v -0.00662720 -0.03785074 -0.04670304
+v -0.00666680 -0.03795360 -0.04670304
+v -0.00666680 -0.03792368 -0.04679975
+v -0.00662720 -0.03792742 -0.04679975
+v -0.00662720 -0.03793677 -0.04676412
+v -0.00662720 -0.02977168 -0.04670304
+v -0.01007505 -0.03633592 -0.04670304
+v -0.01015425 -0.03626859 -0.04679975
+v -0.00929043 -0.03577300 -0.04934471
+v -0.00666680 -0.03637893 -0.05026344
+v -0.00662720 -0.03639576 -0.05023290
+v -0.00663380 -0.02966508 -0.04670304
+v -0.00662720 -0.02966508 -0.04671576
+v -0.01018313 -0.03628168 -0.04670304
+v -0.01026481 -0.03623680 -0.04670304
+v -0.01498404 -0.03354378 -0.04670304
+v -0.01505582 -0.03347084 -0.04679975
+v -0.01505582 -0.03227582 -0.04944906
+v -0.01505582 -0.03194667 -0.05008784
+v -0.00801987 -0.02171133 -0.07049080
+v -0.00662720 -0.02211341 -0.07100234
+v -0.00662720 -0.03638080 -0.05026599
+v -0.00665608 -0.02965199 -0.04670304
+v -0.00662720 -0.02965199 -0.04673104
+v -0.00662720 -0.01885186 -0.06170559
+v -0.00679799 -0.01885186 -0.06148673
+v -0.01505582 -0.03350264 -0.04670304
+v -0.01505582 -0.01885186 -0.06873732
+v -0.01494444 -0.01885186 -0.06883657
+v -0.01281831 -0.01885186 -0.07064095
+v -0.01086956 -0.01885186 -0.07177600
+v -0.01039599 -0.01885186 -0.07195924
+v -0.00662720 -0.02012544 -0.07234863
+v -0.01505582 -0.02493360 -0.04670304
+v -0.00662720 -0.01885186 -0.07269983
+v -0.01505582 -0.01885186 -0.05532028
+v -0.00785734 -0.01885186 -0.07255731
+v -0.00662720 -0.02009926 -0.07235880
+f 1 2 7
+f 1 7 13
+f 1 13 24
+f 1 24 35
+f 1 35 28
+f 1 28 17
+f 1 17 16
+f 1 16 15
+f 1 15 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 5
+f 2 5 12
+f 2 12 23
+f 2 23 22
+f 2 22 34
+f 2 34 39
+f 2 39 36
+f 2 36 26
+f 2 26 25
+f 2 25 14
+f 2 14 7
+f 3 8 9
+f 3 9 4
+f 4 9 10
+f 4 10 11
+f 4 11 5
+f 5 11 12
+f 7 14 13
+f 8 15 9
+f 9 15 16
+f 9 16 17
+f 9 17 18
+f 9 18 10
+f 10 18 19
+f 10 19 20
+f 10 20 21
+f 10 21 22
+f 10 22 11
+f 11 23 12
+f 11 22 23
+f 13 14 25
+f 13 25 26
+f 13 26 27
+f 13 27 24
+f 17 28 18
+f 18 28 35
+f 18 35 37
+f 18 37 29
+f 18 29 20
+f 18 20 19
+f 20 29 30
+f 20 30 31
+f 20 31 21
+f 21 31 22
+f 22 31 32
+f 22 32 33
+f 22 33 34
+f 24 27 35
+f 26 36 38
+f 26 38 33
+f 26 33 32
+f 26 32 31
+f 26 31 30
+f 26 30 29
+f 26 29 37
+f 26 37 27
+f 27 37 35
+f 33 38 34
+f 34 38 39
+f 36 39 38
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_114.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_114.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41d8de1359a3a83f20c0fd4a0b84523bcabbfd48
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_114.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v -0.00504889 -0.04232168 -0.00620889
+v -0.00440134 -0.04232168 -0.00620889
+v -0.00504889 -0.04232168 -0.00442007
+v -0.00718707 -0.04120038 -0.00296811
+v -0.00718707 -0.04119547 -0.00333166
+v -0.00718707 -0.04105961 -0.00778869
+v -0.00718707 -0.04105633 -0.00781093
+v -0.00683404 -0.04122166 -0.00781093
+v -0.00680692 -0.04123312 -0.00781093
+v -0.00268804 -0.04129778 -0.00781093
+v -0.00440134 -0.04232168 -0.00442007
+v -0.00232691 -0.04120939 -0.00781093
+v -0.00232691 -0.04121348 -0.00778202
+v -0.00232691 -0.04134689 -0.00299257
+v -0.00245109 -0.04007008 0.00354568
+v -0.00507363 -0.03990229 0.00354568
+v -0.00718707 -0.03964611 0.00354568
+v -0.00718707 -0.03993094 0.00258846
+v -0.00710904 -0.04026242 0.00150894
+v -0.00680454 -0.04138536 -0.00297923
+v -0.00718707 -0.04022723 0.00150894
+v -0.00718707 -0.03554396 -0.00781093
+v -0.00232691 -0.04129696 -0.00264681
+v -0.00232691 -0.04053088 0.00150894
+v -0.00245109 -0.04055952 0.00150894
+v -0.00232691 -0.03612180 -0.00781093
+v -0.00232691 -0.04003980 0.00354568
+v -0.00718707 -0.03396105 0.00354568
+v -0.00232691 -0.03477461 0.00354568
+f 1 2 11
+f 1 11 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 2
+f 2 10 12
+f 2 12 13
+f 2 13 14
+f 2 14 11
+f 3 11 15
+f 3 15 16
+f 3 16 17
+f 3 17 18
+f 3 18 19
+f 3 19 20
+f 3 20 4
+f 4 20 21
+f 4 21 18
+f 4 18 17
+f 4 17 28
+f 4 28 22
+f 4 22 7
+f 4 7 6
+f 4 6 5
+f 7 22 26
+f 7 26 12
+f 7 12 10
+f 7 10 9
+f 7 9 8
+f 11 14 23
+f 11 23 24
+f 11 24 25
+f 11 25 15
+f 12 26 29
+f 12 29 27
+f 12 27 24
+f 12 24 23
+f 12 23 14
+f 12 14 13
+f 15 25 24
+f 15 24 27
+f 15 27 29
+f 15 29 28
+f 15 28 17
+f 15 17 16
+f 18 21 19
+f 19 21 20
+f 22 28 26
+f 26 28 29
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_115.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_115.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c45e7d55a4904657b3632834f7254ea69454e8cf
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_115.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.01872134 -0.00222862 0.10430335
+v 0.01815775 -0.00511118 0.10430335
+v 0.01794510 -0.00473726 0.09985785
+v 0.01778823 -0.00446408 0.09755293
+v 0.01832973 -0.00222862 0.09986852
+v 0.01829952 -0.00222862 0.10711834
+v 0.01807060 -0.00496227 0.10685157
+v 0.01753374 -0.00598478 0.10575246
+v 0.01763368 -0.00598478 0.10430335
+v 0.01744543 -0.00598478 0.10220332
+v 0.01721767 -0.00598478 0.09985785
+v 0.01538863 -0.00598478 0.08607530
+v 0.01832857 -0.00222862 0.09985785
+v 0.01671102 -0.00222862 0.08607530
+v 0.01555480 -0.00222862 0.10787811
+v 0.01596616 -0.00598478 0.10747047
+v 0.01647978 -0.00598478 0.10728694
+v 0.00685119 -0.00598478 0.08607530
+v 0.00925543 -0.00222862 0.08607530
+v 0.01209544 -0.00598478 0.10749822
+v 0.01561639 -0.00598478 0.10756651
+v 0.01258465 -0.00222862 0.10728480
+v 0.00685003 -0.00598478 0.08652775
+v 0.00925543 -0.00222862 0.08652775
+v 0.01145864 -0.00598478 0.10737017
+v 0.01145167 -0.00222862 0.10430335
+v 0.00987828 -0.00598478 0.10430335
+v 0.00717888 -0.00598478 0.09089002
+v 0.00956105 -0.00222862 0.09093484
+v 0.01144935 -0.00222862 0.10429268
+v 0.00894517 -0.00598478 0.09985785
+v 0.01079048 -0.00222862 0.09985785
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 13
+f 1 13 14
+f 1 14 19
+f 1 19 24
+f 1 24 29
+f 1 29 32
+f 1 32 30
+f 1 30 26
+f 1 26 22
+f 1 22 15
+f 1 15 6
+f 1 6 7
+f 1 7 2
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 3
+f 3 11 12
+f 3 12 4
+f 3 10 11
+f 4 13 5
+f 4 12 14
+f 4 14 13
+f 6 15 16
+f 6 16 7
+f 7 16 17
+f 7 17 8
+f 8 17 16
+f 8 16 21
+f 8 21 20
+f 8 20 25
+f 8 25 27
+f 8 27 31
+f 8 31 28
+f 8 28 23
+f 8 23 18
+f 8 18 12
+f 8 12 11
+f 8 11 10
+f 8 10 9
+f 12 18 19
+f 12 19 14
+f 15 20 21
+f 15 21 16
+f 15 22 20
+f 18 23 19
+f 19 23 24
+f 20 22 25
+f 22 26 27
+f 22 27 25
+f 23 28 29
+f 23 29 24
+f 26 30 27
+f 27 30 31
+f 28 31 30
+f 28 30 32
+f 28 32 29
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_116.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_116.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fbbd49d1ddd02ec37197c4f6d3c45159957f0fcf
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_116.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v -0.01320068 -0.00848784 0.04546350
+v -0.01551428 0.00004101 0.04546350
+v -0.02102515 -0.00848784 0.04546350
+v -0.01575602 -0.00848784 0.03727652
+v -0.01658095 0.00004101 0.04208185
+v -0.02308882 0.00004101 0.04546350
+v -0.02136249 -0.00727229 0.04546350
+v -0.02715333 -0.00848784 0.02977153
+v -0.01753562 -0.00848784 0.03317203
+v -0.01979596 0.00004101 0.03319403
+v -0.01830591 0.00004101 0.03693396
+v -0.01754108 0.00004101 0.03915591
+v -0.02282796 -0.00191922 0.04546350
+v -0.02672858 0.00004101 0.03557627
+v -0.02671492 -0.00018190 0.03554484
+v -0.02159467 -0.00642659 0.04546350
+v -0.02715333 -0.00697091 0.03066094
+v -0.02715333 -0.00848784 0.01335671
+v -0.02246056 -0.00326417 0.04546350
+v -0.02155779 0.00004101 0.02929697
+v -0.02715333 -0.00135820 0.03391373
+v -0.02715333 -0.00188667 0.03363717
+v -0.02715333 0.00004101 0.03437258
+v -0.02715333 0.00004101 0.01804576
+v -0.02653191 0.00004101 0.01917403
+v -0.02593507 0.00004101 0.02034000
+f 1 2 6
+f 1 6 13
+f 1 13 19
+f 1 19 16
+f 1 16 7
+f 1 7 3
+f 1 3 8
+f 1 8 18
+f 1 18 9
+f 1 9 4
+f 1 4 2
+f 2 4 5
+f 2 5 12
+f 2 12 11
+f 2 11 10
+f 2 10 20
+f 2 20 26
+f 2 26 25
+f 2 25 24
+f 2 24 23
+f 2 23 14
+f 2 14 6
+f 3 7 8
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 5
+f 6 14 15
+f 6 15 13
+f 7 16 8
+f 8 17 22
+f 8 22 21
+f 8 21 23
+f 8 23 24
+f 8 24 18
+f 8 16 19
+f 8 19 13
+f 8 13 17
+f 9 18 20
+f 9 20 10
+f 13 15 21
+f 13 21 22
+f 13 22 17
+f 14 23 15
+f 15 23 21
+f 18 24 25
+f 18 25 26
+f 18 26 20
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_117.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_117.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4206d0266c44fd9144e5106e88ed240c970928a
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_117.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.00220859 0.01562452 0.10234270
+v 0.00220859 0.01532983 0.09985449
+v 0.00209548 0.01561928 0.10234270
+v 0.00340342 0.01526687 0.10234270
+v 0.00209548 0.01532458 0.09985449
+v 0.00519748 0.01443438 0.09985449
+v 0.00209548 0.00959861 0.10234270
+v 0.00589537 0.01445100 0.10234270
+v 0.00562223 0.01429534 0.09985449
+v 0.00209548 0.01024221 0.09985449
+v 0.00629365 0.00669190 0.10234270
+v 0.00209548 0.00974290 0.09986277
+v 0.00822487 0.01306235 0.10234270
+v 0.00795173 0.01292943 0.09985449
+v 0.00236983 0.00969393 0.09985449
+v 0.01438795 0.00669190 0.10234270
+v 0.00667027 0.00669190 0.09985449
+v 0.01314258 0.00960911 0.10234270
+v 0.01387055 0.00904420 0.10159716
+v 0.01182141 0.01021598 0.09985449
+v 0.01415332 0.00669190 0.09994387
+v 0.01408112 0.00831403 0.10234270
+v 0.01408594 0.00669190 0.09985449
+v 0.01387416 0.00905032 0.10234270
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 11
+f 1 11 16
+f 1 16 22
+f 1 22 24
+f 1 24 18
+f 1 18 13
+f 1 13 8
+f 1 8 4
+f 1 4 2
+f 2 4 6
+f 2 6 9
+f 2 9 14
+f 2 14 20
+f 2 20 23
+f 2 23 17
+f 2 17 15
+f 2 15 10
+f 2 10 5
+f 3 5 10
+f 3 10 12
+f 3 12 7
+f 4 8 9
+f 4 9 6
+f 7 12 11
+f 8 13 14
+f 8 14 9
+f 10 15 12
+f 11 12 17
+f 11 17 23
+f 11 23 21
+f 11 21 16
+f 12 15 17
+f 13 18 19
+f 13 19 14
+f 14 19 20
+f 16 21 19
+f 16 19 22
+f 18 24 19
+f 19 24 22
+f 19 21 20
+f 20 21 23
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_118.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_118.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b33ed81fde796487625aab11028cca62e920f8e
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_118.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.03949847 -0.00005971 0.00354628
+v 0.03879070 -0.00005971 0.00637445
+v 0.04017845 -0.00271108 0.00354628
+v 0.03429938 -0.00005971 0.00354628
+v 0.03810596 -0.00005971 0.00904451
+v 0.03992107 -0.00642400 0.00354628
+v 0.03810040 -0.00063970 0.00961811
+v 0.03831726 -0.00152806 0.00961811
+v 0.03852220 -0.00236783 0.00961811
+v 0.03946908 -0.00262698 0.00616878
+v 0.03428429 -0.00642400 0.00354628
+v 0.03206405 -0.00005971 0.00961811
+v 0.03794708 -0.00005971 0.00961811
+v 0.03822193 -0.00632495 0.00961811
+v 0.03821319 -0.00642400 0.00961811
+v 0.03221736 -0.00642400 0.00961811
+f 1 2 3
+f 1 3 6
+f 1 6 11
+f 1 11 4
+f 1 4 12
+f 1 12 13
+f 1 13 5
+f 1 5 2
+f 2 5 3
+f 3 5 7
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 6
+f 4 11 12
+f 5 13 7
+f 6 10 9
+f 6 9 14
+f 6 14 15
+f 6 15 16
+f 6 16 11
+f 7 13 12
+f 7 12 16
+f 7 16 15
+f 7 15 14
+f 7 14 9
+f 7 9 8
+f 11 16 12
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_119.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_119.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e308f5fd7f3b531cde6e25a9993a9fb4fc911367
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_119.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.01894536 0.02352754 0.00869704
+v 0.01750319 0.02434438 0.00869704
+v 0.01967446 0.02352754 0.00869704
+v 0.00709393 0.02352754 0.02250265
+v 0.00723556 0.03016489 0.00869704
+v 0.01967446 0.03122122 0.00869704
+v 0.01967446 0.02352754 0.02536058
+v 0.00709393 0.02352754 0.04019282
+v 0.00709393 0.03025613 0.00869704
+v 0.01884191 0.03171589 0.00869704
+v 0.01850692 0.03152487 0.01013988
+v 0.01967446 0.03056975 0.01110177
+v 0.01967446 0.02372854 0.02498137
+v 0.00709393 0.03611798 0.01477052
+v 0.01967446 0.02398800 0.02449118
+v 0.01967446 0.02655541 0.01961698
+v 0.01967446 0.02865667 0.01562759
+v 0.01772118 0.03107725 0.01310263
+v 0.00919869 0.03572738 0.01353425
+v 0.00709393 0.03808951 0.00869704
+v 0.01273454 0.03521133 0.00869704
+v 0.00994256 0.03615219 0.01097537
+v 0.01216432 0.03488773 0.01097537
+v 0.01596619 0.03260401 0.01136383
+v 0.01967446 0.03041722 0.01160738
+v 0.00709393 0.03750932 0.01097537
+v 0.01063470 0.03637743 0.00869704
+f 1 2 5
+f 1 5 9
+f 1 9 20
+f 1 20 27
+f 1 27 21
+f 1 21 10
+f 1 10 6
+f 1 6 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 2
+f 2 4 5
+f 3 6 12
+f 3 12 25
+f 3 25 17
+f 3 17 16
+f 3 16 15
+f 3 15 13
+f 3 13 7
+f 4 8 14
+f 4 14 26
+f 4 26 20
+f 4 20 9
+f 4 9 5
+f 6 10 11
+f 6 11 12
+f 7 13 8
+f 8 13 15
+f 8 15 16
+f 8 16 17
+f 8 17 18
+f 8 18 19
+f 8 19 14
+f 10 21 11
+f 11 21 22
+f 11 22 23
+f 11 23 12
+f 12 23 24
+f 12 24 25
+f 14 19 26
+f 17 25 18
+f 18 25 24
+f 18 24 23
+f 18 23 22
+f 18 22 19
+f 19 22 26
+f 20 26 22
+f 20 22 27
+f 21 27 22
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_12.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92b18d900eb25e0617b4c115e1d8d73a320be3fc
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_12.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v -0.02555254 -0.03098229 -0.00418143
+v -0.02883903 -0.02921354 -0.00718911
+v -0.02883903 -0.02919923 -0.00780727
+v -0.02555254 -0.03089419 -0.00780727
+v -0.02555218 -0.03055607 -0.01039419
+v -0.02555254 -0.02507362 -0.00418143
+v -0.02883903 -0.02927742 -0.00418143
+v -0.02918936 -0.02863424 -0.01039419
+v -0.02897681 -0.02876310 -0.01039419
+v -0.02555218 -0.02970144 -0.01715757
+v -0.02555218 -0.02466282 -0.01039419
+v -0.02883903 -0.02242600 -0.00418143
+v -0.02555218 -0.02430598 -0.01246857
+v -0.02555218 -0.02287094 -0.02178251
+v -0.02555610 -0.02284341 -0.02186909
+v -0.02918936 -0.01973213 -0.02186216
+v -0.02918936 -0.02092818 -0.01292570
+v -0.02918936 -0.02135660 -0.01039419
+v -0.02918936 -0.02831816 -0.01246857
+v -0.02870623 -0.02860891 -0.01246857
+v -0.02829253 -0.02837322 -0.01563555
+v -0.02555218 -0.02930055 -0.01982760
+v -0.02555218 -0.02303834 -0.02186909
+v -0.02906617 -0.01998213 -0.02186909
+v -0.02918936 -0.02000967 -0.02186909
+v -0.02918936 -0.02798996 -0.01460009
+v -0.02918936 -0.02769370 -0.01640609
+v -0.02918936 -0.02677078 -0.02178251
+v -0.02555218 -0.02898116 -0.02178251
+v -0.02555218 -0.02905715 -0.02133751
+v -0.02555218 -0.02896134 -0.02186909
+v -0.02918936 -0.02675316 -0.02186909
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 6
+f 1 6 12
+f 1 12 7
+f 1 7 2
+f 2 7 8
+f 2 8 3
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 4 10 5
+f 5 10 22
+f 5 22 30
+f 5 30 29
+f 5 29 31
+f 5 31 23
+f 5 23 14
+f 5 14 13
+f 5 13 11
+f 6 11 13
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 6 16 17
+f 6 17 12
+f 7 12 18
+f 7 18 8
+f 8 18 17
+f 8 17 16
+f 8 16 25
+f 8 25 32
+f 8 32 28
+f 8 28 27
+f 8 27 26
+f 8 26 19
+f 8 19 9
+f 9 19 20
+f 9 20 10
+f 10 20 21
+f 10 21 22
+f 12 17 18
+f 14 23 15
+f 15 23 31
+f 15 31 32
+f 15 32 25
+f 15 25 24
+f 15 24 16
+f 16 24 25
+f 19 26 21
+f 19 21 20
+f 21 26 27
+f 21 27 28
+f 21 28 29
+f 21 29 30
+f 21 30 22
+f 28 32 29
+f 29 32 31
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_120.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_120.obj
new file mode 100644
index 0000000000000000000000000000000000000000..05a08830c52e7124caf4e4da30fa0d4bedfb29af
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_120.obj
@@ -0,0 +1,141 @@
+# https://github.com/mikedh/trimesh
+v -0.00256452 -0.00272919 0.09318075
+v -0.00256452 -0.00272919 0.09053856
+v -0.00269656 -0.00272919 0.09325465
+v -0.00801717 -0.00273037 0.09673082
+v -0.00256333 -0.00778548 0.09673082
+v -0.00256333 -0.00274335 0.09318678
+v -0.00256333 -0.00273981 0.09053856
+v -0.00296419 -0.00272919 0.09040585
+v -0.00256333 -0.00717424 0.08908098
+v -0.00700847 -0.00273037 0.08902745
+v -0.00584396 -0.00272919 0.09496559
+v -0.01471521 -0.00273037 0.09673082
+v -0.00256333 -0.01478404 0.09673082
+v -0.00584396 -0.00272919 0.09016908
+v -0.00256333 -0.00728516 0.08909757
+v -0.00584396 -0.00728516 0.08954171
+v -0.00584396 -0.00399887 0.08905685
+v -0.00711077 -0.00728516 0.08971438
+v -0.00711077 -0.00273037 0.08904253
+v -0.01438334 -0.00273037 0.09533734
+v -0.01415495 -0.00490982 0.09673082
+v -0.00465328 -0.01434508 0.09673082
+v -0.00256333 -0.01457164 0.09584406
+v -0.01151904 -0.00273037 0.09077307
+v -0.01182117 -0.00273037 0.09091483
+v -0.01377550 -0.00273037 0.09333157
+v -0.00256333 -0.01145409 0.09059512
+v -0.00584396 -0.00844628 0.08995870
+v -0.00711077 -0.01060449 0.09134992
+v -0.00975383 -0.00984811 0.09207004
+v -0.01048893 -0.00728516 0.09130392
+v -0.01363039 -0.00360475 0.09374252
+v -0.01404195 -0.00521426 0.09673082
+v -0.00256333 -0.01385656 0.09350801
+v -0.00496254 -0.01423770 0.09673082
+v -0.00256333 -0.01153551 0.09063433
+v -0.00256333 -0.01380818 0.09341526
+v -0.00584396 -0.01293971 0.09471901
+v -0.00669683 -0.01270017 0.09503421
+v -0.01039496 -0.01032719 0.09468207
+v -0.01180332 -0.00949647 0.09673082
+v -0.01306419 -0.00750346 0.09673082
+v -0.01271924 -0.00690284 0.09505005
+v -0.00584396 -0.01370080 0.09673082
+v -0.00584396 -0.01345654 0.09586819
+v -0.00710720 -0.01292791 0.09673082
+v -0.00922807 -0.01162401 0.09673082
+v -0.01077917 -0.01059977 0.09673082
+f 1 2 8
+f 1 8 14
+f 1 14 11
+f 1 11 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 9
+f 2 9 10
+f 2 10 8
+f 3 11 4
+f 4 12 21
+f 4 21 33
+f 4 33 42
+f 4 42 41
+f 4 41 48
+f 4 48 47
+f 4 47 46
+f 4 46 44
+f 4 44 35
+f 4 35 22
+f 4 22 13
+f 4 13 5
+f 4 11 12
+f 5 13 23
+f 5 23 34
+f 5 34 37
+f 5 37 36
+f 5 36 27
+f 5 27 15
+f 5 15 9
+f 5 9 7
+f 5 7 6
+f 8 10 14
+f 9 15 16
+f 9 16 17
+f 9 17 10
+f 10 18 19
+f 10 19 14
+f 10 17 16
+f 10 16 18
+f 11 14 12
+f 12 20 21
+f 12 14 20
+f 13 22 23
+f 14 19 24
+f 14 24 25
+f 14 25 26
+f 14 26 20
+f 15 27 28
+f 15 28 16
+f 16 28 18
+f 18 29 30
+f 18 30 31
+f 18 31 25
+f 18 25 24
+f 18 24 19
+f 18 28 29
+f 20 26 21
+f 21 26 32
+f 21 32 33
+f 22 34 23
+f 22 35 34
+f 25 31 26
+f 26 31 32
+f 27 36 28
+f 28 36 29
+f 29 36 37
+f 29 37 30
+f 30 38 39
+f 30 39 40
+f 30 40 41
+f 30 41 42
+f 30 42 43
+f 30 43 32
+f 30 32 31
+f 30 37 34
+f 30 34 38
+f 32 43 33
+f 33 43 42
+f 34 35 38
+f 35 44 45
+f 35 45 38
+f 38 45 39
+f 39 45 44
+f 39 44 46
+f 39 46 40
+f 40 46 47
+f 40 47 48
+f 40 48 41
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_121.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_121.obj
new file mode 100644
index 0000000000000000000000000000000000000000..821747d955ce19992f45f097063d68904f4b6131
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_121.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v -0.02268400 -0.02100705 0.00931724
+v -0.02346294 -0.02100705 0.00683515
+v -0.03252341 -0.02100705 0.00931724
+v -0.01556231 -0.02525232 0.00931724
+v -0.02649094 -0.02100705 -0.00118921
+v -0.03321247 -0.02100705 0.00653068
+v -0.03173591 -0.02310002 0.00931724
+v -0.01318485 -0.02677915 0.00931724
+v -0.01318485 -0.02947354 -0.00118921
+v -0.03504639 -0.02100705 -0.00118921
+v -0.03329164 -0.02450976 -0.00118921
+v -0.03208258 -0.02358116 0.00653068
+v -0.03148554 -0.02692028 -0.00118921
+v -0.03123089 -0.02675028 0.00020973
+v -0.03062315 -0.02631885 0.00317219
+v -0.02990841 -0.02580403 0.00653068
+v -0.02912306 -0.02543516 0.00931724
+v -0.01318485 -0.03475808 0.00931724
+v -0.01318485 -0.03738993 -0.00118921
+v -0.03187929 -0.02640065 -0.00118921
+v -0.02892832 -0.02841663 -0.00118921
+v -0.02903960 -0.02761473 0.00184937
+v -0.02768716 -0.02724906 0.00653068
+v -0.02706445 -0.02689462 0.00931724
+v -0.01318485 -0.03523281 0.00770023
+v -0.01869945 -0.03163387 0.00931724
+v -0.01318485 -0.03713492 -0.00013692
+v -0.01416708 -0.03683180 -0.00118921
+v -0.01854110 -0.03433949 -0.00118921
+v -0.01357860 -0.03569310 0.00488281
+v -0.01318485 -0.03623038 0.00359393
+v -0.01516215 -0.03626566 -0.00118921
+f 1 2 5
+f 1 5 10
+f 1 10 6
+f 1 6 3
+f 1 3 7
+f 1 7 17
+f 1 17 24
+f 1 24 26
+f 1 26 18
+f 1 18 8
+f 1 8 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 4 8 9
+f 4 9 5
+f 5 9 19
+f 5 19 28
+f 5 28 32
+f 5 32 29
+f 5 29 21
+f 5 21 13
+f 5 13 20
+f 5 20 11
+f 5 11 10
+f 6 10 7
+f 7 10 11
+f 7 11 12
+f 7 12 13
+f 7 13 14
+f 7 14 15
+f 7 15 16
+f 7 16 17
+f 8 18 25
+f 8 25 31
+f 8 31 27
+f 8 27 19
+f 8 19 9
+f 11 20 12
+f 12 20 13
+f 13 21 14
+f 14 21 22
+f 14 22 23
+f 14 23 24
+f 14 24 15
+f 15 24 16
+f 16 24 17
+f 18 26 25
+f 19 27 28
+f 21 29 23
+f 21 23 22
+f 23 29 30
+f 23 30 25
+f 23 25 24
+f 24 25 26
+f 25 30 31
+f 27 31 28
+f 28 31 32
+f 29 32 30
+f 30 32 31
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_122.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_122.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c469e4f3d47ae168dfdff8c0bf92c46ad05fb292
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_122.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.02282997 -0.03108071 0.00354568
+v -0.01926576 -0.03319731 0.00354568
+v -0.02282997 -0.03034292 0.00609299
+v -0.02282997 -0.02509029 0.00354568
+v -0.01904281 -0.03307118 0.00437013
+v -0.02282997 -0.02905222 0.01028446
+v -0.01052246 -0.03818385 0.00354568
+v -0.02282997 -0.02190415 0.01047784
+v -0.01799133 -0.02781509 0.00354568
+v -0.01508392 -0.03344266 0.01047784
+v -0.02282997 -0.02899002 0.01047784
+v -0.00958546 -0.03860199 0.00354568
+v -0.00744182 -0.03874022 0.00651777
+v -0.01010819 -0.03794714 0.00507651
+v -0.00744182 -0.03090101 0.01047784
+v -0.00744182 -0.03381760 0.00354568
+v -0.00855657 -0.03701583 0.01047784
+v -0.00744182 -0.03955403 0.00354568
+v -0.00744182 -0.03759121 0.01047784
+f 1 2 3
+f 1 3 6
+f 1 6 11
+f 1 11 8
+f 1 8 4
+f 1 4 9
+f 1 9 16
+f 1 16 18
+f 1 18 12
+f 1 12 7
+f 1 7 2
+f 2 5 6
+f 2 6 3
+f 2 7 5
+f 4 8 9
+f 5 7 10
+f 5 10 6
+f 6 10 11
+f 7 12 13
+f 7 13 14
+f 7 14 10
+f 8 11 10
+f 8 10 17
+f 8 17 19
+f 8 19 15
+f 8 15 16
+f 8 16 9
+f 10 14 17
+f 12 18 13
+f 13 18 16
+f 13 16 15
+f 13 15 19
+f 13 19 14
+f 14 19 17
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_123.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_123.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ff01f7304a08ee98f40024da5b5d9b6fa12c295
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_123.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.02715346 0.00821137 0.02992861
+v 0.02110258 0.00821137 0.04546350
+v 0.02715346 0.00821137 0.01352477
+v 0.02715346 0.01240688 0.02755099
+v 0.02030477 0.01108664 0.04546350
+v 0.01866427 0.00821137 0.04546350
+v 0.02715346 0.01291371 0.02726020
+v 0.02082251 0.00821137 0.02680863
+v 0.02031889 0.01291371 0.02423259
+v 0.02223945 0.01291371 0.02020604
+v 0.02715346 0.01199902 0.01108900
+v 0.01940141 0.01291371 0.04546350
+v 0.01866427 0.01291371 0.04546350
+v 0.01866427 0.00821137 0.03142702
+v 0.02715346 0.01291371 0.01051426
+v 0.01988259 0.00821137 0.02879283
+v 0.01866427 0.01143925 0.02885098
+v 0.01866427 0.01291371 0.02783494
+v 0.01919116 0.00821137 0.03027755
+f 1 2 6
+f 1 6 14
+f 1 14 19
+f 1 19 16
+f 1 16 8
+f 1 8 3
+f 1 3 11
+f 1 11 15
+f 1 15 7
+f 1 7 4
+f 1 4 2
+f 2 5 12
+f 2 12 13
+f 2 13 6
+f 2 4 7
+f 2 7 5
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 5 7 12
+f 6 13 18
+f 6 18 17
+f 6 17 14
+f 7 15 10
+f 7 10 9
+f 7 9 18
+f 7 18 13
+f 7 13 12
+f 8 16 17
+f 8 17 9
+f 9 17 18
+f 10 15 11
+f 14 17 19
+f 16 19 17
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_124.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_124.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6ab7bb402714d4faa8f475afe92fc181780ed81
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_124.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.00638902 0.02961601 -0.04049217
+v 0.01528964 0.02441747 -0.04062552
+v 0.02310838 0.01909201 -0.04062552
+v 0.00638902 0.03373159 -0.02801158
+v 0.00638902 0.03609582 -0.04049217
+v 0.01528964 0.03122257 -0.04062552
+v 0.02310838 0.02650998 -0.04062552
+v 0.02310838 0.02432624 -0.02801158
+v 0.00638902 0.03935457 -0.02801158
+v 0.00638902 0.03646870 -0.04014151
+v 0.00676547 0.03611169 -0.04049217
+v 0.01555316 0.03106985 -0.04062552
+v 0.01172644 0.03334483 -0.04049217
+v 0.01430432 0.03257923 -0.03880924
+v 0.02310838 0.02657345 -0.04051193
+v 0.01988071 0.02846364 -0.04062552
+v 0.02310838 0.03038755 -0.02801158
+v 0.00686695 0.03932086 -0.02801158
+v 0.00638902 0.03758537 -0.03676577
+v 0.00638902 0.03710935 -0.03844253
+v 0.01996091 0.02851323 -0.04041809
+v 0.00852824 0.03650441 -0.03666453
+v 0.00925168 0.03700423 -0.03356166
+v 0.01502449 0.03300963 -0.03575824
+v 0.02310838 0.02873735 -0.03398147
+v 0.02310838 0.02837637 -0.03526064
+v 0.02310838 0.02757705 -0.03799803
+v 0.02310838 0.03029433 -0.02836471
+v 0.01918182 0.03269228 -0.02801158
+v 0.01049234 0.03771826 -0.02801158
+v 0.00693242 0.03769842 -0.03537053
+v 0.02310838 0.02954659 -0.03106999
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 19
+f 1 19 20
+f 1 20 10
+f 1 10 5
+f 1 5 6
+f 1 6 2
+f 2 6 12
+f 2 12 16
+f 2 16 7
+f 2 7 3
+f 3 7 15
+f 3 15 27
+f 3 27 26
+f 3 26 25
+f 3 25 32
+f 3 32 28
+f 3 28 17
+f 3 17 8
+f 3 8 4
+f 4 8 17
+f 4 17 29
+f 4 29 30
+f 4 30 18
+f 4 18 9
+f 5 10 11
+f 5 11 6
+f 6 11 13
+f 6 13 14
+f 6 14 12
+f 7 16 15
+f 9 18 19
+f 10 20 14
+f 10 14 13
+f 10 13 11
+f 12 21 15
+f 12 15 16
+f 12 14 21
+f 14 20 22
+f 14 22 23
+f 14 23 24
+f 14 24 25
+f 14 25 26
+f 14 26 27
+f 14 27 15
+f 14 15 21
+f 17 28 29
+f 18 30 31
+f 18 31 19
+f 19 31 22
+f 19 22 20
+f 22 31 23
+f 23 31 30
+f 23 30 29
+f 23 29 28
+f 23 28 24
+f 24 28 32
+f 24 32 25
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_125.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_125.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3a8071912b3dec93909cba86b8af78bdf7d1d58
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_125.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v -0.01761508 0.01051796 -0.06123704
+v -0.01855888 0.01051796 -0.05981205
+v -0.01761508 0.00585986 -0.06388737
+v -0.01761508 0.01051796 -0.07242367
+v -0.02791452 0.01051850 -0.04676007
+v -0.02869164 0.01051850 -0.04515182
+v -0.01867577 0.01051796 -0.05963973
+v -0.01761508 0.00585986 -0.07309104
+v -0.03060736 0.00503989 -0.04635527
+v -0.02791452 0.00503989 -0.05046889
+v -0.01761508 0.00668036 -0.07307736
+v -0.02018237 0.00669752 -0.07241546
+v -0.01891821 0.01051796 -0.07200519
+v -0.02791452 0.01051850 -0.05959050
+v -0.03707102 0.01051850 -0.04515182
+v -0.03174164 0.00503989 -0.04515182
+v -0.02014773 0.00585986 -0.07254401
+v -0.02791452 0.00503989 -0.06323641
+v -0.02161321 0.00585986 -0.07198605
+v -0.02178638 0.00819803 -0.07064037
+v -0.02121058 0.01051796 -0.06947521
+v -0.03229146 0.01051850 -0.05375103
+v -0.03665108 0.01051850 -0.04646194
+v -0.03898674 0.00674311 -0.04515182
+v -0.03972706 0.00503989 -0.04515182
+v -0.03143642 0.00503989 -0.05881646
+v -0.02311764 0.00585986 -0.07057200
+v -0.02370859 0.00669752 -0.06910050
+v -0.03594324 0.00958484 -0.04957724
+v -0.03467475 0.01051850 -0.05055641
+v -0.03875513 0.00630819 -0.04647015
+v -0.03620949 0.01051850 -0.04763804
+v -0.03970758 0.00503989 -0.04521746
+v -0.03502759 0.00503989 -0.05403821
+v -0.03584150 0.00503989 -0.05291408
+v -0.03646492 0.00630497 -0.05113352
+f 1 2 3
+f 1 3 8
+f 1 8 11
+f 1 11 4
+f 1 4 14
+f 1 14 5
+f 1 5 6
+f 1 6 2
+f 2 7 3
+f 2 6 7
+f 3 7 6
+f 3 6 9
+f 3 9 10
+f 3 10 18
+f 3 18 8
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 5 14 22
+f 5 22 30
+f 5 30 32
+f 5 32 23
+f 5 23 15
+f 5 15 6
+f 6 15 24
+f 6 24 25
+f 6 25 16
+f 6 16 9
+f 8 17 11
+f 8 18 17
+f 9 16 25
+f 9 25 33
+f 9 33 35
+f 9 35 34
+f 9 34 26
+f 9 26 18
+f 9 18 10
+f 11 17 12
+f 12 17 19
+f 12 19 13
+f 13 19 20
+f 13 20 21
+f 13 21 14
+f 14 21 22
+f 15 23 24
+f 17 18 19
+f 18 26 27
+f 18 27 19
+f 19 27 20
+f 20 27 28
+f 20 28 29
+f 20 29 21
+f 21 29 30
+f 21 30 22
+f 23 31 24
+f 23 32 31
+f 24 31 33
+f 24 33 25
+f 26 34 27
+f 27 34 35
+f 27 35 36
+f 27 36 29
+f 27 29 28
+f 29 36 31
+f 29 31 32
+f 29 32 30
+f 31 36 33
+f 33 36 35
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_126.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_126.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0d7b0012f1aca5bdc150564a821ba2d72c25a37
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_126.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v -0.03581535 -0.01660610 -0.02186909
+v -0.03077866 -0.01660610 -0.02186909
+v -0.03510917 -0.01660610 -0.02644361
+v -0.03464207 -0.02126554 -0.02186909
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+v -0.03510515 -0.01660610 -0.02645817
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+v -0.03371187 -0.01683714 -0.03116186
+v -0.03357526 -0.01729316 -0.03116186
+v -0.03320861 -0.01938096 -0.03024587
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+v -0.03272141 -0.01938096 -0.03116186
+v -0.03196400 -0.02123046 -0.03116186
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+f 22 29 24
+f 22 24 23
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_127.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_127.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8dff6d8dc8cedaf7202533bfe3f11b97921cdaf8
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_127.obj
@@ -0,0 +1,153 @@
+# https://github.com/mikedh/trimesh
+v -0.01671388 0.00222193 0.08607763
+v -0.01671388 0.00222326 0.08607763
+v -0.00925810 0.00222193 0.08607763
+v -0.01832998 0.00222193 0.09985818
+v -0.01530793 0.00621602 0.08607763
+v -0.01832998 0.00222326 0.09985818
+v -0.01778746 0.00446521 0.09755324
+v -0.00896487 0.00304623 0.08607763
+v -0.00925810 0.00222193 0.08652795
+v -0.01872158 0.00222193 0.10430373
+v -0.01872254 0.00222326 0.10430373
+v -0.01514842 0.00666733 0.08607763
+v -0.01794506 0.00473865 0.09985818
+v -0.00896487 0.01422942 0.08607763
+v -0.00896487 0.00304623 0.08652795
+v -0.00896487 0.00337144 0.09093081
+v -0.00956087 0.00222193 0.09093508
+v -0.01830037 0.00222193 0.10711874
+v -0.01830037 0.00222326 0.10711874
+v -0.01807113 0.00496297 0.10685196
+v -0.01815805 0.00511164 0.10430373
+v -0.01375487 0.00907122 0.08607763
+v -0.01329068 0.01327636 0.10259850
+v -0.01664989 0.00696068 0.09985818
+v -0.01359823 0.00934068 0.08607763
+v -0.00944626 0.01404625 0.08607763
+v -0.00896487 0.01550769 0.09985818
+v -0.00896487 0.00720492 0.10430373
+v -0.01079300 0.00222193 0.09985818
+v -0.01555435 0.00222193 0.10787638
+v -0.01555435 0.00222326 0.10787852
+v -0.01562599 0.00653327 0.10752211
+v -0.01402422 0.01111008 0.10711234
+v -0.01339574 0.01341972 0.10660013
+v -0.01339574 0.01341972 0.10556077
+v -0.01152941 0.01456658 0.10416927
+v -0.01084553 0.01466215 0.09985818
+v -0.00975859 0.01392678 0.08607763
+v -0.01198119 0.01156272 0.08607763
+v -0.00967931 0.01395731 0.08607763
+v -0.00896487 0.01578246 0.10423970
+v -0.00896487 0.00815400 0.10615194
+v -0.01145395 0.00222193 0.10430373
+v -0.01258674 0.00222193 0.10728307
+v -0.00896487 0.00918272 0.10744527
+v -0.00896487 0.01111671 0.10763949
+v -0.00896487 0.01305735 0.10772699
+v -0.01111106 0.01111008 0.10779955
+v -0.01111106 0.01414314 0.10718276
+v -0.00896487 0.01545991 0.10579340
+v -0.00896487 0.00855354 0.10671324
+v -0.00896487 0.01462631 0.10740685
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+f 1 25 39
+f 1 39 38
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+f 1 40 26
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+f 27 40 38
+f 27 38 37
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+f 28 42 43
+f 28 43 29
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+f 31 45 46
+f 31 46 47
+f 31 47 48
+f 31 48 32
+f 32 48 33
+f 33 48 49
+f 33 49 34
+f 34 50 41
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+f 34 36 35
+f 34 49 50
+f 36 41 37
+f 42 51 44
+f 42 44 43
+f 44 51 45
+f 47 52 49
+f 47 49 48
+f 49 52 50
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_128.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_128.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a96101e273ce2b4e2ef3ebf2e14da178bb02f00
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_128.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v -0.00232644 -0.03529059 -0.04020867
+v 0.00241701 -0.03454459 -0.04020867
+v -0.00232644 -0.02939472 -0.04020867
+v -0.00232644 -0.03523934 -0.04041914
+v 0.00618262 -0.03383466 -0.04020867
+v 0.00220712 -0.03452561 -0.04041914
+v 0.00618262 -0.03382706 -0.04023717
+v 0.00618262 -0.02823301 -0.04020867
+v 0.00618262 -0.02767114 -0.04103084
+v 0.00618262 -0.01821231 -0.05493329
+v -0.00232644 -0.01863182 -0.05629700
+v -0.00232644 -0.03373975 -0.04400383
+v 0.00220712 -0.03332973 -0.04340748
+v 0.00517229 -0.03303171 -0.04294706
+v 0.00618262 -0.03339617 -0.04147591
+v 0.00618262 -0.03373215 -0.04057700
+v 0.00618262 -0.01798643 -0.05527531
+v 0.00618262 -0.01615275 -0.05875695
+v -0.00232644 -0.01721385 -0.05905075
+v -0.00232644 -0.03052416 -0.04877903
+v -0.00057065 -0.02818176 -0.05202169
+v 0.00220712 -0.02948963 -0.04929426
+v 0.00220712 -0.03181875 -0.04573588
+v 0.00618262 -0.02908721 -0.04864748
+v 0.00618262 -0.03205413 -0.04406522
+v 0.00618262 -0.01590028 -0.05929411
+v -0.00232644 -0.01751567 -0.06260693
+v -0.00232644 -0.02950862 -0.05027867
+v -0.00225481 -0.02957126 -0.05017782
+v -0.00232644 -0.02273957 -0.06010532
+v 0.00220712 -0.02249280 -0.05964710
+v 0.00618262 -0.02884993 -0.04898950
+v 0.00618262 -0.01665577 -0.06212678
+v 0.00220712 -0.01753275 -0.06249950
+v -0.00232644 -0.02041045 -0.06260693
+v 0.00220712 -0.02016368 -0.06249950
+v 0.00618262 -0.01966066 -0.06213555
+v 0.00618262 -0.01927342 -0.06213555
+f 1 2 5
+f 1 5 8
+f 1 8 3
+f 1 3 11
+f 1 11 19
+f 1 19 27
+f 1 27 35
+f 1 35 30
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+f 1 28 20
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+f 1 12 4
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+f 14 23 22
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+f 21 29 28
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+f 22 31 24
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+f 27 33 34
+f 27 34 36
+f 27 36 35
+f 30 35 36
+f 30 36 31
+f 31 36 37
+f 31 37 32
+f 33 38 34
+f 34 38 37
+f 34 37 36
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_129.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_129.obj
new file mode 100644
index 0000000000000000000000000000000000000000..580eed8fb993b881338869b6ce82a2da6c8e580a
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_129.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.03312445 -0.01885222 -0.04661396
+v -0.03283038 -0.01995053 -0.04661396
+v -0.03340158 -0.01885222 -0.04565776
+v -0.02422703 -0.01885222 -0.04661396
+v -0.03281653 -0.01999915 -0.04661396
+v -0.03403590 -0.01999915 -0.04235591
+v -0.03432689 -0.01885222 -0.04242317
+v -0.01944807 -0.02247719 -0.04661396
+v -0.02748639 -0.01885222 -0.03922475
+v -0.03187736 -0.02247719 -0.04661396
+v -0.03482264 -0.02015103 -0.03922475
+v -0.03517675 -0.01885222 -0.03922475
+v -0.03465175 -0.01885222 -0.04120442
+v -0.03203286 -0.02247719 -0.04606860
+v -0.02388370 -0.02247719 -0.03922475
+v -0.03436845 -0.02114643 -0.03922475
+v -0.03334307 -0.02247719 -0.04076320
+v -0.03371104 -0.02247719 -0.03922475
+f 1 2 3
+f 1 3 7
+f 1 7 13
+f 1 13 12
+f 1 12 9
+f 1 9 4
+f 1 4 8
+f 1 8 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 7
+f 4 9 8
+f 5 10 6
+f 6 11 12
+f 6 12 13
+f 6 13 7
+f 6 10 14
+f 6 14 11
+f 8 15 18
+f 8 18 17
+f 8 17 14
+f 8 14 10
+f 8 9 15
+f 9 12 11
+f 9 11 16
+f 9 16 18
+f 9 18 15
+f 11 14 16
+f 14 17 16
+f 16 17 18
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_13.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9233345ee8e7401d7481831b8c8da6f7114352f7
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_13.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v 0.00386148 -0.01651981 0.06632010
+v 0.00386148 -0.00942737 0.06632010
+v 0.00413325 -0.01644987 0.06632010
+v 0.00664978 -0.01511112 0.08607338
+v 0.00386148 -0.01583575 0.08580654
+v 0.00952201 -0.00222862 0.07366377
+v 0.00999628 -0.00222862 0.06632010
+v 0.00386148 -0.00868595 0.08208057
+v 0.00664978 -0.01579378 0.06632010
+v 0.00666577 -0.01510692 0.08607338
+v 0.00664978 -0.00621829 0.08607338
+v 0.00386148 -0.00868176 0.08580654
+v 0.00925824 -0.00222862 0.08208057
+v 0.01745928 -0.00222862 0.06632010
+v 0.00386148 -0.00868456 0.08219078
+v 0.00666710 -0.01578818 0.06632010
+v 0.00975914 -0.01392625 0.08607338
+v 0.00925690 -0.00222862 0.08607338
+v 0.00925690 -0.00222862 0.08318656
+v 0.01746860 -0.00237970 0.06632010
+v 0.01671058 -0.00222862 0.08607338
+v 0.00824709 -0.01514189 0.06632010
+v 0.01197993 -0.01156070 0.08607338
+v 0.01027471 -0.01427597 0.06632010
+v 0.01148834 -0.01320441 0.06632010
+v 0.01249416 -0.01224337 0.06632010
+v 0.01683447 -0.00423185 0.06632010
+v 0.01530777 -0.00621689 0.08607338
+v 0.01343203 -0.00956586 0.08607338
+v 0.01318424 -0.01123755 0.06632010
+v 0.01359589 -0.00934064 0.08607338
+v 0.01595922 -0.00666734 0.06632010
+v 0.01514791 -0.00666734 0.08607338
+v 0.01399955 -0.01002191 0.06632010
+v 0.01375309 -0.00907205 0.08607338
+v 0.01511593 -0.00811240 0.06632010
+f 1 2 7
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+f 1 20 27
+f 1 27 32
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+f 1 34 30
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+f 1 24 22
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+f 4 12 5
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+f 17 26 23
+f 20 21 27
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+f 26 30 31
+f 26 31 29
+f 27 28 33
+f 27 33 32
+f 30 34 31
+f 31 34 35
+f 32 33 35
+f 32 35 36
+f 34 36 35
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_130.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_130.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6209c4fe1aaaf68875e91820cf0ef4a437e8447
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_130.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.00546522 0.04274913 -0.02457909
+v 0.00666068 0.04271154 -0.02457292
+v 0.00666797 0.04271154 -0.02457909
+v 0.00546522 0.04261489 -0.02902266
+v 0.00546522 0.03638599 -0.02457292
+v 0.01063885 0.04099144 -0.02457292
+v 0.00666797 0.04257551 -0.02902266
+v 0.01063703 0.04099323 -0.02457909
+v 0.01051129 0.04092163 -0.02902266
+v 0.00546522 0.04199558 -0.03244921
+v 0.00546522 0.03608349 -0.02457292
+v 0.02408227 0.03332882 -0.02457292
+v 0.00666797 0.04195441 -0.03244921
+v 0.00993907 0.04059587 -0.03244921
+v 0.00905888 0.04097354 -0.03244921
+v 0.02408227 0.03332882 -0.02457909
+v 0.02408227 0.03320173 -0.02852764
+v 0.02408227 0.03318562 -0.02902266
+v 0.01837834 0.03589555 -0.03241760
+v 0.00546522 0.03499522 -0.03244921
+v 0.00546522 0.03598147 -0.02457909
+v 0.02408227 0.02556775 -0.02457292
+v 0.01831638 0.03592061 -0.03244921
+v 0.02408227 0.03254662 -0.03244921
+v 0.01841479 0.03586512 -0.03244921
+v 0.00611944 0.03462114 -0.03244921
+v 0.02408227 0.02446337 -0.03244921
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 20
+f 1 20 21
+f 1 21 11
+f 1 11 5
+f 1 5 2
+f 2 5 11
+f 2 11 22
+f 2 22 12
+f 2 12 6
+f 2 6 3
+f 3 7 4
+f 3 6 8
+f 3 8 9
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+f 4 7 10
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+f 7 15 13
+f 8 12 16
+f 8 16 17
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+f 10 25 24
+f 10 24 27
+f 10 27 26
+f 10 26 20
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+f 12 18 17
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+f 14 19 23
+f 18 24 19
+f 19 24 25
+f 19 25 23
+f 20 26 21
+f 21 26 27
+f 21 27 22
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_131.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_131.obj
new file mode 100644
index 0000000000000000000000000000000000000000..877a103d7e54a53566ddc60130a014e975ab3d62
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_131.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.02092640 -0.02755066 -0.02800969
+v 0.02843888 -0.02755066 -0.02800969
+v 0.02281623 -0.02755066 -0.02134127
+v 0.03385774 -0.01052626 -0.02011563
+v 0.03385774 -0.00739756 -0.02800969
+v 0.02897938 -0.02755066 -0.02636055
+v 0.03299320 -0.01979992 -0.02800969
+v 0.03325649 -0.02025561 -0.02644092
+v 0.02359216 -0.02755066 -0.02012722
+v 0.02359722 -0.02754276 -0.02011563
+v 0.03385774 -0.02089674 -0.02011563
+v 0.03385774 -0.01825924 -0.02800969
+v 0.02980467 -0.02755066 -0.02178485
+v 0.03385774 -0.02077246 -0.02178485
+v 0.03370711 -0.02102694 -0.02178485
+v 0.03385774 -0.01923967 -0.02638296
+v 0.02384026 -0.02755066 -0.02011563
+v 0.03365648 -0.02124196 -0.02011563
+v 0.02987682 -0.02755066 -0.02011563
+f 1 2 6
+f 1 6 13
+f 1 13 19
+f 1 19 17
+f 1 17 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 7
+f 1 7 2
+f 2 7 8
+f 2 8 6
+f 3 9 10
+f 3 10 4
+f 4 11 14
+f 4 14 16
+f 4 16 12
+f 4 12 5
+f 4 10 17
+f 4 17 19
+f 4 19 18
+f 4 18 11
+f 6 8 14
+f 6 14 15
+f 6 15 13
+f 7 12 16
+f 7 16 8
+f 8 16 14
+f 9 17 10
+f 11 18 14
+f 13 15 18
+f 13 18 19
+f 14 18 15
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_132.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_132.obj
new file mode 100644
index 0000000000000000000000000000000000000000..360d8619358653faafe99d1243fa1cec608bf560
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_132.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.00630607 0.01183880 -0.06687704
+v -0.01513432 0.01183880 -0.06318741
+v -0.01571217 0.01087181 -0.06318741
+v -0.01761508 0.00778723 -0.06318741
+v -0.01761508 0.00415105 -0.06439850
+v -0.01247533 0.00415105 -0.06687704
+v -0.01761508 0.01183880 -0.06687704
+v -0.01761508 0.01183880 -0.06318741
+v -0.01761508 0.00415105 -0.06687704
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 9
+f 1 9 7
+f 1 7 8
+f 1 8 2
+f 2 8 4
+f 2 4 3
+f 4 8 7
+f 4 7 9
+f 4 9 5
+f 5 9 6
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_133.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_133.obj
new file mode 100644
index 0000000000000000000000000000000000000000..757cf458a2091ab34a9d2ccd3e65b4bddc48f2a9
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_133.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v -0.02850910 0.00670902 0.01399348
+v -0.02872682 -0.00005971 0.01399348
+v -0.03224739 0.00670902 0.00858409
+v -0.03697210 0.00670902 0.01399348
+v -0.03109691 -0.00005971 0.01097185
+v -0.03680494 -0.00005971 0.01399348
+v -0.03322143 -0.00005971 0.00858409
+v -0.03863952 0.00670902 0.00858409
+v -0.03734975 0.00670902 0.01306041
+v -0.03766136 0.00549984 0.01399348
+v -0.03708147 0.00051075 0.01399348
+v -0.03728990 -0.00005971 0.01315149
+v -0.03858277 -0.00005971 0.00858409
+v -0.03864571 0.00669444 0.00858409
+v -0.03813909 0.00669709 0.01051961
+v -0.03813600 0.00670902 0.01051113
+v -0.03737967 0.00670902 0.01296456
+v -0.03777899 0.00526066 0.01399348
+v -0.03780272 0.00284032 0.01399348
+v -0.03737348 -0.00005971 0.01292696
+v -0.03834442 -0.00005971 0.00951398
+v -0.03904916 0.00185178 0.00858409
+v -0.03883866 0.00462195 0.00858409
+v -0.03780272 0.00483795 0.01399348
+v -0.03832791 0.00165500 0.01121014
+v -0.03805551 -0.00005971 0.01055615
+f 1 2 3
+f 1 3 8
+f 1 8 16
+f 1 16 17
+f 1 17 9
+f 1 9 4
+f 1 4 10
+f 1 10 18
+f 1 18 24
+f 1 24 19
+f 1 19 11
+f 1 11 6
+f 1 6 2
+f 2 5 3
+f 2 6 12
+f 2 12 20
+f 2 20 26
+f 2 26 21
+f 2 21 13
+f 2 13 7
+f 2 7 5
+f 3 5 7
+f 3 7 13
+f 3 13 22
+f 3 22 23
+f 3 23 14
+f 3 14 8
+f 4 9 10
+f 6 11 12
+f 8 14 15
+f 8 15 16
+f 9 17 10
+f 10 17 16
+f 10 16 18
+f 11 19 12
+f 12 19 20
+f 13 21 22
+f 14 23 18
+f 14 18 15
+f 15 18 16
+f 18 23 22
+f 18 22 24
+f 19 24 22
+f 19 22 25
+f 19 25 20
+f 20 25 26
+f 21 26 25
+f 21 25 22
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_134.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_134.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a944abe212655628ed088e5594961212a1d854e6
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_134.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v -0.00925766 0.00222193 0.08652795
+v -0.00956154 0.00222193 0.09093508
+v -0.00929565 -0.00224114 0.08652795
+v -0.00925859 0.00222193 0.08607550
+v -0.00959490 -0.00224114 0.09079635
+v -0.01079283 0.00222193 0.09985818
+v -0.01084100 -0.00224114 0.09988166
+v -0.00929657 -0.00224114 0.08607550
+v -0.01671391 0.00222193 0.08607550
+v -0.01145433 0.00222193 0.10430372
+v -0.01145989 -0.00224114 0.10430372
+v -0.01640818 -0.00224114 0.08607550
+v -0.01794056 -0.00060069 0.09631114
+v -0.01832968 0.00222193 0.09985818
+v -0.01641281 -0.00222366 0.08607550
+v -0.01258648 0.00222193 0.10728306
+v -0.01257258 -0.00224114 0.10731935
+v -0.01802209 -0.00224114 0.10081003
+v -0.01816106 -0.00140366 0.09985818
+v -0.01872158 0.00222193 0.10430372
+v -0.01555397 0.00222193 0.10787638
+v -0.01555397 -0.00222191 0.10769711
+v -0.01555490 -0.00224114 0.10769497
+v -0.01822314 -0.00224114 0.10324516
+v -0.01827502 -0.00224114 0.10444671
+v -0.01810084 -0.00222191 0.10690318
+v -0.01830096 0.00222193 0.10711873
+v -0.01809806 -0.00224114 0.10690105
+v -0.01810918 -0.00224114 0.10675592
+f 1 2 3
+f 1 3 8
+f 1 8 4
+f 1 4 9
+f 1 9 14
+f 1 14 20
+f 1 20 27
+f 1 27 21
+f 1 21 16
+f 1 16 10
+f 1 10 6
+f 1 6 2
+f 2 5 3
+f 2 6 7
+f 2 7 5
+f 3 5 7
+f 3 7 11
+f 3 11 17
+f 3 17 23
+f 3 23 28
+f 3 28 29
+f 3 29 25
+f 3 25 24
+f 3 24 18
+f 3 18 12
+f 3 12 8
+f 4 8 12
+f 4 12 15
+f 4 15 9
+f 6 10 11
+f 6 11 7
+f 9 13 14
+f 9 15 13
+f 10 16 17
+f 10 17 11
+f 12 18 19
+f 12 19 15
+f 13 19 20
+f 13 20 14
+f 13 15 19
+f 16 21 17
+f 17 21 22
+f 17 22 23
+f 18 24 19
+f 19 24 20
+f 20 25 26
+f 20 26 27
+f 20 24 25
+f 21 27 22
+f 22 27 26
+f 22 26 23
+f 23 26 28
+f 25 29 26
+f 26 29 28
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_135.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_135.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c0f91a2404cdd9172d65868e46c3fce2e677436
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_135.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v -0.03229562 0.02397059 -0.00432196
+v -0.03226881 0.02397059 -0.00399851
+v -0.02974391 0.02809301 -0.00314212
+v -0.02982677 0.02809301 -0.00432196
+v -0.02618808 0.02397059 -0.00432196
+v -0.03211283 0.02397059 -0.00312595
+v -0.03196782 0.02397059 -0.00239741
+v -0.02878001 0.02809301 0.00109051
+v -0.02361809 0.02809301 -0.00432196
+v -0.02471359 0.02631975 -0.00432196
+v -0.02178412 0.02809301 -0.00130382
+v -0.02029135 0.02809301 0.00235892
+v -0.01984779 0.02809301 0.00354492
+v -0.02057285 0.02738516 0.00354492
+v -0.02323423 0.02486207 0.00354492
+v -0.02418595 0.02397059 0.00353799
+v -0.03144261 0.02397059 -0.00014093
+v -0.02868130 0.02809301 0.00150946
+v -0.02470385 0.02633548 -0.00432196
+v -0.02800864 0.02809301 0.00354492
+v -0.02664139 0.02397059 0.00354492
+v -0.03100636 0.02397059 0.00150946
+v -0.02832913 0.02809301 0.00266158
+v -0.03041169 0.02397059 0.00354492
+v -0.02806957 0.02809301 0.00337703
+v -0.02819021 0.02785571 0.00354492
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 19
+f 1 19 10
+f 1 10 5
+f 1 5 16
+f 1 16 21
+f 1 21 24
+f 1 24 22
+f 1 22 17
+f 1 17 7
+f 1 7 6
+f 1 6 2
+f 2 6 3
+f 3 6 7
+f 3 7 8
+f 3 8 18
+f 3 18 23
+f 3 23 25
+f 3 25 20
+f 3 20 13
+f 3 13 12
+f 3 12 11
+f 3 11 9
+f 3 9 4
+f 5 10 11
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 5 14 15
+f 5 15 16
+f 7 17 8
+f 8 17 18
+f 9 11 19
+f 10 19 11
+f 13 20 26
+f 13 26 24
+f 13 24 21
+f 13 21 15
+f 13 15 14
+f 15 21 16
+f 17 22 18
+f 18 22 24
+f 18 24 23
+f 20 25 26
+f 23 26 25
+f 23 24 26
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_136.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_136.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fcf61074eab653ba2394ed021f7a008b7161d8f5
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_136.obj
@@ -0,0 +1,120 @@
+# https://github.com/mikedh/trimesh
+v -0.04307444 0.00222076 -0.01120764
+v -0.04261761 0.00222076 -0.00680080
+v -0.04261349 0.00237335 -0.00680080
+v -0.04306895 0.00237335 -0.01120764
+v -0.04253255 0.00013413 -0.01161160
+v -0.04252432 0.00013413 -0.01124436
+v -0.04000697 -0.00892202 -0.00896953
+v -0.04205514 0.00013413 -0.00680080
+v -0.04157363 0.00013413 -0.00444436
+v -0.04170944 0.00222076 -0.00235826
+v -0.04170258 0.00237335 -0.00235826
+v -0.03601487 0.00237335 -0.01120764
+v -0.04190836 -0.00222275 -0.01161160
+v -0.03553198 0.00013413 -0.01161160
+v -0.04190013 -0.00222275 -0.01124436
+v -0.04141861 -0.00222275 -0.00680080
+v -0.04068329 -0.00666809 -0.01124436
+v -0.03942804 -0.01125316 -0.01124436
+v -0.03801640 -0.01640815 -0.01124436
+v -0.03762817 -0.01640815 -0.00765462
+v -0.03752254 -0.01640815 -0.00672939
+v -0.04012357 -0.00490871 -0.00400674
+v -0.04143781 0.00217664 -0.00119126
+v -0.04142958 0.00237335 -0.00119126
+v -0.04114972 0.00013413 -0.00240416
+v -0.04039383 -0.00165283 -0.00119024
+v -0.03418756 0.00237335 -0.00119126
+v -0.02905956 -0.01640815 -0.00119024
+v -0.02928592 -0.01640815 -0.00242864
+v -0.03099525 -0.01640815 -0.01161160
+v -0.03376091 -0.00630960 -0.01161160
+v -0.03499970 -0.00178887 -0.01161160
+v -0.04069152 -0.00666809 -0.01161160
+v -0.03971476 -0.00787043 -0.00601022
+v -0.03824002 -0.01562313 -0.01161160
+v -0.03802464 -0.01640815 -0.01161160
+v -0.03661163 -0.01640815 -0.00235928
+v -0.04088084 0.00013413 -0.00119024
+v -0.03659791 -0.01551651 -0.00119024
+v -0.03369232 0.00013413 -0.00119024
+v -0.03635372 -0.01640815 -0.00119024
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 8 9
+f 2 9 10
+f 2 10 3
+f 2 7 8
+f 3 10 11
+f 3 11 24
+f 3 24 27
+f 3 27 12
+f 3 12 4
+f 4 12 14
+f 4 14 5
+f 5 13 15
+f 5 15 6
+f 5 14 32
+f 5 32 31
+f 5 31 30
+f 5 30 36
+f 5 36 35
+f 5 35 33
+f 5 33 13
+f 6 15 7
+f 7 16 8
+f 7 15 17
+f 7 17 18
+f 7 18 19
+f 7 19 20
+f 7 20 21
+f 7 21 16
+f 8 16 22
+f 8 22 9
+f 9 22 10
+f 10 23 24
+f 10 24 11
+f 10 22 25
+f 10 25 26
+f 10 26 23
+f 12 27 28
+f 12 28 29
+f 12 29 30
+f 12 30 31
+f 12 31 32
+f 12 32 14
+f 13 33 17
+f 13 17 15
+f 16 21 34
+f 16 34 22
+f 17 33 35
+f 17 35 18
+f 18 35 19
+f 19 35 36
+f 19 36 30
+f 19 30 29
+f 19 29 28
+f 19 28 41
+f 19 41 37
+f 19 37 21
+f 19 21 20
+f 21 37 22
+f 21 22 34
+f 22 37 26
+f 22 26 25
+f 23 26 38
+f 23 38 24
+f 24 38 40
+f 24 40 27
+f 26 37 39
+f 26 39 41
+f 26 41 28
+f 26 28 40
+f 26 40 38
+f 27 40 28
+f 37 41 39
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_137.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_137.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9286a6592fc23cfb5e8390077166567f9390f8f
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_137.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v 0.01432375 -0.00382746 0.09654486
+v 0.01402380 -0.00524650 0.09654486
+v 0.01417319 -0.00382746 0.09566792
+v 0.00722153 -0.00382746 0.09654486
+v 0.01400969 -0.00522346 0.09643762
+v 0.01264759 -0.00743945 0.09654486
+v 0.01416495 -0.00382746 0.09562196
+v 0.00230832 -0.00382746 0.09381555
+v 0.00230832 -0.00788454 0.09654486
+v 0.01350155 -0.00385155 0.09333185
+v 0.01244057 -0.00697971 0.09480412
+v 0.01027391 -0.01090692 0.09654486
+v 0.01002219 -0.01059903 0.09468301
+v 0.01351449 -0.00382746 0.09335593
+v 0.00230832 -0.00382746 0.09020055
+v 0.00230832 -0.01452520 0.09654486
+v 0.01347332 -0.00382746 0.09329172
+v 0.00949523 -0.00997486 0.09199894
+v 0.01032096 -0.00728551 0.09125624
+v 0.01135959 -0.00382746 0.09096076
+v 0.00696040 -0.01296688 0.09654486
+v 0.00686748 -0.01239612 0.09468301
+v 0.00230832 -0.00728551 0.08909234
+v 0.00686748 -0.00382746 0.08920761
+v 0.00230832 -0.01409163 0.09493982
+v 0.00397036 -0.01404555 0.09654486
+v 0.00686748 -0.01063778 0.09127886
+v 0.00686748 -0.00728551 0.08966432
+v 0.00473846 -0.01376908 0.09654486
+v 0.00257768 -0.01381830 0.09429050
+v 0.00230832 -0.01147873 0.09061203
+v 0.00230832 -0.01398795 0.09455753
+v 0.00230832 -0.01382249 0.09424600
+v 0.00230832 -0.01212069 0.09159038
+f 1 2 3
+f 1 3 7
+f 1 7 14
+f 1 14 17
+f 1 17 20
+f 1 20 24
+f 1 24 15
+f 1 15 8
+f 1 8 4
+f 1 4 9
+f 1 9 16
+f 1 16 26
+f 1 26 29
+f 1 29 21
+f 1 21 12
+f 1 12 6
+f 1 6 2
+f 2 5 3
+f 2 6 5
+f 3 5 7
+f 4 8 9
+f 5 10 7
+f 5 6 11
+f 5 11 10
+f 6 12 13
+f 6 13 11
+f 7 10 14
+f 8 15 23
+f 8 23 31
+f 8 31 34
+f 8 34 33
+f 8 33 32
+f 8 32 25
+f 8 25 16
+f 8 16 9
+f 10 17 14
+f 10 11 18
+f 10 18 19
+f 10 19 20
+f 10 20 17
+f 11 13 18
+f 12 21 13
+f 13 21 22
+f 13 22 18
+f 15 24 23
+f 16 25 26
+f 18 22 27
+f 18 27 28
+f 18 28 19
+f 19 28 20
+f 20 28 24
+f 21 29 30
+f 21 30 22
+f 22 30 27
+f 23 24 28
+f 23 28 31
+f 25 32 26
+f 26 30 29
+f 26 32 30
+f 27 30 31
+f 27 31 28
+f 30 32 33
+f 30 33 34
+f 30 34 31
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_138.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_138.obj
new file mode 100644
index 0000000000000000000000000000000000000000..668d6206c716bff67c363c5d2a2640f5dda6aba7
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_138.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v -0.00268827 -0.04129654 -0.00781326
+v -0.00232768 -0.04120861 -0.00781326
+v -0.00680666 -0.04123221 -0.00781326
+v -0.00245161 -0.03970627 -0.02178448
+v -0.00232768 -0.03968161 -0.02178448
+v -0.00232768 -0.03612146 -0.00781326
+v -0.00683407 -0.04122148 -0.00781326
+v -0.00710871 -0.03917118 -0.02178448
+v -0.00678175 -0.03920978 -0.02178448
+v -0.00562215 -0.03795623 -0.03109786
+v -0.00560658 -0.03794872 -0.03115957
+v -0.00245161 -0.03898888 -0.02644003
+v -0.00232768 -0.03896529 -0.02644231
+v -0.00868868 -0.03475853 -0.00781326
+v -0.00232768 -0.03226321 -0.03115957
+v -0.00868868 -0.03034266 -0.03115957
+v -0.00823531 -0.04056521 -0.00781326
+v -0.00868868 -0.04010304 -0.00978335
+v -0.00868868 -0.03846451 -0.02178448
+v -0.00868868 -0.03821144 -0.02348031
+v -0.00721271 -0.03836586 -0.02618177
+v -0.00868868 -0.03792727 -0.02511901
+v -0.00678175 -0.03731068 -0.03115957
+v -0.00276176 -0.03795408 -0.03115957
+v -0.00273311 -0.03795408 -0.03115957
+v -0.00265464 -0.03797017 -0.03103159
+v -0.00232768 -0.03794550 -0.03087389
+v -0.00868868 -0.04035182 -0.00781326
+v -0.00232768 -0.03784256 -0.03115957
+v -0.00868868 -0.03625872 -0.03115957
+v -0.00868868 -0.04035075 -0.00782468
+v -0.00799180 -0.03665227 -0.03115957
+f 1 2 6
+f 1 6 14
+f 1 14 28
+f 1 28 17
+f 1 17 7
+f 1 7 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 13
+f 2 13 27
+f 2 27 29
+f 2 29 15
+f 2 15 6
+f 3 7 8
+f 3 8 9
+f 3 9 4
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 5
+f 6 15 16
+f 6 16 14
+f 7 17 18
+f 7 18 19
+f 7 19 8
+f 8 19 20
+f 8 20 21
+f 8 21 10
+f 8 10 9
+f 10 21 22
+f 10 22 11
+f 11 22 23
+f 11 23 32
+f 11 32 30
+f 11 30 16
+f 11 16 15
+f 11 15 29
+f 11 29 25
+f 11 25 24
+f 11 24 12
+f 12 24 25
+f 12 25 26
+f 12 26 13
+f 13 26 27
+f 14 16 30
+f 14 30 22
+f 14 22 20
+f 14 20 19
+f 14 19 18
+f 14 18 31
+f 14 31 28
+f 17 28 31
+f 17 31 18
+f 20 22 21
+f 22 30 32
+f 22 32 23
+f 25 29 27
+f 25 27 26
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_139.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_139.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec18c30b6e1fb74a2fac74a9371d6f0b7f4f60e7
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_139.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v 0.03561252 -0.00013806 -0.02903026
+v 0.03500485 0.00199854 -0.02903026
+v 0.04259167 -0.00013806 -0.02903026
+v 0.03585247 -0.00013806 -0.02263677
+v 0.03552775 -0.00013635 -0.01146751
+v 0.03071182 0.01737689 -0.02903026
+v 0.03497978 0.00180290 -0.01146751
+v 0.03061274 0.01739406 -0.01146751
+v 0.04268599 -0.00013463 -0.02903026
+v 0.04268837 -0.00013806 -0.02902166
+v 0.04276717 -0.00013806 -0.02263677
+v 0.04252959 -0.00013635 -0.01146751
+v 0.03071182 0.01738033 -0.02902166
+v 0.03074048 0.01738033 -0.02903026
+v 0.03775187 0.01739406 -0.01146751
+v 0.03099835 0.01739406 -0.02263677
+v 0.04206161 0.00222507 -0.02903026
+v 0.04206280 0.00222507 -0.02902166
+v 0.04219293 0.00222507 -0.02457768
+v 0.04280895 -0.00013806 -0.02457768
+v 0.04257138 -0.00013635 -0.01332934
+v 0.04190522 0.00222507 -0.01146751
+v 0.03790229 0.01738033 -0.02903026
+v 0.03778768 0.01739406 -0.01308694
+v 0.03799063 0.01739406 -0.02263677
+v 0.04084509 0.00666816 -0.02903026
+v 0.04084629 0.00666816 -0.02902166
+v 0.04018132 0.00956329 -0.02457768
+v 0.04048575 0.00830193 -0.02263677
+v 0.04093343 0.00666816 -0.02263677
+v 0.04011685 0.00932475 -0.02903026
+v 0.03790468 0.01738033 -0.02902166
+v 0.03784379 0.01739406 -0.01569144
+v 0.03797870 0.01739406 -0.02197318
+v 0.03803123 0.01738033 -0.02457768
+v 0.04011685 0.00932647 -0.02902166
+f 1 2 6
+f 1 6 14
+f 1 14 23
+f 1 23 31
+f 1 31 26
+f 1 26 17
+f 1 17 9
+f 1 9 3
+f 1 3 10
+f 1 10 20
+f 1 20 11
+f 1 11 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 8
+f 2 8 6
+f 3 9 10
+f 4 11 12
+f 4 12 5
+f 5 12 22
+f 5 22 15
+f 5 15 8
+f 5 8 7
+f 6 13 14
+f 6 8 13
+f 8 15 24
+f 8 24 33
+f 8 33 34
+f 8 34 25
+f 8 25 16
+f 8 16 13
+f 9 17 10
+f 10 17 18
+f 10 18 19
+f 10 19 20
+f 11 20 21
+f 11 21 12
+f 12 21 22
+f 13 16 14
+f 14 16 25
+f 14 25 23
+f 15 22 24
+f 17 26 27
+f 17 27 18
+f 18 27 19
+f 19 27 28
+f 19 28 29
+f 19 29 30
+f 19 30 24
+f 19 24 22
+f 19 22 21
+f 19 21 20
+f 23 25 32
+f 23 32 31
+f 24 30 29
+f 24 29 33
+f 25 34 35
+f 25 35 32
+f 26 31 27
+f 27 36 28
+f 27 31 36
+f 28 36 32
+f 28 32 35
+f 28 35 34
+f 28 34 29
+f 29 34 33
+f 31 32 36
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_14.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7ecd078c63e2602e2b1dd4db14ccde95129662c
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_14.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.02317954 -0.00396068 0.04546350
+v 0.02310824 -0.00449316 0.04546350
+v 0.01495832 -0.00396068 0.04546350
+v 0.02244662 -0.00396068 0.04829923
+v 0.02225593 -0.00450756 0.04885658
+v 0.02265721 -0.00520961 0.04652920
+v 0.02281474 -0.00558332 0.04546350
+v 0.01151430 -0.00396068 0.05524462
+v 0.01340959 -0.00763834 0.04546350
+v 0.01167846 -0.00763834 0.04978753
+v 0.00765740 -0.00763834 0.05985447
+v 0.01692823 -0.00396068 0.06632009
+v 0.01683537 -0.00423070 0.06632009
+v 0.01595986 -0.00666591 0.06632009
+v 0.02162417 -0.00763834 0.04546350
+v 0.00765242 -0.00763834 0.05986876
+v 0.01061226 -0.00396068 0.05818447
+v 0.00936034 -0.00396068 0.06632009
+v 0.01539276 -0.00763834 0.06632009
+v 0.00663430 -0.00763834 0.06319855
+v 0.01014465 -0.00396068 0.05986059
+v 0.00938355 -0.00396068 0.06573416
+v 0.00623966 -0.00763834 0.06632009
+v 0.00639387 -0.00763834 0.06430507
+v 0.00979478 -0.00396068 0.06188787
+v 0.00945154 -0.00396068 0.06430507
+f 1 2 7
+f 1 7 15
+f 1 15 9
+f 1 9 3
+f 1 3 8
+f 1 8 17
+f 1 17 21
+f 1 21 25
+f 1 25 26
+f 1 26 22
+f 1 22 18
+f 1 18 12
+f 1 12 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 3 9 10
+f 3 10 11
+f 3 11 8
+f 4 12 5
+f 5 12 13
+f 5 13 14
+f 5 14 6
+f 6 14 7
+f 7 14 15
+f 8 11 16
+f 8 16 17
+f 9 15 19
+f 9 19 23
+f 9 23 24
+f 9 24 20
+f 9 20 16
+f 9 16 11
+f 9 11 10
+f 12 18 23
+f 12 23 19
+f 12 19 14
+f 12 14 13
+f 14 19 15
+f 16 20 17
+f 17 20 21
+f 18 22 23
+f 20 24 21
+f 21 24 25
+f 22 26 23
+f 23 26 24
+f 24 26 25
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_140.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_140.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5043c7a2ea979a62521dd3b494137be681ae040
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_140.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.03558833 0.01204706 -0.04468354
+v 0.02803886 0.01204706 -0.04468354
+v 0.03557886 0.01204706 -0.04471684
+v 0.03428297 0.01661853 -0.04468354
+v 0.02774802 0.01308924 -0.04468354
+v 0.02177040 0.01661853 -0.05182886
+v 0.02177040 0.01613436 -0.05216198
+v 0.02177040 0.01204706 -0.05516335
+v 0.03488898 0.01204706 -0.04697703
+v 0.03366748 0.01661853 -0.04680048
+v 0.02691340 0.01661853 -0.04468354
+v 0.02702703 0.01608290 -0.04468354
+v 0.02177040 0.01661853 -0.06169741
+v 0.02177040 0.01204706 -0.06169741
+v 0.03460220 0.01204706 -0.04760829
+v 0.03338612 0.01661853 -0.04751168
+v 0.02416064 0.01661853 -0.06169741
+v 0.02577036 0.01204706 -0.06169741
+v 0.03204288 0.01661853 -0.05046142
+v 0.03261372 0.01204706 -0.05150074
+v 0.02452046 0.01592270 -0.06169741
+v 0.02685929 0.01661853 -0.05819803
+v 0.02475853 0.01546134 -0.06169741
+v 0.02700809 0.01555487 -0.05841955
+v 0.03072534 0.01555487 -0.05289983
+v 0.03120555 0.01204706 -0.05361103
+v 0.03239864 0.01204706 -0.05182886
+v 0.02783595 0.01661853 -0.05674731
+f 1 2 8
+f 1 8 14
+f 1 14 18
+f 1 18 26
+f 1 26 27
+f 1 27 20
+f 1 20 15
+f 1 15 9
+f 1 9 3
+f 1 3 4
+f 1 4 11
+f 1 11 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 3 9 10
+f 3 10 4
+f 4 10 16
+f 4 16 19
+f 4 19 28
+f 4 28 22
+f 4 22 17
+f 4 17 13
+f 4 13 6
+f 4 6 11
+f 5 12 6
+f 6 12 11
+f 6 13 14
+f 6 14 8
+f 6 8 7
+f 9 15 16
+f 9 16 10
+f 13 17 21
+f 13 21 23
+f 13 23 18
+f 13 18 14
+f 15 19 16
+f 15 20 19
+f 17 22 21
+f 18 23 22
+f 18 22 24
+f 18 24 25
+f 18 25 26
+f 19 20 27
+f 19 27 25
+f 19 25 28
+f 21 22 23
+f 22 28 25
+f 22 25 24
+f 25 27 26
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_141.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_141.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92efb2664caf8dbc1e108a98c069b212180e106a
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_141.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.01573085 -0.03244262 0.01392523
+v 0.01925629 -0.03131927 0.01392523
+v 0.02016958 -0.03063649 0.01493156
+v 0.01573085 -0.03205545 0.01485275
+v 0.01573085 -0.02435986 0.01392523
+v 0.01960605 -0.03119912 0.01392523
+v 0.02016958 -0.03067845 0.01482359
+v 0.01573085 -0.03202112 0.01493156
+v 0.02016958 -0.01295856 0.01493156
+v 0.01573085 -0.02135410 0.01493156
+v 0.01654421 -0.01695226 0.01493156
+v 0.01744317 -0.01320459 0.01493156
+v 0.02016915 -0.02172600 0.01392523
+v 0.02016958 -0.03100458 0.01392523
+v 0.02016958 -0.03083675 0.01438815
+v 0.02016958 -0.02172219 0.01392858
+v 0.02016958 -0.02334141 0.01392523
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 10
+f 1 10 5
+f 1 5 13
+f 1 13 17
+f 1 17 14
+f 1 14 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 8 4
+f 3 7 15
+f 3 15 14
+f 3 14 17
+f 3 17 16
+f 3 16 9
+f 3 9 12
+f 3 12 11
+f 3 11 10
+f 3 10 8
+f 5 10 11
+f 5 11 12
+f 5 12 13
+f 6 14 15
+f 6 15 7
+f 9 16 13
+f 9 13 12
+f 13 16 17
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_142.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_142.obj
new file mode 100644
index 0000000000000000000000000000000000000000..144cb4ed9293f061e7b6d8851bf7df07f5d5c655
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_142.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v -0.02134540 0.02553283 -0.03922331
+v -0.02134540 0.03401367 -0.03922331
+v -0.01607593 0.02842225 -0.03922331
+v -0.01608264 0.03110221 -0.02453356
+v -0.02134540 0.02887299 -0.02453356
+v -0.02134540 0.03530098 -0.03516943
+v -0.01999179 0.03458690 -0.03922331
+v -0.01607593 0.03562679 -0.03922331
+v -0.01607593 0.03110589 -0.02457958
+v -0.01607593 0.03170361 -0.02453356
+v -0.02134540 0.03665689 -0.02453356
+v -0.02134540 0.03595138 -0.03277075
+v -0.01850200 0.03574315 -0.03641335
+v -0.01607593 0.03606039 -0.03763426
+v -0.01607593 0.03804341 -0.02453356
+v -0.01999901 0.03701209 -0.02453356
+v -0.02134540 0.03665811 -0.02456376
+v -0.02134540 0.03652950 -0.02902317
+v -0.01999901 0.03688471 -0.02902317
+v -0.01607593 0.03791481 -0.02902317
+v -0.01607593 0.03715540 -0.03346533
+v -0.01998921 0.03612898 -0.03345670
+v -0.01607593 0.03804464 -0.02457958
+v -0.01999901 0.03701332 -0.02457958
+v -0.02134540 0.03665811 -0.02457958
+v -0.01607593 0.03793073 -0.02850260
+f 1 2 7
+f 1 7 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 17
+f 1 17 25
+f 1 25 18
+f 1 18 12
+f 1 12 6
+f 1 6 2
+f 2 6 7
+f 3 8 14
+f 3 14 21
+f 3 21 20
+f 3 20 26
+f 3 26 23
+f 3 23 15
+f 3 15 10
+f 3 10 9
+f 3 9 4
+f 4 9 10
+f 4 10 15
+f 4 15 16
+f 4 16 11
+f 4 11 5
+f 6 12 7
+f 7 13 14
+f 7 14 8
+f 7 12 13
+f 11 16 17
+f 12 18 19
+f 12 19 20
+f 12 20 21
+f 12 21 22
+f 12 22 13
+f 13 22 14
+f 14 22 21
+f 15 23 24
+f 15 24 16
+f 16 24 17
+f 17 24 25
+f 18 25 24
+f 18 24 19
+f 19 26 20
+f 19 24 23
+f 19 23 26
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_143.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_143.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c2497dc900ea75ea9e43b96748f4c3426c3fefd
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_143.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.01435730 0.00581054 0.09985419
+v 0.01534948 0.00203320 0.09985419
+v 0.01434050 0.00581054 0.09970305
+v 0.00763513 0.00581054 0.09985419
+v 0.01536535 0.00151991 0.09985419
+v 0.01529068 0.00203320 0.09934141
+v 0.01413516 0.00581054 0.09878396
+v 0.00682216 0.00581054 0.09897167
+v 0.00994710 -0.00032253 0.09985419
+v 0.01541295 -0.00032253 0.09985419
+v 0.01473812 0.00090336 0.09679074
+v 0.01471198 0.00190233 0.09679074
+v 0.01403622 0.00453842 0.09679074
+v 0.01396342 0.00480797 0.09679074
+v 0.01535135 -0.00032253 0.09934141
+v 0.01409876 0.00581054 0.09862143
+v 0.00587945 0.00581054 0.09679074
+v 0.00701910 0.00334014 0.09679074
+v 0.00959242 -0.00032013 0.09679074
+v 0.00967549 -0.00032253 0.09728222
+v 0.01482586 -0.00032253 0.09703903
+v 0.01476239 -0.00007459 0.09679074
+v 0.01389715 0.00500308 0.09679074
+v 0.01375341 0.00581054 0.09727893
+v 0.01358353 0.00581054 0.09679074
+v 0.00963722 -0.00032253 0.09679074
+v 0.01476612 -0.00032253 0.09679074
+f 1 2 3
+f 1 3 7
+f 1 7 16
+f 1 16 24
+f 1 24 25
+f 1 25 17
+f 1 17 8
+f 1 8 4
+f 1 4 9
+f 1 9 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 7
+f 4 8 9
+f 5 10 6
+f 6 11 12
+f 6 12 13
+f 6 13 14
+f 6 14 7
+f 6 10 15
+f 6 15 11
+f 7 14 16
+f 8 17 9
+f 9 17 18
+f 9 18 19
+f 9 19 20
+f 9 20 26
+f 9 26 27
+f 9 27 21
+f 9 21 15
+f 9 15 10
+f 11 15 21
+f 11 21 22
+f 11 22 27
+f 11 27 26
+f 11 26 19
+f 11 19 18
+f 11 18 17
+f 11 17 25
+f 11 25 23
+f 11 23 14
+f 11 14 13
+f 11 13 12
+f 14 23 24
+f 14 24 16
+f 19 26 20
+f 21 27 22
+f 23 25 24
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_144.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_144.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1c7b42c04da43a3475d3af7dadfebfd44b4b7f0
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_144.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.03308080 0.01874848 0.00865452
+v 0.03280815 0.01874848 0.00962265
+v 0.03318646 0.01606425 0.01089448
+v 0.03319555 0.01832759 0.00865452
+v 0.02669725 0.01874848 0.00865452
+v 0.03257639 0.01874848 0.01036048
+v 0.03281951 0.01485312 0.01331274
+v 0.03439183 0.01134983 0.01082744
+v 0.03440432 0.01352323 0.00865452
+v 0.02502950 0.01874848 0.01080099
+v 0.02986801 0.00982784 0.00865452
+v 0.03202426 0.01874848 0.01192690
+v 0.03222421 0.01765523 0.01249145
+v 0.03202313 0.01721775 0.01331274
+v 0.03408168 0.00982784 0.01331274
+v 0.03435093 0.00982784 0.01234872
+v 0.03477241 0.00982784 0.01082744
+v 0.03530863 0.00982784 0.00865452
+v 0.02596448 0.01158734 0.01331274
+v 0.02439898 0.01606775 0.01331274
+v 0.02405476 0.01874848 0.01264604
+v 0.02771630 0.00982784 0.01331274
+v 0.03139375 0.01874848 0.01331274
+v 0.02370257 0.01874848 0.01331274
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 18
+f 1 18 11
+f 1 11 5
+f 1 5 10
+f 1 10 21
+f 1 21 24
+f 1 24 23
+f 1 23 12
+f 1 12 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 8 4
+f 3 7 8
+f 4 8 9
+f 5 11 10
+f 6 12 13
+f 6 13 7
+f 7 13 14
+f 7 14 23
+f 7 23 24
+f 7 24 20
+f 7 20 19
+f 7 19 22
+f 7 22 15
+f 7 15 16
+f 7 16 8
+f 8 16 17
+f 8 17 9
+f 9 17 18
+f 10 19 20
+f 10 20 21
+f 10 11 19
+f 11 18 17
+f 11 17 16
+f 11 16 15
+f 11 15 22
+f 11 22 19
+f 12 23 13
+f 13 23 14
+f 20 24 21
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_145.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_145.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67426d6519f50dcd6ede5a344578bf716a41b9ec
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_145.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.01749570 -0.00486988 0.05983160
+v -0.01639306 -0.00486988 0.06632009
+v -0.00984248 -0.00486988 0.05983160
+v -0.01701909 -0.00660303 0.05983160
+v -0.01591834 -0.00666660 0.06632009
+v -0.00911243 -0.00486988 0.06632009
+v -0.00983397 -0.00486988 0.05986209
+v -0.00783579 -0.00736477 0.05986209
+v -0.00783579 -0.00738038 0.05983160
+v -0.01469749 -0.01128388 0.05983160
+v -0.01433058 -0.01025447 0.06632009
+v -0.00924199 -0.00486988 0.06430102
+v -0.00783579 -0.00608219 0.06632009
+v -0.00783579 -0.00620599 0.06430546
+v -0.00783579 -0.01626361 0.05983160
+v -0.01312675 -0.01317428 0.05983160
+v -0.01212436 -0.01247500 0.06632009
+v -0.00783579 -0.01508922 0.06632009
+v -0.01111061 -0.01440667 0.05983160
+v -0.01118910 -0.01436206 0.05983160
+v -0.00990206 -0.01391371 0.06632009
+f 1 2 6
+f 1 6 12
+f 1 12 7
+f 1 7 3
+f 1 3 9
+f 1 9 15
+f 1 15 19
+f 1 19 20
+f 1 20 16
+f 1 16 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 5 11
+f 2 11 17
+f 2 17 21
+f 2 21 18
+f 2 18 13
+f 2 13 6
+f 3 7 8
+f 3 8 9
+f 4 10 11
+f 4 11 5
+f 6 13 12
+f 7 12 14
+f 7 14 8
+f 8 14 13
+f 8 13 18
+f 8 18 15
+f 8 15 9
+f 10 16 11
+f 11 16 17
+f 12 13 14
+f 15 18 19
+f 16 20 21
+f 16 21 17
+f 18 21 20
+f 18 20 19
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_146.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_146.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8b0c47ceaa1d1bc6e616396a8a50d075150fec2
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_146.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.00852218 0.02253804 0.01491339
+v 0.01619696 0.01662694 0.01491339
+v 0.00852218 0.03476713 0.01491339
+v 0.00852218 0.02693652 0.01396792
+v 0.01659819 0.02111584 0.01396792
+v 0.02084782 0.01941861 0.01396792
+v 0.02101785 0.01935833 0.01396792
+v 0.02101785 0.01582260 0.01491339
+v 0.01148371 0.03326957 0.01491339
+v 0.00852218 0.03506664 0.01396792
+v 0.02101785 0.02808935 0.01396792
+v 0.02101785 0.02776724 0.01491339
+v 0.01149350 0.03356343 0.01396792
+v 0.01186781 0.03306801 0.01491339
+v 0.02024964 0.02858100 0.01396792
+v 0.01995116 0.02844914 0.01491339
+v 0.01323298 0.03264606 0.01396792
+f 1 2 8
+f 1 8 12
+f 1 12 16
+f 1 16 14
+f 1 14 9
+f 1 9 3
+f 1 3 10
+f 1 10 4
+f 1 4 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 4 5
+f 3 9 10
+f 4 10 13
+f 4 13 17
+f 4 17 15
+f 4 15 11
+f 4 11 7
+f 4 7 6
+f 4 6 5
+f 7 11 12
+f 7 12 8
+f 9 13 10
+f 9 14 13
+f 11 15 12
+f 12 15 16
+f 13 14 17
+f 14 16 17
+f 15 17 16
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_147.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_147.obj
new file mode 100644
index 0000000000000000000000000000000000000000..131cfcf9d4d99da3c37b695b4c871616270275d2
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_147.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v -0.01796122 0.00471725 0.05980146
+v -0.01666002 0.00471725 0.06631946
+v -0.01756808 0.00582210 0.05980146
+v -0.00985005 0.00471725 0.05980146
+v -0.01743767 0.00618815 0.05980146
+v -0.00908679 0.00471725 0.06631946
+v -0.01596004 0.00666725 0.06631946
+v -0.00983279 0.00471725 0.05986208
+v -0.00816530 0.00706800 0.05980146
+v -0.00816530 0.00703778 0.05986208
+v -0.01703110 0.00688890 0.05980146
+v -0.00916541 0.00471725 0.06442117
+v -0.00816530 0.00566091 0.06631946
+v -0.01400009 0.01002324 0.06631946
+v -0.00966499 0.00471725 0.06083643
+v -0.00816530 0.00629001 0.06230274
+v -0.00816530 0.00581539 0.06430568
+v -0.00816530 0.01615312 0.05980146
+v -0.01447953 0.01125571 0.05980146
+v -0.00916829 0.00471725 0.06435800
+v -0.00917117 0.00471725 0.06430568
+v -0.00816530 0.00566762 0.06621609
+v -0.00816530 0.01517476 0.06631946
+v -0.01318504 0.01123780 0.06631946
+v -0.01132289 0.01469117 0.05980146
+v -0.01027388 0.01427699 0.06631946
+v -0.00824681 0.01514117 0.06631946
+v -0.01249560 0.01224526 0.06631946
+v -0.01294436 0.01284527 0.06124225
+v -0.01148878 0.01320460 0.06631946
+f 1 2 3
+f 1 3 5
+f 1 5 11
+f 1 11 19
+f 1 19 25
+f 1 25 18
+f 1 18 9
+f 1 9 4
+f 1 4 8
+f 1 8 15
+f 1 15 21
+f 1 21 20
+f 1 20 12
+f 1 12 6
+f 1 6 2
+f 2 5 3
+f 2 6 13
+f 2 13 23
+f 2 23 27
+f 2 27 26
+f 2 26 30
+f 2 30 28
+f 2 28 24
+f 2 24 14
+f 2 14 7
+f 2 7 5
+f 4 9 10
+f 4 10 8
+f 5 7 11
+f 6 12 13
+f 7 14 11
+f 8 10 16
+f 8 16 17
+f 8 17 15
+f 9 18 23
+f 9 23 13
+f 9 13 22
+f 9 22 17
+f 9 17 16
+f 9 16 10
+f 11 14 19
+f 12 20 13
+f 13 20 21
+f 13 21 22
+f 14 24 19
+f 15 17 21
+f 17 22 21
+f 18 25 26
+f 18 26 27
+f 18 27 23
+f 19 24 28
+f 19 28 29
+f 19 29 25
+f 25 29 28
+f 25 28 30
+f 25 30 26
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_148.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_148.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7425c2bbb2c88e44bf98878de802ef44572dd5da
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_148.obj
@@ -0,0 +1,171 @@
+# https://github.com/mikedh/trimesh
+v -0.00715035 -0.01671740 0.10430370
+v -0.00715035 -0.01534009 0.10741502
+v -0.01336078 -0.01335064 0.10654868
+v -0.01336078 -0.01335064 0.10622589
+v -0.01319962 -0.01323870 0.10326242
+v -0.00715035 -0.01630789 0.09974083
+v -0.00715035 -0.01111747 0.10744210
+v -0.01111205 -0.01111038 0.10778780
+v -0.01111205 -0.01394294 0.10705474
+v -0.01780489 -0.00455115 0.10656325
+v -0.01458261 -0.01149864 0.10456818
+v -0.01413178 -0.01111038 0.10715054
+v -0.01472200 -0.01078589 0.09985745
+v -0.01397714 -0.00977275 0.08651249
+v -0.01286857 -0.01300631 0.09985745
+v -0.00921723 -0.01351784 0.08651249
+v -0.01064815 -0.01433403 0.09985745
+v -0.00918129 -0.01353910 0.08651249
+v -0.00715035 -0.01469111 0.08651249
+v -0.01555507 -0.00224147 0.10769616
+v -0.00715035 -0.01084824 0.10734630
+v -0.01257345 -0.00224147 0.10731923
+v -0.01570426 -0.00562381 0.10748166
+v -0.01573257 -0.00628696 0.10743793
+v -0.01652317 -0.00562381 0.10710472
+v -0.01809783 -0.00224147 0.10689855
+v -0.01824484 -0.00254045 0.10445572
+v -0.01780489 -0.00455115 0.10603846
+v -0.01741940 -0.00562381 0.10505966
+v -0.01718091 -0.00628696 0.10445780
+v -0.01667998 -0.00666813 0.09985745
+v -0.01522838 -0.00666813 0.08651249
+v -0.01144745 -0.01198608 0.08651249
+v -0.01143112 -0.01199883 0.08651249
+v -0.00715035 -0.00581227 0.08651249
+v -0.00715035 -0.00888430 0.10430370
+v -0.01146052 -0.00224147 0.10430161
+v -0.01810872 -0.00224147 0.10675485
+v -0.01827424 -0.00224147 0.10444531
+v -0.01822306 -0.00224147 0.10324576
+v -0.01768946 -0.00423517 0.10307707
+v -0.01734535 -0.00562381 0.10401005
+v -0.01711339 -0.00562381 0.10123819
+v -0.01802051 -0.00224147 0.10080918
+v -0.01550716 -0.00562381 0.08651249
+v -0.01791597 -0.00224147 0.09985745
+v -0.00715580 -0.00565074 0.08651249
+v -0.00715035 -0.00565499 0.08653123
+v -0.00715035 -0.00805394 0.10075920
+v -0.01084198 -0.00224147 0.09988036
+v -0.01640556 -0.00225705 0.08651249
+v -0.01640883 -0.00224147 0.08651249
+v -0.00929673 -0.00224147 0.08651249
+v -0.00929673 -0.00224147 0.08652915
+v -0.00959619 -0.00224147 0.09079837
+v -0.00715035 -0.00605316 0.08993203
+v -0.00715035 -0.00787399 0.09985745
+v -0.00715035 -0.00614101 0.09057762
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 19
+f 1 19 35
+f 1 35 48
+f 1 48 56
+f 1 56 58
+f 1 58 57
+f 1 57 49
+f 1 49 36
+f 1 36 21
+f 1 21 7
+f 1 7 2
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 3 10 11
+f 3 11 4
+f 3 9 12
+f 3 12 10
+f 4 11 13
+f 4 13 5
+f 5 13 14
+f 5 14 15
+f 5 15 16
+f 5 16 17
+f 5 17 6
+f 6 17 18
+f 6 18 19
+f 7 20 8
+f 7 21 22
+f 7 22 20
+f 8 20 23
+f 8 23 24
+f 8 24 12
+f 8 12 9
+f 10 12 25
+f 10 25 26
+f 10 26 27
+f 10 27 28
+f 10 28 29
+f 10 29 30
+f 10 30 11
+f 11 30 13
+f 12 24 25
+f 13 31 14
+f 13 30 31
+f 14 32 45
+f 14 45 51
+f 14 51 52
+f 14 52 53
+f 14 53 47
+f 14 47 35
+f 14 35 19
+f 14 19 18
+f 14 18 16
+f 14 16 34
+f 14 34 33
+f 14 33 15
+f 14 31 32
+f 15 33 34
+f 15 34 16
+f 16 18 17
+f 20 26 23
+f 20 22 37
+f 20 37 50
+f 20 50 55
+f 20 55 54
+f 20 54 53
+f 20 53 52
+f 20 52 46
+f 20 46 44
+f 20 44 40
+f 20 40 39
+f 20 39 38
+f 20 38 26
+f 21 36 22
+f 22 36 37
+f 23 26 24
+f 24 26 25
+f 26 38 27
+f 27 38 39
+f 27 39 40
+f 27 40 41
+f 27 41 28
+f 28 41 29
+f 29 41 42
+f 29 42 30
+f 30 42 31
+f 31 42 43
+f 31 43 44
+f 31 44 32
+f 32 44 46
+f 32 46 45
+f 35 47 48
+f 36 49 37
+f 37 49 50
+f 40 44 41
+f 41 44 43
+f 41 43 42
+f 45 46 51
+f 46 52 51
+f 47 53 48
+f 48 53 54
+f 48 54 55
+f 48 55 56
+f 49 57 55
+f 49 55 50
+f 55 57 58
+f 55 58 56
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_149.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_149.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cca01acf298258be7cb7d854d3a89866e686e13b
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_149.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v -0.03867682 -0.00006123 -0.03116186
+v -0.03765647 -0.00006123 -0.03438110
+v -0.03802020 -0.00243287 -0.03116186
+v -0.03319636 -0.00006123 -0.03116186
+v -0.03539100 -0.00006123 -0.04024711
+v -0.03345111 -0.00709578 -0.04044614
+v -0.03304242 -0.01069721 -0.03891322
+v -0.03756519 -0.00087401 -0.03395747
+v -0.03359687 -0.01212717 -0.03595967
+v -0.03307103 -0.01545414 -0.03454270
+v -0.03311190 -0.01555119 -0.03432266
+v -0.03405051 -0.01555119 -0.03116186
+v -0.03208610 -0.00006123 -0.03384608
+v -0.03223050 -0.00297270 -0.03116186
+v -0.03528746 -0.00006123 -0.04048814
+v -0.03344021 -0.00706697 -0.04048814
+v -0.03342114 -0.00713369 -0.04048814
+v -0.03090636 -0.01555119 -0.04020329
+v -0.03305468 -0.01555119 -0.03449705
+v -0.02852782 -0.01555119 -0.03116186
+v -0.02933974 -0.00006123 -0.04048814
+v -0.03221279 -0.00302881 -0.03116186
+v -0.03239942 -0.01028779 -0.04048814
+v -0.02475975 -0.01555119 -0.04020329
+v -0.02724183 -0.00774176 -0.04048814
+v -0.02655115 -0.01028779 -0.04048814
+v -0.02656205 -0.01024533 -0.04048814
+f 1 2 3
+f 1 3 12
+f 1 12 20
+f 1 20 22
+f 1 22 14
+f 1 14 4
+f 1 4 13
+f 1 13 21
+f 1 21 15
+f 1 15 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 4 14 13
+f 5 15 6
+f 6 15 16
+f 6 16 17
+f 6 17 7
+f 7 18 10
+f 7 10 9
+f 7 9 8
+f 7 17 18
+f 10 18 19
+f 10 19 11
+f 11 19 18
+f 11 18 24
+f 11 24 20
+f 11 20 12
+f 13 14 21
+f 14 22 21
+f 15 21 25
+f 15 25 27
+f 15 27 26
+f 15 26 23
+f 15 23 17
+f 15 17 16
+f 17 23 18
+f 18 23 26
+f 18 26 24
+f 20 24 22
+f 21 24 25
+f 21 22 24
+f 24 26 27
+f 24 27 25
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_15.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7be852ad8f8115501998a89c02dba1528a42f5f4
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_15.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.02887735 -0.00005997 -0.04099966
+v 0.02887735 -0.00264276 -0.04172732
+v 0.02887735 -0.00005997 -0.05057353
+v 0.02218840 -0.00005997 -0.05068564
+v 0.01951098 -0.00264276 -0.05474915
+v 0.02887735 -0.00264276 -0.05116159
+v 0.02887735 -0.00132835 -0.05095429
+v 0.02791440 -0.00005997 -0.05214098
+v 0.02090485 -0.00005997 -0.05257884
+v 0.01959831 -0.00005997 -0.05457146
+v 0.01835957 -0.00264276 -0.05651119
+v 0.02887735 -0.00262632 -0.05116793
+v 0.02804770 -0.00264276 -0.05236943
+v 0.02804770 -0.00262632 -0.05236943
+v 0.02789831 -0.00005997 -0.05216424
+v 0.01726103 -0.00005997 -0.05859265
+v 0.01713807 -0.00264276 -0.05863285
+v 0.02242627 -0.00264276 -0.06034201
+v 0.02242856 -0.00262632 -0.06034624
+v 0.02227573 -0.00005997 -0.06007548
+v 0.01720242 -0.00005997 -0.06015798
+v 0.01719093 -0.00005997 -0.06254828
+v 0.01717599 -0.00264276 -0.06260540
+v 0.02009703 -0.00264276 -0.06260540
+v 0.02009932 -0.00262632 -0.06260540
+v 0.02099218 -0.00005997 -0.06153505
+v 0.01994534 -0.00005997 -0.06254828
+v 0.01717944 -0.00262632 -0.06260540
+f 1 2 6
+f 1 6 12
+f 1 12 7
+f 1 7 3
+f 1 3 8
+f 1 8 15
+f 1 15 20
+f 1 20 26
+f 1 26 27
+f 1 27 22
+f 1 22 21
+f 1 21 16
+f 1 16 10
+f 1 10 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 11
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+f 2 17 23
+f 2 23 24
+f 2 24 18
+f 2 18 13
+f 2 13 6
+f 3 7 8
+f 4 9 5
+f 5 9 10
+f 5 10 11
+f 6 13 12
+f 7 12 8
+f 8 12 14
+f 8 14 15
+f 10 16 11
+f 11 16 17
+f 12 13 14
+f 13 18 19
+f 13 19 14
+f 14 19 15
+f 15 19 20
+f 16 21 17
+f 17 21 22
+f 17 22 23
+f 18 24 19
+f 19 24 25
+f 19 25 26
+f 19 26 20
+f 22 27 25
+f 22 25 28
+f 22 28 23
+f 23 28 25
+f 23 25 24
+f 25 27 26
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_150.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_150.obj
new file mode 100644
index 0000000000000000000000000000000000000000..01947283ec0c8aa379bf5b6e21c3bc4bd6e590a4
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_150.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.02487590 -0.01585808 0.01087553
+v 0.02490368 -0.01586075 0.01087553
+v 0.01930817 -0.01586075 0.02153898
+v 0.02999910 -0.00692590 0.01087553
+v 0.03324417 -0.01586075 0.01087553
+v 0.02807837 -0.01586075 0.02153898
+v 0.02459992 -0.00677107 0.02153898
+v 0.03007319 -0.00679865 0.01087553
+v 0.03325158 -0.01585008 0.01087553
+v 0.03321638 -0.01586075 0.01097575
+v 0.03123267 -0.01586075 0.01564349
+v 0.03419991 -0.01102983 0.01537205
+v 0.03199022 -0.01092216 0.01961697
+v 0.03157533 -0.00986859 0.02153898
+v 0.03327010 -0.00677107 0.02153898
+v 0.03008986 -0.00677107 0.01087553
+v 0.03348125 -0.01545855 0.01087553
+v 0.03311637 -0.01586075 0.01128373
+v 0.03638366 -0.01049771 0.01087553
+v 0.03642255 -0.01038025 0.01097575
+v 0.03171980 -0.01586075 0.01472999
+v 0.03590393 -0.00949397 0.01385825
+v 0.03511304 -0.00805510 0.01682008
+v 0.03242179 -0.00832917 0.02153898
+v 0.03543347 -0.00677107 0.01743605
+v 0.03822845 -0.00677107 0.01087553
+v 0.03643367 -0.01040783 0.01087553
+v 0.03649479 -0.01028948 0.01087553
+v 0.03820067 -0.00677107 0.01097575
+v 0.03816548 -0.00677107 0.01108224
+v 0.03651887 -0.00677107 0.01528853
+v 0.03639662 -0.00677107 0.01553283
+f 1 2 3
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+f 1 8 16
+f 1 16 26
+f 1 26 28
+f 1 28 27
+f 1 27 19
+f 1 19 17
+f 1 17 9
+f 1 9 5
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+f 3 24 15
+f 3 15 7
+f 3 7 4
+f 4 7 8
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+f 6 13 14
+f 7 15 25
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+f 7 32 31
+f 7 31 30
+f 7 30 29
+f 7 29 26
+f 7 26 16
+f 7 16 8
+f 9 17 10
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+f 10 19 20
+f 10 20 18
+f 11 21 12
+f 12 21 22
+f 12 22 14
+f 12 14 13
+f 14 22 23
+f 14 23 24
+f 15 24 23
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+f 18 20 22
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+f 19 27 20
+f 20 27 28
+f 20 28 26
+f 20 26 29
+f 20 29 30
+f 20 30 22
+f 22 30 31
+f 22 31 32
+f 22 32 25
+f 22 25 23
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_151.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_151.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2aa5b0971466bf14f3154ced280a85cce774fcc
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_151.obj
@@ -0,0 +1,168 @@
+# https://github.com/mikedh/trimesh
+v 0.03156177 0.01600756 -0.01166129
+v 0.02979434 0.01602645 -0.02801158
+v 0.03662571 0.01600756 -0.01166129
+v 0.03168608 0.01600756 -0.00781376
+v 0.03146924 0.01600890 -0.00487659
+v 0.02723059 0.02063104 -0.02801158
+v 0.03503400 0.01602645 -0.02801158
+v 0.03548637 0.01602645 -0.02643996
+v 0.03623690 0.01602645 -0.02230483
+v 0.03628830 0.01602645 -0.02195608
+v 0.03677900 0.01600756 -0.00780923
+v 0.03450779 0.01600756 -0.00487659
+v 0.02723152 0.02375746 -0.00487659
+v 0.02723059 0.02805157 -0.02801158
+v 0.02723059 0.02369941 -0.01166129
+v 0.03465921 0.01754512 -0.02801158
+v 0.03433488 0.02066884 -0.02643996
+v 0.03500409 0.02066884 -0.02178171
+v 0.03531346 0.02066884 -0.00780923
+v 0.03523121 0.02066884 -0.00487659
+v 0.03659394 0.01600756 -0.00487659
+v 0.02723152 0.02962963 -0.00487659
+v 0.02723059 0.02858074 -0.02618633
+v 0.02854471 0.02805697 -0.02553865
+v 0.02859237 0.02720786 -0.02801158
+v 0.02723059 0.02962423 -0.01166129
+v 0.03389746 0.02061484 -0.02801158
+v 0.03347967 0.02204306 -0.02801158
+v 0.03314507 0.02393295 -0.02643996
+v 0.03355258 0.02448777 -0.02178171
+v 0.03365165 0.02462006 -0.01712573
+v 0.03372736 0.02472536 -0.01246748
+v 0.03373857 0.02474290 -0.01166129
+v 0.03379278 0.02482390 -0.00780923
+v 0.03466762 0.02221045 -0.00487659
+v 0.02752967 0.02947033 -0.00487659
+v 0.02723152 0.02979702 -0.00780923
+v 0.02723059 0.02893037 -0.02391494
+v 0.03012240 0.02650051 -0.02683173
+v 0.02900269 0.02832020 -0.02178171
+v 0.03133278 0.02681774 -0.02178171
+v 0.03020278 0.02599563 -0.02801158
+v 0.02723152 0.02972142 -0.00991529
+v 0.02723059 0.02950273 -0.01465959
+v 0.03290953 0.02360357 -0.02801158
+v 0.03128044 0.02506149 -0.02801158
+v 0.03150849 0.02695003 -0.01712573
+v 0.03165430 0.02705532 -0.01246748
+v 0.03168047 0.02707152 -0.01166129
+v 0.03180104 0.02715252 -0.00780923
+v 0.03371988 0.02472131 -0.00487659
+v 0.02933075 0.02850784 -0.00487659
+v 0.02947188 0.02858884 -0.00780923
+v 0.02932514 0.02850649 -0.01246748
+v 0.02917840 0.02842280 -0.01712573
+v 0.02723059 0.02920980 -0.02178171
+v 0.03165990 0.02705127 -0.00487659
+f 1 2 7
+f 1 7 3
+f 1 3 11
+f 1 11 21
+f 1 21 12
+f 1 12 4
+f 1 4 5
+f 1 5 2
+f 2 6 14
+f 2 14 25
+f 2 25 42
+f 2 42 46
+f 2 46 45
+f 2 45 28
+f 2 28 27
+f 2 27 16
+f 2 16 7
+f 2 5 6
+f 3 7 8
+f 3 8 9
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+f 6 44 56
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+f 22 37 26
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+f 24 39 25
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+f 25 39 42
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+f 29 45 46
+f 29 46 39
+f 29 39 41
+f 29 41 30
+f 30 41 47
+f 30 47 48
+f 30 48 49
+f 30 49 50
+f 30 50 31
+f 31 50 32
+f 32 50 33
+f 33 50 34
+f 34 50 51
+f 34 51 35
+f 36 52 37
+f 37 52 53
+f 37 53 54
+f 37 54 55
+f 37 55 43
+f 38 56 40
+f 39 46 42
+f 40 55 47
+f 40 47 41
+f 40 56 43
+f 40 43 55
+f 43 56 44
+f 47 55 48
+f 48 55 50
+f 48 50 49
+f 50 53 52
+f 50 52 57
+f 50 57 51
+f 50 55 54
+f 50 54 53
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_152.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_152.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24a34949c3b2a249dbd36091fb6b42a16c4b1b1a
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_152.obj
@@ -0,0 +1,147 @@
+# https://github.com/mikedh/trimesh
+v 0.03385938 -0.02168176 -0.00780910
+v 0.03767567 -0.01517275 -0.00780910
+v 0.03385938 -0.02167357 -0.00729617
+v 0.03385856 -0.02155889 -0.01000510
+v 0.03385938 -0.02155889 -0.01000510
+v 0.04114405 -0.00856545 -0.00780910
+v 0.03979528 -0.01088038 -0.00461930
+v 0.03758664 -0.01502203 -0.00461930
+v 0.03385856 -0.02143765 -0.01214156
+v 0.03763693 -0.01510558 -0.01000510
+v 0.03895272 -0.01194528 -0.02178198
+v 0.03385938 -0.02137540 -0.00461930
+v 0.03385856 -0.01136204 -0.01000510
+v 0.04228094 -0.00623741 -0.00780910
+v 0.04111850 -0.00835574 -0.00461930
+v 0.04105337 -0.00816406 -0.01712664
+v 0.04102698 -0.00792487 -0.02178198
+v 0.03385856 -0.02135574 -0.01346970
+v 0.03750666 -0.01488277 -0.01712664
+v 0.03740526 -0.01470911 -0.02178198
+v 0.03727995 -0.01449777 -0.02450923
+v 0.03385938 -0.01104585 -0.00461930
+v 0.03385856 -0.00739733 -0.02801046
+v 0.04228094 -0.00495953 -0.00780910
+v 0.04220180 -0.00602607 -0.00461930
+v 0.04213007 -0.00583438 -0.01712664
+v 0.04203856 -0.00559683 -0.02178198
+v 0.04192644 -0.00529046 -0.02448633
+v 0.03385856 -0.02114767 -0.01679232
+v 0.03614635 -0.01721081 -0.01712664
+v 0.03385856 -0.02077086 -0.02178198
+v 0.03813488 -0.01199771 -0.02621290
+v 0.03385856 -0.01924068 -0.02638006
+v 0.03385856 -0.01825769 -0.02801046
+v 0.03533264 -0.00834591 -0.00461930
+v 0.03435239 -0.00494642 -0.02801046
+v 0.04220180 -0.00495953 -0.00461930
+v 0.04213007 -0.00494642 -0.01712664
+v 0.04224467 -0.00494642 -0.01000510
+v 0.04203856 -0.00494642 -0.02178198
+v 0.03790404 -0.01129323 -0.02801046
+v 0.04052821 -0.00702052 -0.02619916
+v 0.03979941 -0.00723678 -0.02801046
+v 0.04000057 -0.00539859 -0.02801046
+v 0.04001706 -0.00494642 -0.02801046
+v 0.04192644 -0.00494642 -0.02448633
+v 0.03601032 -0.00711063 -0.00461930
+v 0.03725109 -0.00495953 -0.00461930
+v 0.03644398 -0.00494642 -0.01273235
+v 0.03742752 -0.00494642 -0.01000510
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 2 5 9
+f 2 9 10
+f 2 10 11
+f 2 11 6
+f 3 8 12
+f 3 12 4
+f 4 9 5
+f 4 12 22
+f 4 22 13
+f 4 13 23
+f 4 23 34
+f 4 34 33
+f 4 33 31
+f 4 31 29
+f 4 29 18
+f 4 18 9
+f 6 14 15
+f 6 15 7
+f 6 11 16
+f 6 16 17
+f 6 17 14
+f 7 15 25
+f 7 25 37
+f 7 37 48
+f 7 48 47
+f 7 47 35
+f 7 35 22
+f 7 22 12
+f 7 12 8
+f 9 18 10
+f 10 18 19
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+f 11 20 21
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+f 11 17 16
+f 11 19 20
+f 13 22 23
+f 14 24 37
+f 14 37 25
+f 14 25 15
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+f 17 27 26
+f 17 21 28
+f 17 28 27
+f 18 29 19
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+f 19 30 20
+f 20 30 29
+f 20 29 31
+f 20 31 21
+f 21 32 28
+f 21 31 33
+f 21 33 34
+f 21 34 32
+f 22 35 36
+f 22 36 23
+f 23 36 45
+f 23 45 44
+f 23 44 43
+f 23 43 41
+f 23 41 34
+f 24 38 39
+f 24 39 37
+f 26 27 40
+f 26 40 38
+f 27 28 46
+f 27 46 40
+f 28 32 41
+f 28 41 42
+f 28 42 43
+f 28 43 44
+f 28 44 45
+f 28 45 46
+f 32 34 41
+f 35 47 36
+f 36 47 48
+f 36 48 49
+f 36 49 50
+f 36 50 39
+f 36 39 38
+f 36 38 40
+f 36 40 46
+f 36 46 45
+f 37 39 50
+f 37 50 48
+f 41 43 42
+f 48 50 49
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_153.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_153.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cef94b8d6990a4a29cc976d0ac8d2d94ed08055d
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_153.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v -0.02544597 -0.02428428 -0.01089832
+v -0.02544597 -0.02453753 -0.02651517
+v -0.02544597 -0.03219062 -0.01089832
+v -0.00718519 -0.03468897 -0.01089832
+v -0.02544597 -0.03248877 -0.02651517
+v -0.00685212 -0.03515056 -0.02651517
+v -0.02544597 -0.03223013 -0.01124689
+v -0.02444311 -0.03280308 -0.01124689
+v -0.01035576 -0.04083335 -0.01124689
+v -0.01049408 -0.04071301 -0.01089832
+v -0.00685212 -0.03488115 -0.01089832
+v -0.02544597 -0.03249955 -0.02619870
+v -0.01058145 -0.04096267 -0.02651517
+v -0.00685212 -0.04257195 -0.02651517
+v -0.02544597 -0.03233790 -0.01569115
+v -0.02544597 -0.03255163 -0.02457816
+v -0.01045040 -0.04088723 -0.01569115
+v -0.00685212 -0.04263123 -0.02457816
+v -0.00685212 -0.04253064 -0.02013389
+v -0.00685212 -0.04233307 -0.01146551
+v -0.00685212 -0.04232769 -0.01124689
+v -0.01031936 -0.04081180 -0.01089832
+v -0.00685212 -0.04228817 -0.01089832
+v -0.01063787 -0.04099320 -0.02457816
+v -0.00834276 -0.04193075 -0.02651517
+f 1 2 5
+f 1 5 12
+f 1 12 16
+f 1 16 15
+f 1 15 7
+f 1 7 3
+f 1 3 10
+f 1 10 22
+f 1 22 23
+f 1 23 11
+f 1 11 4
+f 1 4 2
+f 2 4 6
+f 2 6 14
+f 2 14 25
+f 2 25 13
+f 2 13 5
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 4 11 6
+f 5 13 12
+f 6 11 23
+f 6 23 21
+f 6 21 20
+f 6 20 19
+f 6 19 18
+f 6 18 14
+f 7 15 8
+f 8 15 16
+f 8 16 17
+f 8 17 9
+f 9 17 18
+f 9 18 19
+f 9 19 20
+f 9 20 21
+f 9 21 22
+f 9 22 10
+f 12 13 24
+f 12 24 16
+f 13 25 18
+f 13 18 24
+f 14 18 25
+f 16 24 17
+f 17 24 18
+f 21 23 22
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_154.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_154.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf74064ea2089648dd809d91e02bd8532568ce7a
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_154.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.02887735 -0.00737947 -0.04011789
+v 0.02887201 -0.00737993 -0.04012890
+v 0.02887735 -0.00737993 -0.04013330
+v 0.02887735 -0.00264348 -0.04172704
+v 0.01751291 -0.00737993 -0.05538389
+v 0.02887735 -0.00737993 -0.04968693
+v 0.02887735 -0.00264348 -0.05116180
+v 0.01951141 -0.00264348 -0.05474772
+v 0.01744612 -0.00737993 -0.05547855
+v 0.02887735 -0.00674231 -0.05017782
+v 0.02197212 -0.00737993 -0.05901604
+v 0.02805311 -0.00535950 -0.05237251
+v 0.02804776 -0.00264348 -0.05237032
+v 0.01835987 -0.00264348 -0.05651096
+v 0.01524590 -0.00737993 -0.05905786
+v 0.01941790 -0.00737993 -0.06212867
+v 0.02379161 -0.00602772 -0.05758519
+v 0.02242499 -0.00264348 -0.06034342
+v 0.01713886 -0.00264348 -0.05863301
+v 0.01523121 -0.00737993 -0.05909088
+v 0.01604744 -0.00737993 -0.06227836
+v 0.01944461 -0.00728487 -0.06214848
+v 0.02009653 -0.00264348 -0.06260415
+v 0.01717627 -0.00264348 -0.06260635
+v 0.01598732 -0.00737993 -0.06226955
+f 1 2 3
+f 1 3 6
+f 1 6 10
+f 1 10 7
+f 1 7 4
+f 1 4 5
+f 1 5 2
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+f 2 15 20
+f 2 20 25
+f 2 25 21
+f 2 21 16
+f 2 16 11
+f 2 11 6
+f 2 6 3
+f 4 7 13
+f 4 13 18
+f 4 18 23
+f 4 23 24
+f 4 24 19
+f 4 19 14
+f 4 14 8
+f 4 8 5
+f 5 8 9
+f 6 11 12
+f 6 12 10
+f 7 12 13
+f 7 10 12
+f 8 14 9
+f 9 14 15
+f 11 16 17
+f 11 17 12
+f 12 17 18
+f 12 18 13
+f 14 19 15
+f 15 19 20
+f 16 21 22
+f 16 22 17
+f 17 22 18
+f 18 22 23
+f 19 24 20
+f 20 24 25
+f 21 25 24
+f 21 24 23
+f 21 23 22
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_155.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_155.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0606a1a76ed94e6ac8ab43b396b97a717178e7fd
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_155.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.01761508 0.01853958 -0.05418288
+v -0.01760725 0.01854274 -0.05418552
+v -0.01761508 0.01854274 -0.05724874
+v -0.01761508 0.01675272 -0.05543108
+v -0.01617408 0.01854274 -0.05531120
+v -0.01761508 0.01854274 -0.06318740
+v -0.01761508 0.00778684 -0.06318740
+v -0.01228130 0.01760456 -0.06002546
+v -0.01228130 0.01854274 -0.05937579
+v -0.01228130 0.01854274 -0.06318740
+v -0.01228130 0.01503536 -0.06318740
+f 1 2 3
+f 1 3 6
+f 1 6 7
+f 1 7 4
+f 1 4 2
+f 2 5 9
+f 2 9 10
+f 2 10 6
+f 2 6 3
+f 2 4 5
+f 4 7 5
+f 5 8 9
+f 5 7 8
+f 6 10 11
+f 6 11 7
+f 7 11 8
+f 8 11 10
+f 8 10 9
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_156.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_156.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e77aef48255bab0b60b178025a1a64c06af2cc4e
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_156.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v -0.00710038 -0.01555119 -0.05899070
+v -0.00713359 -0.01555119 -0.05895696
+v -0.00710038 -0.01555119 -0.05900195
+v -0.00862922 -0.01379587 -0.06048504
+v -0.01326437 -0.01028831 -0.06048785
+v -0.01689136 -0.01028831 -0.05455408
+v -0.01921724 -0.01028831 -0.05198855
+v -0.01131447 -0.01555119 -0.05510093
+v -0.00760920 -0.01555119 -0.06213120
+v -0.00862922 -0.01379587 -0.06191611
+v -0.01326437 -0.01028831 -0.06073386
+v -0.01921724 -0.01555119 -0.04787245
+v -0.01627461 -0.01555119 -0.05052936
+v -0.01921724 -0.01028831 -0.06151265
+v -0.00813581 -0.01555119 -0.06223382
+v -0.01381115 -0.01028831 -0.06215790
+v -0.01330470 -0.01028831 -0.06177273
+v -0.01921724 -0.01555119 -0.05789420
+v -0.01920538 -0.01028831 -0.06153094
+v -0.01903340 -0.01049182 -0.06171087
+v -0.01921724 -0.01074839 -0.06130601
+v -0.01214472 -0.01212349 -0.06220430
+v -0.01156711 -0.01555119 -0.06218040
+v -0.01769670 -0.01028831 -0.06210730
+v -0.01921724 -0.01539199 -0.05809241
+v -0.01888040 -0.01555119 -0.05821612
+v -0.01906187 -0.01028831 -0.06173898
+v -0.01528424 -0.01502825 -0.06206512
+v -0.01838937 -0.01359699 -0.06106000
+v -0.01921724 -0.01283397 -0.06022919
+v -0.01258831 -0.01555119 -0.06215228
+v -0.01398075 -0.01555119 -0.06210168
+v -0.01718788 -0.01555119 -0.05981027
+v -0.01484777 -0.01555119 -0.06175727
+v -0.01566853 -0.01555119 -0.06112185
+f 1 2 8
+f 1 8 13
+f 1 13 12
+f 1 12 18
+f 1 18 26
+f 1 26 33
+f 1 33 35
+f 1 35 34
+f 1 34 32
+f 1 32 31
+f 1 31 23
+f 1 23 15
+f 1 15 9
+f 1 9 3
+f 1 3 10
+f 1 10 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 8
+f 3 9 10
+f 4 10 11
+f 4 11 5
+f 5 11 17
+f 5 17 16
+f 5 16 24
+f 5 24 27
+f 5 27 19
+f 5 19 14
+f 5 14 7
+f 5 7 6
+f 7 12 13
+f 7 13 8
+f 7 14 21
+f 7 21 30
+f 7 30 25
+f 7 25 18
+f 7 18 12
+f 9 15 16
+f 9 16 10
+f 10 16 17
+f 10 17 11
+f 14 19 20
+f 14 20 21
+f 15 22 16
+f 15 23 22
+f 16 22 24
+f 18 25 26
+f 19 27 20
+f 20 27 28
+f 20 28 29
+f 20 29 30
+f 20 30 21
+f 22 23 24
+f 23 31 24
+f 24 31 32
+f 24 32 28
+f 24 28 27
+f 25 30 29
+f 25 29 26
+f 26 29 33
+f 28 32 34
+f 28 34 35
+f 28 35 29
+f 29 35 33
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_157.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_157.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67e3fad7142d3c718720fa1fd43b6071ed9cc61a
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_157.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.02715346 -0.00220180 0.03525181
+v 0.02715346 0.00135948 0.03391047
+v 0.02340675 -0.00220180 0.04546350
+v 0.02715346 -0.00220180 0.01871801
+v 0.02282898 0.00192007 0.04546350
+v 0.02715346 0.00188745 0.03363533
+v 0.01558201 -0.00220180 0.04546350
+v 0.02603565 -0.00220180 0.02089417
+v 0.02715346 0.00821091 0.01352149
+v 0.02136235 0.00727320 0.04546350
+v 0.02715346 0.00697150 0.03065874
+v 0.02715346 0.00821091 0.02993023
+v 0.01339485 0.00821091 0.04546350
+v 0.01589715 0.00821091 0.03728102
+v 0.01668771 -0.00220180 0.04208045
+v 0.02159803 -0.00220180 0.02976764
+v 0.01765604 0.00821091 0.03317258
+v 0.02110242 0.00821091 0.04546350
+v 0.01839676 -0.00220180 0.03717159
+v 0.01760351 -0.00220180 0.03939777
+v 0.01999672 -0.00220180 0.03319134
+f 1 2 3
+f 1 3 7
+f 1 7 15
+f 1 15 20
+f 1 20 19
+f 1 19 21
+f 1 21 16
+f 1 16 8
+f 1 8 4
+f 1 4 9
+f 1 9 12
+f 1 12 11
+f 1 11 6
+f 1 6 2
+f 2 5 3
+f 2 6 5
+f 3 5 10
+f 3 10 18
+f 3 18 13
+f 3 13 7
+f 4 8 9
+f 5 6 11
+f 5 11 12
+f 5 12 10
+f 7 13 14
+f 7 14 15
+f 8 16 9
+f 9 17 14
+f 9 14 13
+f 9 13 18
+f 9 18 12
+f 9 16 17
+f 10 12 18
+f 14 19 20
+f 14 20 15
+f 14 17 21
+f 14 21 19
+f 16 21 17
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_158.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_158.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ea81141dd161879a7530b64176204b988e98d65
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_158.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.01643157 -0.03337984 0.01049329
+v 0.02016958 -0.03222979 0.01049329
+v 0.01748216 -0.03256408 0.01217898
+v 0.01643157 -0.03272609 0.01266137
+v 0.01643157 -0.02686290 0.01049329
+v 0.02016958 -0.03207919 0.01096460
+v 0.02016958 -0.02486743 0.01049329
+v 0.02016958 -0.03100559 0.01392480
+v 0.01960604 -0.03119954 0.01392480
+v 0.01925621 -0.03131934 0.01392480
+v 0.01643157 -0.03220013 0.01392480
+v 0.01643157 -0.02677620 0.01057291
+v 0.01652525 -0.02676250 0.01049329
+v 0.02016958 -0.02365806 0.01180778
+v 0.02016958 -0.02334317 0.01392480
+v 0.01643157 -0.02422396 0.01392480
+v 0.01643157 -0.02426389 0.01381831
+v 0.02016922 -0.02172534 0.01392480
+v 0.01643157 -0.02422738 0.01391472
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 16
+f 1 16 19
+f 1 19 17
+f 1 17 12
+f 1 12 5
+f 1 5 13
+f 1 13 7
+f 1 7 2
+f 2 6 3
+f 2 7 14
+f 2 14 15
+f 2 15 8
+f 2 8 6
+f 3 6 8
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 4 10 11
+f 5 12 13
+f 7 13 14
+f 8 15 18
+f 8 18 16
+f 8 16 11
+f 8 11 10
+f 8 10 9
+f 12 17 13
+f 13 17 18
+f 13 18 14
+f 14 18 15
+f 16 18 19
+f 17 19 18
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_159.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_159.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48479b8a7cc3a972846fc96c9147690f4adb4296
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_159.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v -0.00228248 -0.04093241 -0.00119024
+v -0.00503501 -0.04074517 -0.00119024
+v -0.00005540 -0.04035010 -0.00119024
+v -0.00005540 -0.04012729 -0.00016249
+v -0.00405478 -0.04009733 0.00476802
+v -0.00472013 -0.04009733 0.00476802
+v -0.00503501 -0.04021342 0.00370510
+v -0.00503501 -0.03325379 -0.00119024
+v -0.00005540 -0.03319107 -0.00119024
+v -0.00005540 -0.04005614 0.00016206
+v -0.00005540 -0.03865373 0.00645028
+v -0.00005540 -0.03810606 0.00871945
+v -0.00005540 -0.03755652 0.01097780
+v -0.00222252 -0.03811168 0.01097780
+v -0.00503501 -0.03989699 0.00507093
+v -0.00473914 -0.03568601 0.01790972
+v -0.00503501 -0.03578618 0.01742289
+v -0.00503501 -0.03287276 0.00031082
+v -0.00503501 -0.03276885 0.00077872
+v -0.00005540 -0.03183547 0.00496275
+v -0.00005540 -0.03706408 0.01248427
+v -0.00005540 -0.03619155 0.01481835
+v -0.00233951 -0.03642092 0.01557023
+v -0.00389832 -0.03568601 0.01790972
+v -0.00351178 -0.03136831 0.02644006
+v -0.00503501 -0.03136831 0.02611280
+v -0.00503501 -0.03247957 0.00209586
+v -0.00005540 -0.03136831 0.00715619
+v -0.00005540 -0.03521043 0.01691172
+v -0.00093619 -0.03532464 0.01715243
+v -0.00135197 -0.03136831 0.02557458
+v -0.00503501 -0.03136831 0.00923603
+v -0.00005540 -0.03136831 0.02489302
+v -0.00005540 -0.03473952 0.01790701
+v -0.00005540 -0.03306188 0.02139596
+f 1 2 8
+f 1 8 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 15
+f 2 15 17
+f 2 17 26
+f 2 26 32
+f 2 32 27
+f 2 27 19
+f 2 19 18
+f 2 18 8
+f 3 9 20
+f 3 20 28
+f 3 28 33
+f 3 33 35
+f 3 35 34
+f 3 34 29
+f 3 29 22
+f 3 22 21
+f 3 21 13
+f 3 13 12
+f 3 12 11
+f 3 11 10
+f 3 10 4
+f 4 10 5
+f 5 10 11
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 5 14 6
+f 6 15 7
+f 6 14 16
+f 6 16 17
+f 6 17 15
+f 8 18 9
+f 9 18 19
+f 9 19 20
+f 13 21 14
+f 14 21 22
+f 14 22 23
+f 14 23 24
+f 14 24 16
+f 16 24 25
+f 16 25 26
+f 16 26 17
+f 19 27 20
+f 20 27 28
+f 22 29 30
+f 22 30 23
+f 23 30 24
+f 24 30 31
+f 24 31 25
+f 25 31 33
+f 25 33 28
+f 25 28 32
+f 25 32 26
+f 27 32 28
+f 29 34 30
+f 30 34 35
+f 30 35 31
+f 31 35 33
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_16.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02b6e2b113c521e84ea67012ddc209fec69109f9
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_16.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.01221687 0.01006653 -0.06625270
+v 0.01221687 0.01006653 -0.06692742
+v 0.01139777 0.01006653 -0.06631242
+v 0.00358121 0.00802532 -0.06692749
+v 0.01221687 0.00695596 -0.06658134
+v 0.01221687 0.00641770 -0.06692742
+v 0.00644596 0.01006653 -0.06692749
+v 0.00365898 0.01006653 -0.06692749
+v 0.00826337 0.00641770 -0.06692742
+v 0.00644596 0.00808568 -0.06692749
+v 0.01221687 0.00641770 -0.06687259
+f 1 2 7
+f 1 7 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 6
+f 1 6 2
+f 2 6 10
+f 2 10 7
+f 3 8 4
+f 4 9 5
+f 4 8 7
+f 4 7 10
+f 4 10 6
+f 4 6 9
+f 5 9 11
+f 6 11 9
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_160.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_160.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65548d52a8150ea8220dddaddbde689abef0a316
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_160.obj
@@ -0,0 +1,168 @@
+# https://github.com/mikedh/trimesh
+v 0.03044579 -0.02755066 -0.00780847
+v 0.03034943 -0.02755066 -0.00607937
+v 0.02917078 -0.02935760 -0.00384408
+v 0.02893337 -0.03014101 -0.00780847
+v 0.02886774 -0.03002797 -0.01145589
+v 0.03027681 -0.02755066 -0.01246828
+v 0.03019302 -0.02755066 -0.00384408
+v 0.02882305 -0.02995173 -0.00384408
+v 0.02743632 -0.03246848 -0.00780847
+v 0.02860101 -0.03029875 -0.00384408
+v 0.02876440 -0.02985008 -0.01712335
+v 0.03008269 -0.02755066 -0.01692702
+v 0.02838036 -0.02755066 -0.00384408
+v 0.02733578 -0.03235544 -0.01145589
+v 0.02728271 -0.03227920 -0.00384408
+v 0.02529968 -0.03372511 -0.00384408
+v 0.02495335 -0.03395645 -0.00384408
+v 0.02510696 -0.03402393 -0.00780847
+v 0.02485140 -0.03387496 -0.01712335
+v 0.02469918 -0.03378820 -0.02178079
+v 0.02865687 -0.02967482 -0.02178079
+v 0.02980479 -0.02755066 -0.02178079
+v 0.02419784 -0.02755066 -0.00552114
+v 0.02409450 -0.02755679 -0.00384408
+v 0.02717937 -0.03217843 -0.01712335
+v 0.02084344 -0.03537957 -0.00384408
+v 0.02084344 -0.03541112 -0.00780847
+v 0.02084344 -0.03519642 -0.01712335
+v 0.02084344 -0.03508513 -0.02178079
+v 0.02702715 -0.03200229 -0.02178079
+v 0.02410846 -0.03345783 -0.02644060
+v 0.02833846 -0.02913063 -0.02564110
+v 0.02897946 -0.02755066 -0.02636018
+v 0.02092723 -0.02755066 -0.02800885
+v 0.01624616 -0.03133892 -0.00384408
+v 0.01624616 -0.03650300 -0.00384408
+v 0.01624616 -0.03641975 -0.00747495
+v 0.01618471 -0.03563808 -0.02178079
+v 0.01618471 -0.03524287 -0.02644060
+v 0.02084344 -0.03447084 -0.02644060
+v 0.02670735 -0.03064138 -0.02689238
+v 0.02377749 -0.03326943 -0.02800885
+v 0.02737488 -0.02919548 -0.02800885
+v 0.02794046 -0.02844974 -0.02800885
+v 0.02859821 -0.02755066 -0.02752394
+v 0.02843901 -0.02755066 -0.02800885
+v 0.01618751 -0.02994385 -0.02800885
+v 0.01618052 -0.02994560 -0.02800648
+v 0.01618052 -0.03118382 -0.01145589
+v 0.01618052 -0.03590974 -0.01145589
+v 0.01618052 -0.03563808 -0.02178552
+v 0.01618052 -0.03524287 -0.02644533
+v 0.01618052 -0.03492477 -0.02800885
+v 0.01927517 -0.03441125 -0.02800885
+v 0.02080434 -0.03410455 -0.02800885
+v 0.02622137 -0.03070360 -0.02800885
+v 0.02689588 -0.02982292 -0.02800885
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 12
+f 1 12 22
+f 1 22 33
+f 1 33 45
+f 1 45 46
+f 1 46 34
+f 1 34 23
+f 1 23 13
+f 1 13 7
+f 1 7 2
+f 2 7 3
+f 3 7 13
+f 3 13 24
+f 3 24 35
+f 3 35 36
+f 3 36 26
+f 3 26 17
+f 3 17 16
+f 3 16 15
+f 3 15 10
+f 3 10 8
+f 3 8 4
+f 4 9 5
+f 4 8 10
+f 4 10 9
+f 5 9 11
+f 5 11 6
+f 6 11 12
+f 9 14 11
+f 9 10 15
+f 9 15 16
+f 9 16 17
+f 9 17 18
+f 9 18 19
+f 9 19 20
+f 9 20 14
+f 11 21 12
+f 11 14 21
+f 12 21 22
+f 13 23 24
+f 14 20 25
+f 14 25 21
+f 17 26 18
+f 18 26 27
+f 18 27 28
+f 18 28 29
+f 18 29 19
+f 19 29 20
+f 20 30 25
+f 20 29 31
+f 20 31 30
+f 21 25 30
+f 21 30 32
+f 21 32 22
+f 22 32 33
+f 23 34 24
+f 24 34 35
+f 26 36 27
+f 27 36 37
+f 27 37 28
+f 28 37 29
+f 29 38 39
+f 29 39 40
+f 29 40 31
+f 29 37 38
+f 30 31 41
+f 30 41 32
+f 31 40 42
+f 31 42 41
+f 32 41 43
+f 32 43 44
+f 32 44 45
+f 32 45 33
+f 34 46 44
+f 34 44 43
+f 34 43 57
+f 34 57 56
+f 34 56 42
+f 34 42 55
+f 34 55 54
+f 34 54 53
+f 34 53 47
+f 34 47 48
+f 34 48 35
+f 35 48 49
+f 35 49 50
+f 35 50 36
+f 36 50 37
+f 37 50 51
+f 37 51 38
+f 38 51 52
+f 38 52 39
+f 39 52 40
+f 40 52 53
+f 40 53 54
+f 40 54 55
+f 40 55 42
+f 41 42 56
+f 41 56 57
+f 41 57 43
+f 44 46 45
+f 47 53 48
+f 48 53 52
+f 48 52 51
+f 48 51 50
+f 48 50 49
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_161.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_161.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85794f120e6a9943bac62a877fd7c5743dcedbf4
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_161.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.00215020 -0.01725903 0.06632010
+v -0.00359054 -0.01677941 0.06632010
+v 0.00205270 -0.01696804 0.06632010
+v 0.00222189 -0.01626257 0.08580565
+v -0.00002432 -0.01639876 0.08632260
+v -0.00222167 -0.01653072 0.08632260
+v -0.00359054 -0.00937619 0.06632010
+v -0.00359054 -0.01604856 0.08632260
+v 0.00385988 -0.01651887 0.06632010
+v 0.00385988 -0.01583540 0.08580565
+v -0.00002432 -0.00938380 0.08632260
+v -0.00359054 -0.00897777 0.06915354
+v 0.00385988 -0.00942863 0.06632010
+v -0.00359054 -0.00861827 0.08632260
+v 0.00385988 -0.00868171 0.08580565
+v -0.00359054 -0.00862166 0.08208125
+v 0.00385988 -0.00868510 0.08207929
+v 0.00385988 -0.00868594 0.08205579
+f 1 2 7
+f 1 7 13
+f 1 13 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 8
+f 2 8 14
+f 2 14 16
+f 2 16 12
+f 2 12 7
+f 3 9 4
+f 4 10 5
+f 4 9 10
+f 5 10 15
+f 5 15 11
+f 5 11 14
+f 5 14 8
+f 5 8 6
+f 7 12 13
+f 9 13 18
+f 9 18 17
+f 9 17 15
+f 9 15 10
+f 11 15 14
+f 12 16 17
+f 12 17 18
+f 12 18 13
+f 14 15 16
+f 15 17 16
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_162.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_162.obj
new file mode 100644
index 0000000000000000000000000000000000000000..963bc05601d72e7cb7c012f07a231b3115442e76
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_162.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.00222797 -0.01811743 0.10430306
+v 0.00403122 -0.01761414 0.10430306
+v 0.00222797 -0.01795200 0.10607959
+v 0.00222797 -0.01800559 0.10303105
+v 0.00664891 -0.01654349 0.09984142
+v 0.00664891 -0.01687552 0.10430306
+v 0.00222797 -0.01660873 0.10729388
+v 0.00664891 -0.01515945 0.10762738
+v 0.00664891 -0.01514663 0.10764876
+v 0.00222797 -0.01772365 0.09985852
+v 0.00664891 -0.01511052 0.08580873
+v 0.00222797 -0.01593186 0.10748201
+v 0.00664891 -0.01122868 0.10748414
+v 0.00222797 -0.01256262 0.10738153
+v 0.00222797 -0.01626039 0.08581087
+v 0.00594786 -0.01529343 0.08580873
+v 0.00664891 -0.00621794 0.08580873
+v 0.00664891 -0.00956969 0.10486531
+v 0.00222797 -0.01250437 0.10737512
+v 0.00222797 -0.01381152 0.08580873
+v 0.00222797 -0.00919805 0.08580873
+v 0.00664891 -0.00621677 0.08652918
+v 0.00664891 -0.00935533 0.10430306
+v 0.00222797 -0.01132304 0.10429451
+v 0.00222797 -0.00919805 0.08652918
+v 0.00222797 -0.00951377 0.09090531
+v 0.00664891 -0.00672355 0.09087965
+v 0.00664891 -0.00836390 0.09985852
+v 0.00222797 -0.01069626 0.09985852
+f 1 2 3
+f 1 3 7
+f 1 7 12
+f 1 12 14
+f 1 14 19
+f 1 19 24
+f 1 24 29
+f 1 29 26
+f 1 26 25
+f 1 25 21
+f 1 21 20
+f 1 20 15
+f 1 15 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 6 3
+f 2 5 6
+f 3 6 8
+f 3 8 9
+f 3 9 7
+f 4 10 5
+f 5 10 11
+f 5 11 17
+f 5 17 22
+f 5 22 27
+f 5 27 28
+f 5 28 23
+f 5 23 18
+f 5 18 13
+f 5 13 9
+f 5 9 8
+f 5 8 6
+f 7 9 12
+f 9 13 14
+f 9 14 12
+f 10 15 16
+f 10 16 11
+f 11 16 20
+f 11 20 21
+f 11 21 17
+f 13 18 19
+f 13 19 14
+f 15 20 16
+f 17 21 22
+f 18 23 24
+f 18 24 19
+f 21 25 22
+f 22 25 26
+f 22 26 27
+f 23 28 24
+f 24 28 27
+f 24 27 29
+f 26 29 27
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_163.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_163.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65446e2e89dbc467dfbd1f21ba4f62108dd405cb
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_163.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v 0.00995835 -0.00001585 0.09985449
+v 0.01540588 -0.00001585 0.09985449
+v 0.00986319 -0.00001585 0.10232652
+v 0.00985019 -0.00000666 0.10233642
+v 0.00985019 0.00276219 0.09985449
+v 0.01536628 0.00151992 0.09985449
+v 0.01559088 -0.00001585 0.10139116
+v 0.00985019 -0.00001585 0.10409332
+v 0.00985019 0.00669190 0.09985449
+v 0.01534974 0.00203272 0.09985449
+v 0.01588817 -0.00001585 0.10400177
+v 0.00985019 -0.00001585 0.11248440
+v 0.01408670 0.00669190 0.09985449
+v 0.00985019 0.00669190 0.11169626
+v 0.01416826 0.00656452 0.09985449
+v 0.01415290 0.00669190 0.09994480
+v 0.01582138 0.00203272 0.10400177
+v 0.01501580 0.00203272 0.10865880
+v 0.01505954 -0.00001585 0.10865880
+v 0.01403292 -0.00001585 0.11110238
+v 0.00985019 0.00203272 0.11249430
+v 0.00985019 0.00465318 0.11219488
+v 0.01387098 0.00443847 0.11100216
+v 0.01114455 0.00669190 0.11118404
+v 0.01416058 0.00669190 0.10002275
+v 0.01455007 0.00669059 0.10400177
+v 0.01410798 0.00669190 0.10800058
+v 0.01414876 0.00627103 0.10827278
+v 0.01402228 0.00203272 0.11109620
+v 0.00985019 0.00430847 0.11223447
+v 0.01371022 0.00669190 0.10870087
+v 0.01184906 0.00669190 0.11065821
+v 0.01454948 0.00669190 0.10400053
+f 1 2 7
+f 1 7 11
+f 1 11 19
+f 1 19 20
+f 1 20 12
+f 1 12 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 13
+f 1 13 15
+f 1 15 10
+f 1 10 6
+f 1 6 2
+f 2 6 7
+f 3 8 4
+f 4 8 12
+f 4 12 21
+f 4 21 30
+f 4 30 22
+f 4 22 14
+f 4 14 9
+f 4 9 5
+f 6 10 7
+f 7 10 11
+f 9 14 24
+f 9 24 32
+f 9 32 31
+f 9 31 27
+f 9 27 33
+f 9 33 25
+f 9 25 16
+f 9 16 13
+f 10 15 16
+f 10 16 17
+f 10 17 11
+f 11 17 18
+f 11 18 19
+f 12 20 21
+f 13 16 15
+f 14 22 23
+f 14 23 24
+f 16 25 17
+f 17 25 26
+f 17 26 27
+f 17 27 18
+f 18 27 28
+f 18 28 23
+f 18 23 29
+f 18 29 19
+f 19 29 20
+f 20 29 21
+f 21 29 23
+f 21 23 30
+f 22 30 23
+f 23 28 27
+f 23 27 31
+f 23 31 32
+f 23 32 24
+f 25 33 26
+f 26 33 27
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_164.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_164.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3662914f8fb86a205d83bad3e0e46171fbed7da2
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_164.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v 0.00222159 0.04253244 -0.01097027
+v 0.00222159 0.04208459 -0.00680076
+v 0.00222159 0.03553509 -0.01097027
+v -0.00002081 0.04197341 -0.01124587
+v -0.00541876 0.04025028 -0.00769156
+v 0.00222159 0.04116982 -0.00235861
+v -0.00260304 0.04075213 -0.00644641
+v -0.00433454 0.03995012 -0.00473176
+v -0.00002081 0.03497448 -0.01124587
+v 0.00222159 0.03370079 -0.00119221
+v -0.02139529 0.02630799 -0.00119123
+v -0.02139529 0.02852980 -0.01124292
+v -0.00599901 0.04040433 -0.01124587
+v -0.02139529 0.03624658 -0.00971528
+v -0.02139529 0.03597818 -0.00729783
+v -0.02020243 0.03617352 -0.00667772
+v -0.00002081 0.04058538 -0.00235959
+v -0.00002081 0.04033128 -0.00119221
+v 0.00222159 0.04091412 -0.00119221
+v -0.02139529 0.03562879 -0.00553003
+v -0.02139529 0.03549062 -0.00484988
+v -0.01885930 0.03583684 -0.00327598
+v -0.01607363 0.03076431 -0.01124587
+v -0.01607363 0.02892366 -0.00119123
+v -0.02139529 0.03449962 -0.00119123
+v -0.02139529 0.03635457 -0.01124292
+v -0.01607363 0.03775373 -0.01124587
+v -0.02000131 0.03672461 -0.01124292
+v -0.00113507 0.04029316 -0.00235959
+v -0.01560666 0.03623546 -0.00119221
+v -0.01607363 0.03611000 -0.00119123
+v -0.01607363 0.03631011 -0.00208989
+v -0.02139529 0.03536834 -0.00429768
+v -0.02016082 0.03502053 -0.00119123
+f 1 2 6
+f 1 6 19
+f 1 19 10
+f 1 10 3
+f 1 3 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 8
+f 2 8 6
+f 3 10 11
+f 3 11 12
+f 3 12 9
+f 4 9 23
+f 4 23 27
+f 4 27 13
+f 4 13 14
+f 4 14 5
+f 5 14 15
+f 5 15 16
+f 5 16 7
+f 6 8 17
+f 6 17 18
+f 6 18 19
+f 7 16 20
+f 7 20 8
+f 8 20 21
+f 8 21 22
+f 8 22 17
+f 9 12 23
+f 10 19 31
+f 10 31 24
+f 10 24 11
+f 11 24 31
+f 11 31 34
+f 11 34 25
+f 11 25 33
+f 11 33 21
+f 11 21 20
+f 11 20 15
+f 11 15 14
+f 11 14 26
+f 11 26 12
+f 12 26 27
+f 12 27 23
+f 13 27 28
+f 13 28 14
+f 14 28 26
+f 15 20 16
+f 17 22 29
+f 17 29 18
+f 18 30 31
+f 18 31 19
+f 18 29 32
+f 18 32 30
+f 21 33 34
+f 21 34 22
+f 22 34 30
+f 22 30 32
+f 22 32 29
+f 25 34 33
+f 26 28 27
+f 30 34 31
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_165.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_165.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5ede3f569ab0c19be89530d45ad86c7f4688df5
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_165.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v -0.02555218 -0.02309451 0.00354503
+v -0.02555218 -0.02507050 -0.00781093
+v -0.02555218 -0.02956299 0.00354503
+v -0.00719067 -0.03395979 0.00354503
+v -0.00719067 -0.03554235 -0.00781093
+v -0.02555218 -0.03089568 -0.00781093
+v -0.02555218 -0.03006452 0.00181523
+v -0.01981454 -0.03351142 0.00150840
+v -0.01926451 -0.03319775 0.00354503
+v -0.00719067 -0.03964496 0.00354503
+v -0.00719067 -0.04105562 -0.00781093
+v -0.02555218 -0.03100910 -0.00314960
+v -0.02056770 -0.03394029 -0.00781093
+v -0.02555218 -0.03100910 -0.00314737
+v -0.02065937 -0.03399169 -0.00314737
+v -0.01405713 -0.03749530 -0.00105072
+v -0.01107507 -0.03849658 0.00150840
+v -0.01052504 -0.03818291 0.00354503
+v -0.00725897 -0.03963610 0.00354503
+v -0.00719067 -0.03992851 0.00258897
+v -0.00719067 -0.04105739 -0.00778869
+v -0.00823861 -0.04056473 -0.00781093
+v -0.02065937 -0.03399169 -0.00314960
+v -0.01434114 -0.03770265 -0.00640352
+v -0.01226502 -0.03866849 -0.00781093
+v -0.01434114 -0.03770265 -0.00415568
+v -0.01221110 -0.03876950 -0.00282053
+v -0.00719067 -0.04119917 -0.00296728
+v -0.00719067 -0.04022624 0.00150840
+v -0.00719067 -0.04116550 -0.00426907
+v -0.01204573 -0.03877482 -0.00781093
+v -0.00719067 -0.04119385 -0.00333192
+v -0.00719067 -0.04119740 -0.00314960
+f 1 2 6
+f 1 6 12
+f 1 12 14
+f 1 14 7
+f 1 7 3
+f 1 3 9
+f 1 9 18
+f 1 18 19
+f 1 19 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 5 11
+f 2 11 22
+f 2 22 31
+f 2 31 25
+f 2 25 13
+f 2 13 6
+f 3 7 8
+f 3 8 9
+f 4 10 20
+f 4 20 29
+f 4 29 28
+f 4 28 33
+f 4 33 32
+f 4 32 30
+f 4 30 21
+f 4 21 11
+f 4 11 5
+f 6 13 12
+f 7 14 15
+f 7 15 16
+f 7 16 8
+f 8 16 17
+f 8 17 18
+f 8 18 9
+f 10 19 20
+f 11 21 22
+f 12 13 23
+f 12 23 15
+f 12 15 14
+f 13 24 23
+f 13 25 24
+f 15 23 24
+f 15 24 26
+f 15 26 27
+f 15 27 16
+f 16 27 17
+f 17 27 28
+f 17 28 29
+f 17 29 18
+f 18 29 19
+f 19 29 20
+f 21 30 22
+f 22 30 31
+f 24 25 31
+f 24 31 32
+f 24 32 33
+f 24 33 27
+f 24 27 26
+f 27 33 28
+f 30 32 31
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_166.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_166.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3ef91e4e37e2d66996b2f6d0e4ad78a35dc7ebd
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_166.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v -0.02174037 0.01971697 -0.04012631
+v -0.02841313 0.01971697 -0.04012631
+v -0.02678066 0.01971697 -0.02801163
+v -0.03410713 0.00676781 -0.02801163
+v -0.02649311 0.01136435 -0.04012631
+v -0.02863639 0.01934935 -0.04012631
+v -0.02863282 0.01971697 -0.03969105
+v -0.03291939 0.01971697 -0.02801163
+v -0.02912577 0.00676781 -0.04012631
+v -0.03998508 0.00676781 -0.02801163
+v -0.02985806 0.01717150 -0.04012631
+v -0.02877392 0.01958513 -0.03956890
+v -0.02883464 0.01971697 -0.03922023
+v -0.03248716 0.01971697 -0.02925809
+v -0.03323731 0.01920737 -0.02801163
+v -0.03553777 0.00676781 -0.04012631
+v -0.03814543 0.01069629 -0.02801163
+v -0.03787752 0.00988245 -0.03008234
+v -0.03852765 0.00676781 -0.03224554
+v -0.03227105 0.01285638 -0.04012631
+v -0.03274614 0.01370445 -0.03812439
+v -0.03012062 0.01971697 -0.03588054
+v -0.03209244 0.01971697 -0.03039187
+v -0.03298547 0.01877129 -0.02951544
+v -0.03556277 0.00676781 -0.04008124
+v -0.03333019 0.01094982 -0.04012631
+v -0.03673443 0.00787955 -0.03575838
+v -0.03730419 0.00676781 -0.03575838
+v -0.03318730 0.01449293 -0.03575838
+v -0.03319266 0.01120462 -0.04012631
+v -0.03335519 0.01104109 -0.03997331
+v -0.03603965 0.00676781 -0.03890950
+f 1 2 7
+f 1 7 13
+f 1 13 22
+f 1 22 23
+f 1 23 14
+f 1 14 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 16
+f 1 16 26
+f 1 26 30
+f 1 30 20
+f 1 20 11
+f 1 11 6
+f 1 6 2
+f 2 6 7
+f 3 8 15
+f 3 15 17
+f 3 17 10
+f 3 10 4
+f 4 9 5
+f 4 10 19
+f 4 19 28
+f 4 28 32
+f 4 32 25
+f 4 25 16
+f 4 16 9
+f 6 11 12
+f 6 12 7
+f 7 12 13
+f 8 14 15
+f 10 17 18
+f 10 18 19
+f 11 20 12
+f 12 20 21
+f 12 21 13
+f 13 21 22
+f 14 23 24
+f 14 24 15
+f 15 24 17
+f 16 25 26
+f 17 24 18
+f 18 27 28
+f 18 28 19
+f 18 24 29
+f 18 29 21
+f 18 21 27
+f 20 30 21
+f 21 30 31
+f 21 31 25
+f 21 25 32
+f 21 32 27
+f 21 29 22
+f 22 29 24
+f 22 24 23
+f 25 31 26
+f 26 31 30
+f 27 32 28
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_167.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_167.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96e1e972856d991c8441caad71a5fe5b85fd1bbb
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_167.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v 0.03819764 -0.01009964 -0.04235724
+v 0.03635059 -0.01009964 -0.04235132
+v 0.03766436 -0.01111841 -0.04235132
+v 0.03766641 -0.01111226 -0.04235724
+v 0.03636898 -0.01108642 -0.04645843
+v 0.03686139 -0.01009964 -0.04646139
+v 0.03018217 -0.01009964 -0.04235132
+v 0.03596238 -0.01403692 -0.04235132
+v 0.03596238 -0.01403446 -0.04235724
+v 0.03560482 -0.01342418 -0.04474812
+v 0.03508994 -0.01255060 -0.04771305
+v 0.03608906 -0.01009964 -0.04851199
+v 0.02974698 -0.01082927 -0.04235132
+v 0.01732638 -0.01009964 -0.06199326
+v 0.01732638 -0.02146608 -0.05103306
+v 0.03092181 -0.02266941 -0.04235132
+v 0.03061329 -0.02266941 -0.04338402
+v 0.03091160 -0.02188319 -0.04391960
+v 0.02944050 -0.02266941 -0.04693779
+v 0.03126303 -0.01804803 -0.04924878
+v 0.03524726 -0.01009964 -0.05011577
+v 0.02274903 -0.02266941 -0.04235724
+v 0.02441219 -0.01999698 -0.04235132
+v 0.01732638 -0.01009964 -0.07257766
+v 0.01732638 -0.02266941 -0.05032587
+v 0.02783863 -0.02266941 -0.04235132
+v 0.02775486 -0.02266941 -0.05032587
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+v 0.01872188 -0.01111226 -0.07194146
+v 0.01732638 -0.02198531 -0.06433975
+v 0.01819270 -0.02261282 -0.06295198
+v 0.01773706 -0.02266941 -0.06317982
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+v 0.01810892 -0.01831133 -0.06730173
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\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_168.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_168.obj
new file mode 100644
index 0000000000000000000000000000000000000000..900e53586d6cf96c6005c9d3a76688be2e4eb357
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_168.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.00467358 0.00779970 0.08548988
+v 0.00467358 0.00780155 0.08365283
+v 0.00467358 0.01566331 0.08548988
+v -0.00002451 0.00938335 0.08548988
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+v 0.00467358 0.00780340 0.08208225
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+v -0.00002451 0.00985289 0.06632009
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+f 11 17 12
+f 12 17 18
+f 12 18 19
+f 12 19 15
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_169.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_169.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2878b9c87ac9aa1b4ed8493be78a46028528ec9b
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_169.obj
@@ -0,0 +1,165 @@
+# https://github.com/mikedh/trimesh
+v -0.00762960 -0.03429404 -0.04017514
+v -0.00839777 -0.03392161 -0.04017514
+v -0.00762960 -0.03417112 -0.04055958
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+v -0.01951875 -0.02089371 -0.04017514
+v -0.01951875 -0.01644283 -0.04614911
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+v -0.01951875 -0.02341636 -0.04715342
+v -0.01881343 -0.02362551 -0.04745795
+v -0.01307196 -0.02765442 -0.04654652
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+v -0.00762960 -0.03152371 -0.04543855
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+v -0.00762960 -0.01646485 -0.06223092
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+f 49 54 53
+f 49 53 56
+f 49 56 50
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\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_17.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e22bf05fed2741e37e58e84194ad915a0f143d67
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_17.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v -0.00003950 0.03594358 0.01399401
+v -0.00003950 0.03537999 0.01542921
+v -0.00003950 0.02820400 0.01399401
+v -0.00092040 0.03573864 0.01399401
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+v -0.02069794 0.02055032 0.01399401
+v -0.00711225 0.03376608 0.01548623
+v -0.01388094 0.03251834 0.01399401
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+v -0.02108440 0.02961298 0.01548623
+v -0.02347702 0.02772631 0.01787602
+v -0.02108440 0.02818140 0.01820593
+v -0.00245202 0.03312412 0.01843656
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+v -0.01956698 0.03067687 0.01399401
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+v -0.02508253 0.02721395 0.01399401
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+v -0.02838731 0.02180258 0.01399401
+v -0.02876240 0.02055032 0.01496388
+v -0.02869136 0.02055032 0.01512730
+v -0.02853223 0.02055032 0.01548623
+v -0.02791845 0.02055032 0.01677277
+v -0.02573610 0.02055032 0.01852362
+v -0.02404819 0.02532577 0.01820593
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+v -0.00245202 0.02998369 0.01912692
+v -0.00003950 0.03181912 0.01880465
+v -0.01642417 0.02532577 0.01919464
+v -0.00003950 0.02773836 0.01919464
+v -0.02108440 0.02055032 0.01919464
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+v -0.02120090 0.02055032 0.01919107
+v -0.02108440 0.02066786 0.01919464
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+f 39 43 42
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_170.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_170.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a62cd25f5d00ae9153450eefe4d7540c9665ab38
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_170.obj
@@ -0,0 +1,165 @@
+# https://github.com/mikedh/trimesh
+v -0.04128333 0.00583392 -0.00119024
+v -0.04040006 0.00583392 0.00393924
+v -0.04124740 0.00666924 -0.00119024
+v -0.03368755 0.00583392 -0.00119024
+v -0.04014850 0.00583392 0.00503777
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+v -0.04082183 0.00777186 -0.00119024
+v -0.03271159 0.00583392 0.00240095
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+v -0.03245626 0.00583392 0.00355421
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+v -0.03541249 0.01353000 0.00813079
+v -0.03621443 0.01235777 0.00766912
+v -0.03080319 0.02169664 0.00751218
+v -0.02974213 0.02405782 0.00622936
+v -0.03561675 0.01713580 -0.00119024
+v -0.03152192 0.00630727 0.00766912
+v -0.03197585 0.00583392 0.00679504
+v -0.02196477 0.02376824 0.00390457
+v -0.02196477 0.02315289 0.00604231
+v -0.02569835 0.01616404 0.00813079
+v -0.02451813 0.03328253 -0.00119024
+v -0.02196477 0.03229686 0.00813079
+v -0.03184723 0.00583392 0.00766912
+v -0.02728522 0.01353000 0.00813079
+v -0.02719444 0.02756616 0.00813079
+v -0.02740627 0.02792813 0.00653045
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+v -0.02871132 0.02895001 -0.00119024
+v -0.02651543 0.01476627 0.00813079
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+v -0.02539762 0.03271730 -0.00119024
+v -0.02362729 0.03195994 0.00653045
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+v -0.02640384 0.02869941 0.00813079
+v -0.02638871 0.03078214 0.00354053
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+v -0.02816282 0.02986051 -0.00119024
+v -0.02706204 0.03162582 -0.00119024
+v -0.02472618 0.03060673 0.00813079
+v -0.02562837 0.02966838 0.00813079
+v -0.02584777 0.03015008 0.00653045
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\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_171.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_171.obj
new file mode 100644
index 0000000000000000000000000000000000000000..897c5d9bd2ef8849a2e24280a4f739685fe7cb9a
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_171.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v -0.01908083 0.02218939 0.01399401
+v -0.02294228 0.02179390 0.01015075
+v -0.02286543 0.02198180 0.01015075
+v -0.02278295 0.02218939 0.01015075
+v -0.02813837 0.02218939 0.01399401
+v -0.02559281 0.01130343 0.01399401
+v -0.03138874 0.00673327 0.01015075
+v -0.03110195 0.00723332 0.01015075
+v -0.02937741 0.02218939 0.01015075
+v -0.02827146 0.02218939 0.01369267
+v -0.02838768 0.02179996 0.01399401
+v -0.02572028 0.01109886 0.01399401
+v -0.03140749 0.00670902 0.01015075
+v -0.02851140 0.00670902 0.01399401
+v -0.02869885 0.02218939 0.01232518
+v -0.03354066 0.01512655 0.01015075
+v -0.03345818 0.01492350 0.01082753
+v -0.03297269 0.01409311 0.01384992
+v -0.03305142 0.01385369 0.01399401
+v -0.03823064 0.00670902 0.01015075
+v -0.03697098 0.00670902 0.01399401
+v -0.03618557 0.01059124 0.01015075
+v -0.03695036 0.00825615 0.01186735
+v -0.03510961 0.01016089 0.01399401
+v -0.03812942 0.00670902 0.01052996
+v -0.03799820 0.00721513 0.01015075
+v -0.03734963 0.00670902 0.01305990
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 15
+f 1 15 10
+f 1 10 5
+f 1 5 11
+f 1 11 19
+f 1 19 24
+f 1 24 21
+f 1 21 14
+f 1 14 12
+f 1 12 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 8 7
+f 2 7 13
+f 2 13 20
+f 2 20 26
+f 2 26 22
+f 2 22 16
+f 2 16 9
+f 2 9 4
+f 2 4 3
+f 5 10 11
+f 6 12 7
+f 7 12 14
+f 7 14 13
+f 9 16 17
+f 9 17 15
+f 10 15 17
+f 10 17 18
+f 10 18 11
+f 11 18 19
+f 13 14 21
+f 13 21 27
+f 13 27 25
+f 13 25 20
+f 16 22 17
+f 17 22 18
+f 18 22 23
+f 18 23 24
+f 18 24 19
+f 20 25 26
+f 21 24 27
+f 22 26 23
+f 23 26 27
+f 23 27 24
+f 25 27 26
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_172.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_172.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70461df7cbcbe46e7740fe19b584172c2f820a9f
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_172.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v -0.00017470 0.04036248 -0.00782492
+v -0.00711109 0.03895972 -0.00782492
+v -0.00017470 0.03545632 -0.00782492
+v -0.00017470 0.04014649 -0.01712536
+v -0.00711109 0.03881689 -0.01246823
+v -0.01174800 0.03774741 -0.00782492
+v -0.00017470 0.04004198 -0.02161257
+v -0.01957304 0.03012399 -0.00782492
+v -0.01957304 0.02850060 -0.02801045
+v -0.00017470 0.03406517 -0.02801045
+v -0.00711109 0.03866709 -0.01712536
+v -0.01420507 0.03699958 -0.01102188
+v -0.01439116 0.03705300 -0.00782492
+v -0.00017470 0.03946950 -0.02644161
+v -0.00245139 0.03898062 -0.02644161
+v -0.00711109 0.03848594 -0.02178250
+v -0.01957304 0.03533091 -0.00782492
+v -0.01957304 0.03410930 -0.02801045
+v -0.00017470 0.03918035 -0.02801045
+v -0.01130178 0.03745943 -0.01989949
+v -0.01150116 0.03751284 -0.01712536
+v -0.01116507 0.03742343 -0.02178250
+v -0.01957304 0.03492100 -0.02178250
+v -0.01957304 0.03522872 -0.01248601
+v -0.00088296 0.03902707 -0.02801045
+v -0.00257671 0.03862413 -0.02801045
+v -0.00738452 0.03772883 -0.02668464
+v -0.01046060 0.03723763 -0.02529560
+v -0.01957304 0.03412324 -0.02795315
+v -0.00686994 0.03756510 -0.02801045
+v -0.01957304 0.03478049 -0.02329602
+v -0.00613510 0.03775670 -0.02801045
+v -0.01957304 0.03440890 -0.02644161
+f 1 2 6
+f 1 6 13
+f 1 13 17
+f 1 17 8
+f 1 8 3
+f 1 3 10
+f 1 10 19
+f 1 19 14
+f 1 14 7
+f 1 7 4
+f 1 4 2
+f 2 5 6
+f 2 4 7
+f 2 7 5
+f 3 8 9
+f 3 9 10
+f 5 11 12
+f 5 12 6
+f 5 7 11
+f 6 12 13
+f 7 14 15
+f 7 15 16
+f 7 16 11
+f 8 17 24
+f 8 24 23
+f 8 23 31
+f 8 31 33
+f 8 33 29
+f 8 29 18
+f 8 18 9
+f 9 18 30
+f 9 30 32
+f 9 32 26
+f 9 26 25
+f 9 25 19
+f 9 19 10
+f 11 20 21
+f 11 21 12
+f 11 16 22
+f 11 22 20
+f 12 21 20
+f 12 20 22
+f 12 22 23
+f 12 23 13
+f 13 23 24
+f 13 24 17
+f 14 19 15
+f 15 19 25
+f 15 25 26
+f 15 26 27
+f 15 27 28
+f 15 28 16
+f 16 28 22
+f 18 29 30
+f 22 28 31
+f 22 31 23
+f 26 32 27
+f 27 32 30
+f 27 30 28
+f 28 30 29
+f 28 29 33
+f 28 33 31
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_173.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_173.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f631c9258dfa88403f8004be4f6718c9dd602dad
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_173.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.00001534 -0.02743741 -0.06362080
+v -0.00001534 -0.02612437 -0.06585963
+v -0.00001427 -0.02861536 -0.06177470
+v -0.00001534 -0.01883758 -0.06362080
+v -0.00001534 -0.02611613 -0.06587287
+v 0.00224932 -0.02570756 -0.06587287
+v 0.00206930 -0.02820019 -0.06177470
+v -0.00001427 -0.02016874 -0.06177470
+v -0.00001534 -0.01561676 -0.06587287
+v 0.00658477 -0.02701730 -0.06177470
+v 0.01086696 -0.02344557 -0.06587287
+v 0.01086696 -0.01746358 -0.06177470
+v 0.01086696 -0.01178472 -0.06587087
+v 0.00921907 -0.01279463 -0.06587287
+v 0.01086696 -0.02585089 -0.06177470
+v 0.01086696 -0.01350798 -0.06587287
+f 1 2 3
+f 1 3 8
+f 1 8 4
+f 1 4 9
+f 1 9 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 7
+f 3 7 10
+f 3 10 15
+f 3 15 12
+f 3 12 8
+f 4 8 9
+f 5 9 14
+f 5 14 16
+f 5 16 11
+f 5 11 6
+f 6 10 7
+f 6 11 10
+f 8 12 13
+f 8 13 9
+f 9 13 14
+f 10 11 15
+f 11 16 13
+f 11 13 12
+f 11 12 15
+f 13 16 14
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_174.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_174.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6adfe91615b07a7664f7833095b8306f2c99bc73
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_174.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.02434623 -0.02858785 0.01379476
+v 0.02476074 -0.02800143 0.01379476
+v 0.02434623 -0.02839238 0.01427391
+v 0.02434623 -0.01480968 0.01379476
+v 0.02499508 -0.02766912 0.01379476
+v 0.02434623 -0.02828905 0.01452651
+v 0.02434623 -0.00526213 0.01493145
+v 0.02556768 -0.00005971 0.01493145
+v 0.02844516 -0.00006809 0.01401586
+v 0.02538350 -0.01215960 0.01379476
+v 0.02434623 -0.02824437 0.01463467
+v 0.02709731 -0.02424831 0.01379476
+v 0.02434623 -0.02806007 0.01493145
+v 0.02844516 -0.00005971 0.01493145
+v 0.02843794 -0.00005971 0.01402399
+v 0.02844516 -0.00005971 0.01402744
+v 0.02844516 -0.00746541 0.01379476
+v 0.02567723 -0.01169325 0.01379476
+v 0.02806677 -0.02265100 0.01379476
+v 0.02844516 -0.02139717 0.01476765
+v 0.02844516 -0.02128268 0.01493145
+v 0.02844516 -0.02195847 0.01379476
+v 0.02818193 -0.02244157 0.01379476
+f 1 2 3
+f 1 3 6
+f 1 6 11
+f 1 11 13
+f 1 13 7
+f 1 7 4
+f 1 4 10
+f 1 10 18
+f 1 18 17
+f 1 17 22
+f 1 22 23
+f 1 23 19
+f 1 19 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 4 7 8
+f 4 8 9
+f 4 9 10
+f 5 11 6
+f 5 12 11
+f 7 13 21
+f 7 21 14
+f 7 14 8
+f 8 14 16
+f 8 16 15
+f 8 15 9
+f 9 15 16
+f 9 16 14
+f 9 14 21
+f 9 21 20
+f 9 20 22
+f 9 22 17
+f 9 17 18
+f 9 18 10
+f 11 12 13
+f 12 19 13
+f 13 19 20
+f 13 20 21
+f 19 23 20
+f 20 23 22
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_175.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_175.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b93d589e1eddd6d51e2d45e5f17520dc79b43f85
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_175.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v -0.00984276 -0.00487036 0.05983160
+v -0.01107167 -0.00487036 0.05526492
+v -0.01749533 -0.00487036 0.05983160
+v -0.00783485 -0.00738008 0.05983160
+v -0.01463481 -0.00487036 0.04546350
+v -0.00783485 -0.00908471 0.05536478
+v -0.00783624 -0.01309739 0.04546350
+v -0.01836737 -0.00487036 0.05706656
+v -0.01701904 -0.00660380 0.05983160
+v -0.00783485 -0.00751453 0.05983160
+v -0.02202077 -0.00487036 0.04546350
+v -0.00783485 -0.00975056 0.05455749
+v -0.00783624 -0.02122199 0.04546350
+v -0.02159447 -0.00642773 0.04546350
+v -0.02136257 -0.00727445 0.04546350
+v -0.01753421 -0.00803953 0.05690201
+v -0.01805077 -0.00975056 0.05370519
+v -0.01737313 -0.01259641 0.05250550
+v -0.01469869 -0.01128552 0.05983160
+v -0.02067521 -0.00975056 0.04546350
+v -0.02030307 -0.01108865 0.04546350
+v -0.01995731 -0.01111266 0.04652958
+v -0.00783485 -0.00975056 0.05982879
+v -0.00783624 -0.01626176 0.05983160
+v -0.01118970 -0.01436186 0.05983160
+v -0.01360586 -0.01793117 0.04546350
+v -0.01850206 -0.01111426 0.05100484
+v -0.01804799 -0.01364159 0.04954497
+v -0.01312819 -0.01317582 0.05983160
+v -0.01872562 -0.01440507 0.04546350
+v -0.01855344 -0.01421140 0.04652958
+v -0.01360031 -0.01351034 0.05815232
+v -0.01570681 -0.01669872 0.04546350
+v -0.01575680 -0.01465477 0.05100484
+f 1 2 5
+f 1 5 11
+f 1 11 8
+f 1 8 3
+f 1 3 9
+f 1 9 19
+f 1 19 29
+f 1 29 25
+f 1 25 24
+f 1 24 10
+f 1 10 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
+f 2 7 5
+f 3 8 9
+f 4 10 23
+f 4 23 12
+f 4 12 6
+f 5 7 13
+f 5 13 26
+f 5 26 33
+f 5 33 30
+f 5 30 21
+f 5 21 20
+f 5 20 15
+f 5 15 14
+f 5 14 11
+f 6 12 7
+f 7 12 13
+f 8 11 14
+f 8 14 15
+f 8 15 9
+f 9 16 17
+f 9 17 18
+f 9 18 19
+f 9 15 20
+f 9 20 21
+f 9 21 22
+f 9 22 16
+f 10 24 23
+f 12 23 13
+f 13 23 24
+f 13 24 25
+f 13 25 26
+f 16 22 17
+f 17 22 27
+f 17 27 28
+f 17 28 18
+f 18 28 19
+f 19 28 29
+f 21 30 31
+f 21 31 28
+f 21 28 22
+f 22 28 27
+f 25 29 32
+f 25 32 33
+f 25 33 26
+f 28 31 33
+f 28 33 34
+f 28 34 32
+f 28 32 29
+f 30 33 31
+f 32 34 33
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_176.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_176.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11cd6d4e230a9ad7d18ad40a347dd66c36212383
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_176.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v -0.04085577 0.00004101 -0.00118925
+v -0.04033002 0.00004101 0.00119071
+v -0.03366830 0.00004101 -0.00118925
+v -0.04039343 -0.00165163 -0.00118925
+v -0.04020321 -0.00074936 0.00079290
+v -0.03906716 0.00004101 0.00669977
+v -0.03731422 -0.00666661 0.00653055
+v -0.03138168 0.00004101 0.00891942
+v -0.03047681 -0.00278193 0.00891942
+v -0.02938039 -0.00652252 0.00891942
+v -0.02977537 -0.01424992 -0.00118925
+v -0.03694434 -0.01424992 -0.00118925
+v -0.03691396 -0.01424992 -0.00105170
+v -0.03626404 -0.01424992 0.00189035
+v -0.03852027 0.00004101 0.00891942
+v -0.03584264 -0.01000293 0.00891942
+v -0.03569601 -0.01385124 0.00495116
+v -0.03609891 -0.01114861 0.00647216
+v -0.02872915 -0.00892439 0.00891942
+v -0.02816641 -0.01105348 0.00891942
+v -0.02736061 -0.01424992 0.00891942
+v -0.03576206 -0.01424992 0.00415652
+v -0.03508836 -0.01424992 0.00708274
+v -0.03533803 -0.01265520 0.00791399
+v -0.03462338 -0.01424992 0.00891942
+v -0.03549522 -0.01424992 0.00533710
+f 1 2 6
+f 1 6 15
+f 1 15 8
+f 1 8 3
+f 1 3 11
+f 1 11 12
+f 1 12 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 6
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 4 12 5
+f 5 12 13
+f 5 13 14
+f 5 14 7
+f 6 7 16
+f 6 16 15
+f 7 14 17
+f 7 17 18
+f 7 18 16
+f 8 15 16
+f 8 16 25
+f 8 25 21
+f 8 21 20
+f 8 20 19
+f 8 19 10
+f 8 10 9
+f 10 19 11
+f 11 19 20
+f 11 20 21
+f 11 21 25
+f 11 25 23
+f 11 23 26
+f 11 26 22
+f 11 22 14
+f 11 14 13
+f 11 13 12
+f 14 22 17
+f 16 18 23
+f 16 23 24
+f 16 24 25
+f 17 22 26
+f 17 26 18
+f 18 26 23
+f 23 25 24
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_177.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_177.obj
new file mode 100644
index 0000000000000000000000000000000000000000..902a66a3c3f2071d9afc19553892719a0819da1e
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_177.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.00339105 -0.01533181 0.10278640
+v 0.00339105 -0.01499030 0.09985506
+v 0.00460545 -0.01474636 0.09985506
+v 0.00567335 -0.01456823 0.10031032
+v 0.00607099 -0.01467262 0.10278640
+v 0.00664818 -0.01442414 0.10278697
+v 0.00339105 -0.00865588 0.10278640
+v 0.00339105 -0.00901895 0.09985506
+v 0.00664818 -0.01403271 0.09985449
+v 0.00548334 -0.01450016 0.09985506
+v 0.00615966 -0.01427438 0.09985506
+v 0.00822773 -0.01394421 0.10278697
+v 0.00664818 -0.00608490 0.10278697
+v 0.00705683 -0.00557433 0.10278697
+v 0.00901750 -0.00374083 0.09985449
+v 0.00860554 -0.00429111 0.09985449
+v 0.00664818 -0.00698917 0.09985449
+v 0.00734212 -0.01376608 0.09985449
+v 0.00901695 -0.01251236 0.09985449
+v 0.00901695 -0.01314432 0.10278697
+v 0.00901695 -0.00557433 0.10278697
+v 0.00901750 -0.00557433 0.09985449
+v 0.00901750 -0.00507965 0.10125213
+v 0.00901750 -0.00557433 0.10125213
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 13
+f 1 13 7
+f 1 7 8
+f 1 8 2
+f 2 8 17
+f 2 17 9
+f 2 9 3
+f 3 9 10
+f 3 10 4
+f 4 10 11
+f 4 11 12
+f 4 12 5
+f 5 12 6
+f 6 12 20
+f 6 20 21
+f 6 21 14
+f 6 14 13
+f 7 13 14
+f 7 14 15
+f 7 15 8
+f 8 15 16
+f 8 16 17
+f 9 18 11
+f 9 11 10
+f 9 17 16
+f 9 16 15
+f 9 15 22
+f 9 22 19
+f 9 19 18
+f 11 18 12
+f 12 18 19
+f 12 19 20
+f 14 21 15
+f 15 21 23
+f 15 23 24
+f 15 24 22
+f 19 22 20
+f 20 22 24
+f 20 24 23
+f 20 23 21
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_178.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_178.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a1d535200ceaf4c17d7913cb86605d60673d692
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_178.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.02082448 0.03350085 -0.00758675
+v 0.02059344 0.03350085 -0.00507968
+v 0.02722734 0.02979560 -0.00780225
+v 0.02084859 0.03349834 -0.00780225
+v 0.01069883 0.03350085 -0.00780225
+v 0.02040458 0.03350085 -0.00313911
+v 0.02049901 0.03344691 -0.00314799
+v 0.02722734 0.02953847 -0.00314799
+v 0.02722734 0.02393921 -0.00780225
+v 0.01045171 0.03350085 -0.00780225
+v 0.01852410 0.03350085 0.00150959
+v 0.01957283 0.03291759 0.00150959
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+v 0.00670683 0.03350085 0.00354569
+v 0.01742113 0.03350085 0.00354569
+v 0.01810220 0.03312204 0.00354569
+v 0.01902235 0.03260276 0.00354569
+v 0.02722734 0.02787149 0.00354569
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+f 1 15 16
+f 1 16 11
+f 1 11 6
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+f 2 6 7
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+f 2 8 3
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+f 3 19 14
+f 3 14 9
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+f 10 14 15
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+f 12 16 17
+f 12 17 18
+f 12 18 13
+f 13 18 19
+f 14 19 18
+f 14 18 17
+f 14 17 16
+f 14 16 15
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_179.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_179.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0920e7df0298aced6559301367174b045814416
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_179.obj
@@ -0,0 +1,141 @@
+# https://github.com/mikedh/trimesh
+v 0.00674017 0.04237572 -0.01124420
+v 0.00674017 0.03497342 -0.01124420
+v 0.00674017 0.04187308 -0.00679983
+v 0.00989491 0.04056703 -0.00679983
+v 0.01035850 0.04083147 -0.01124420
+v 0.00674017 0.03300324 -0.00119024
+v 0.02407960 0.02521942 -0.01124420
+v 0.02823442 0.02176151 -0.01121172
+v 0.00674017 0.04158846 -0.00545943
+v 0.00928262 0.04021781 -0.00366437
+v 0.01780510 0.03556690 -0.00452057
+v 0.02632466 0.03091598 -0.00547616
+v 0.02857264 0.02993897 -0.00689332
+v 0.02688156 0.03123291 -0.00843645
+v 0.01258024 0.03956580 -0.01124420
+v 0.02581442 0.02175344 -0.00119024
+v 0.00674017 0.04065585 -0.00119024
+v 0.02597479 0.02175344 -0.00273731
+v 0.02407960 0.03300526 -0.01124420
+v 0.03652365 0.02175344 -0.01121172
+v 0.02833647 0.02175344 -0.01121172
+v 0.00691219 0.04082946 -0.00225213
+v 0.00674017 0.04077495 -0.00171774
+v 0.00867616 0.03991704 -0.00119024
+v 0.01095330 0.03866145 -0.00119024
+v 0.01516351 0.03626332 -0.00119024
+v 0.02269467 0.03197172 -0.00119024
+v 0.02888753 0.02872376 -0.00235841
+v 0.03169531 0.02706242 -0.00235841
+v 0.03248254 0.02756910 -0.00680081
+v 0.03289948 0.02783152 -0.01121172
+v 0.02925490 0.03005403 -0.01121172
+v 0.02703609 0.03132173 -0.01121172
+v 0.02091903 0.03480991 -0.01124420
+v 0.03466345 0.02175344 -0.00119024
+v 0.00803764 0.04016331 -0.00119024
+v 0.03512413 0.02584923 -0.01121172
+v 0.03598716 0.02363076 -0.01121172
+v 0.03582680 0.02310996 -0.00761076
+v 0.03609505 0.02175344 -0.00700158
+v 0.02892835 0.02841490 -0.00119024
+v 0.03148538 0.02692112 -0.00119024
+v 0.03486464 0.02453309 -0.00639830
+v 0.03542153 0.02175344 -0.00361417
+v 0.03329018 0.02451088 -0.00119024
+v 0.03553524 0.02217129 -0.00464949
+v 0.03573059 0.02175344 -0.00506578
+v 0.03187900 0.02640233 -0.00119024
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+f 19 31 37
+f 19 37 38
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+f 22 23 36
+f 22 36 24
+f 27 41 28
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+f 28 42 29
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+f 29 37 30
+f 29 42 43
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+f 37 43 39
+f 37 39 38
+f 39 46 40
+f 39 43 46
+f 40 46 47
+f 42 48 43
+f 43 48 45
+f 43 45 46
+f 44 47 46
+f 44 46 45
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_18.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1c9b24bb1abd16bef75c875f542642132f6ea9d
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_18.obj
@@ -0,0 +1,120 @@
+# https://github.com/mikedh/trimesh
+v -0.00256333 -0.00778577 0.09673008
+v -0.00175286 -0.00816616 0.09673008
+v 0.00230714 -0.00788500 0.09654437
+v 0.00230714 -0.00273912 0.09316483
+v -0.00010855 -0.00273912 0.09317531
+v -0.00256333 -0.00274148 0.09318655
+v -0.00256333 -0.01478398 0.09673008
+v -0.00010855 -0.00915021 0.09673008
+v 0.00230714 -0.01452409 0.09654437
+v 0.00230714 -0.00273912 0.09055136
+v -0.00256333 -0.00273912 0.09053863
+v -0.00256333 -0.01457252 0.09584344
+v -0.00245034 -0.01480761 0.09673008
+v -0.00010855 -0.01475090 0.09673008
+v 0.00163922 -0.01476626 0.09654437
+v 0.00230714 -0.01409172 0.09493959
+v 0.00230714 -0.00275211 0.09054687
+v -0.00256333 -0.00717266 0.08908063
+v -0.00245034 -0.01458434 0.09579627
+v -0.00256333 -0.01385663 0.09350855
+v -0.00245034 -0.01388735 0.09346661
+v -0.00010855 -0.01461859 0.09566073
+v 0.00127021 -0.01463749 0.09558135
+v 0.00230714 -0.01398776 0.09455693
+v 0.00230714 -0.00328253 0.09037613
+v 0.00220750 -0.00728606 0.08907988
+v -0.00010855 -0.00728606 0.08908063
+v -0.00245034 -0.00728606 0.08908213
+v -0.00256333 -0.00728606 0.08909785
+v -0.00256333 -0.01380702 0.09341569
+v -0.00256333 -0.01153532 0.09063448
+v -0.00245034 -0.01155776 0.09061651
+v -0.00010855 -0.01152705 0.09060752
+v 0.00220750 -0.01149515 0.09059779
+v -0.00010855 -0.01385545 0.09385002
+v -0.00010855 -0.01435988 0.09479731
+v 0.00230714 -0.01382119 0.09424616
+v 0.00230714 -0.00728606 0.08909261
+v -0.00256333 -0.01145499 0.09059480
+v 0.00230714 -0.01212008 0.09159151
+v 0.00230714 -0.01147743 0.09061277
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 11
+f 1 11 18
+f 1 18 29
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+f 1 8 2
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+f 7 12 13
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+f 17 26 18
+f 18 26 27
+f 18 27 28
+f 18 28 29
+f 19 21 22
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+f 26 32 27
+f 27 32 28
+f 28 32 39
+f 28 39 29
+f 31 39 32
+f 32 34 33
+f 34 40 35
+f 34 38 41
+f 34 41 40
+f 35 40 37
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_180.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_180.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b97b16f0cbae0313e1d7a0fa35f2668fc67c8072
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_180.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v -0.00001593 0.03438700 -0.03233413
+v -0.00001593 0.04156171 -0.03233413
+v 0.00545878 0.03505551 -0.03233413
+v -0.00001593 0.03493788 -0.01097227
+v -0.00001593 0.04175556 -0.03122798
+v 0.00108931 0.04185496 -0.03233413
+v 0.00546522 0.03814376 -0.03233413
+v 0.00546522 0.03544568 -0.03023057
+v 0.00546522 0.03598414 -0.02457854
+v 0.00500059 0.03586982 -0.01097436
+v 0.00120091 0.03525350 -0.01097227
+v -0.00001593 0.04194360 -0.01097227
+v -0.00001593 0.04213247 -0.02902195
+v 0.00222299 0.04271980 -0.02902195
+v 0.00222299 0.04215318 -0.03233413
+v 0.00546522 0.04201567 -0.03233413
+v 0.00546522 0.03608520 -0.02457227
+v 0.00500059 0.03731040 -0.01097227
+v 0.00348383 0.03586982 -0.01097227
+v 0.00222245 0.04253259 -0.01097227
+v -0.00001593 0.04197425 -0.01124829
+v 0.00222299 0.04284986 -0.02457854
+v -0.00001593 0.04226170 -0.02457227
+v 0.00546522 0.04274880 -0.02457854
+v 0.00546522 0.04261460 -0.02902195
+v 0.00463790 0.04205129 -0.03233413
+v 0.00546522 0.03638757 -0.02457227
+v 0.00500059 0.04243566 -0.01097227
+v 0.00500059 0.04245472 -0.01114583
+v 0.00222245 0.04256241 -0.01124829
+v -0.00001593 0.04216644 -0.02013512
+v 0.00221709 0.04284820 -0.02457227
+v 0.00500059 0.04262868 -0.01846858
+v 0.00500059 0.04252844 -0.01402516
+v 0.00500059 0.04246549 -0.01124829
+f 1 2 6
+f 1 6 15
+f 1 15 26
+f 1 26 16
+f 1 16 7
+f 1 7 3
+f 1 3 4
+f 1 4 12
+f 1 12 21
+f 1 21 31
+f 1 31 23
+f 1 23 13
+f 1 13 5
+f 1 5 2
+f 2 5 6
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+f 3 8 9
+f 3 9 10
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+f 5 15 6
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+f 7 24 27
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+f 7 9 8
+f 9 17 10
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+f 17 28 18
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+f 22 23 32
+f 22 32 30
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+f 23 31 32
+f 24 30 33
+f 24 33 34
+f 24 34 35
+f 24 35 29
+f 24 29 28
+f 24 28 27
+f 29 35 30
+f 30 32 31
+f 30 35 34
+f 30 34 33
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_181.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_181.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e520854a39f99d36f5082ab41a71ff851ac4a4b7
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_181.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.03385774 -0.01084034 -0.00316660
+v 0.03385774 -0.02123680 -0.00316660
+v 0.03385774 -0.01052873 -0.02011485
+v 0.02359575 -0.02754232 -0.02011485
+v 0.02386797 -0.02754899 -0.00316660
+v 0.03360963 -0.02166672 -0.00316660
+v 0.03260613 -0.02379133 -0.00466467
+v 0.03385774 -0.02167172 -0.00729583
+v 0.03385774 -0.02089852 -0.02011485
+v 0.02383985 -0.02755066 -0.02011485
+v 0.02373437 -0.02755066 -0.01877107
+v 0.02448775 -0.02755066 -0.00783003
+v 0.03007077 -0.02754899 -0.00316660
+v 0.03015213 -0.02754066 -0.00316660
+v 0.03385774 -0.02168172 -0.00780846
+v 0.03034902 -0.02754899 -0.00607813
+v 0.03044645 -0.02754899 -0.00780846
+v 0.03262421 -0.02381966 -0.00780846
+v 0.03385774 -0.02114848 -0.01679023
+v 0.03365684 -0.02124180 -0.02011485
+v 0.02987791 -0.02755066 -0.02011485
+v 0.02452994 -0.02755066 -0.00783003
+v 0.03033897 -0.02755066 -0.01072662
+v 0.03385774 -0.02143843 -0.01213842
+v 0.03027569 -0.02755066 -0.01246525
+v 0.03385774 -0.02141843 -0.01246525
+v 0.03126311 -0.02614924 -0.00783003
+v 0.03355237 -0.02167172 -0.01674710
+v 0.03008182 -0.02755066 -0.01692627
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+f 17 26 27
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+f 19 28 20
+f 20 28 29
+f 20 29 21
+f 25 29 28
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_182.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_182.obj
new file mode 100644
index 0000000000000000000000000000000000000000..327e254b15d3932c06ca6cb7a78bbc1f3acae5d6
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_182.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v 0.02860297 0.01739214 -0.00119219
+v 0.03608300 0.01739214 -0.00119219
+v 0.02884590 0.01739214 -0.00251193
+v 0.03420875 -0.00222416 -0.00119118
+v 0.03369323 -0.00013866 -0.00119118
+v 0.03634147 0.01739214 -0.00235904
+v 0.04088230 -0.00013866 -0.00119118
+v 0.04039362 0.00165301 -0.00119219
+v 0.04051650 0.00222912 -0.00245862
+v 0.03061281 0.01739214 -0.01146751
+v 0.03497992 0.00180280 -0.01146751
+v 0.03552652 -0.00013674 -0.01146751
+v 0.03599543 -0.00222416 -0.01080462
+v 0.04143596 -0.00222416 -0.00119118
+v 0.03666208 0.01739214 -0.00388902
+v 0.04012385 0.00490991 -0.00400570
+v 0.04143737 -0.00217615 -0.00119118
+v 0.04101224 -0.00013866 -0.00177662
+v 0.04115066 -0.00013674 -0.00240531
+v 0.03775103 0.01739214 -0.01146751
+v 0.04253057 -0.00013674 -0.01146751
+v 0.04303196 -0.00222416 -0.01080462
+v 0.04170855 -0.00222416 -0.00235904
+v 0.03723551 0.01739214 -0.00664822
+v 0.04141901 0.00222528 -0.00680011
+v 0.04170855 -0.00222031 -0.00235904
+v 0.04261955 -0.00222031 -0.00680111
+v 0.04190487 0.00222528 -0.01146751
+v 0.03774680 0.01739214 -0.01124420
+v 0.04303196 -0.00222031 -0.01080462
+v 0.04252633 -0.00013674 -0.01124420
+v 0.04261955 -0.00222416 -0.00680111
+v 0.04000662 0.00892343 -0.00897085
+v 0.03746432 0.01739214 -0.00863991
+v 0.04068316 0.00666895 -0.01124420
+v 0.04189923 0.00222528 -0.01124420
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+f 28 36 31
+f 28 29 35
+f 29 34 33
+f 29 33 35
+f 30 31 33
+f 31 36 33
+f 33 36 35
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_183.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_183.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d4d197b74bb2f53107830817b2237fb65fee18f
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_183.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v 0.02844652 -0.02433118 0.00961811
+v 0.03321721 -0.01551745 0.01082737
+v 0.02844652 -0.02422841 0.00980639
+v 0.02844652 -0.01345336 0.00961811
+v 0.03643684 -0.01063680 0.00961811
+v 0.03273107 -0.01468833 0.01384973
+v 0.02844652 -0.02279661 0.01233985
+v 0.02884766 -0.01252147 0.00961811
+v 0.02844652 -0.00653823 0.01394335
+v 0.03755430 -0.00855529 0.00961811
+v 0.03670904 -0.00884966 0.01186707
+v 0.03333564 -0.01288552 0.01493156
+v 0.02850955 -0.02118541 0.01493156
+v 0.02844652 -0.02139617 0.01476773
+v 0.02844652 -0.02168358 0.01427102
+v 0.03405483 -0.01159307 0.01493156
+v 0.02845607 -0.00653823 0.01392983
+v 0.03044744 -0.00653823 0.01128871
+v 0.03088201 -0.00828705 0.00961811
+v 0.02844652 -0.00653823 0.01493156
+v 0.03813213 -0.00729071 0.00961811
+v 0.03789622 -0.00729245 0.01051946
+v 0.03770711 -0.00653823 0.01234505
+v 0.03730406 -0.00653823 0.01365209
+v 0.02844652 -0.02128470 0.01493156
+v 0.03694113 -0.00653823 0.01454980
+v 0.03678640 -0.00653823 0.01493156
+v 0.03083807 -0.00653823 0.01084557
+v 0.03143214 -0.00732729 0.00961811
+v 0.03820280 -0.00653823 0.00961811
+v 0.03211981 -0.00653823 0.00961811
+f 1 2 3
+f 1 3 7
+f 1 7 15
+f 1 15 14
+f 1 14 25
+f 1 25 20
+f 1 20 9
+f 1 9 4
+f 1 4 8
+f 1 8 19
+f 1 19 29
+f 1 29 31
+f 1 31 30
+f 1 30 21
+f 1 21 10
+f 1 10 5
+f 1 5 2
+f 2 6 3
+f 2 5 6
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+f 4 9 8
+f 5 10 11
+f 5 11 6
+f 6 12 13
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+f 6 14 15
+f 6 15 7
+f 6 11 16
+f 6 16 12
+f 8 9 17
+f 8 17 18
+f 8 18 19
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+f 9 27 26
+f 9 26 24
+f 9 24 23
+f 9 23 30
+f 9 30 31
+f 9 31 28
+f 9 28 18
+f 9 18 17
+f 10 21 22
+f 10 22 23
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+f 10 24 11
+f 11 24 16
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+f 12 27 20
+f 12 20 25
+f 12 25 13
+f 13 25 14
+f 16 24 26
+f 16 26 27
+f 18 28 29
+f 18 29 19
+f 21 30 23
+f 21 23 22
+f 28 31 29
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_184.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_184.obj
new file mode 100644
index 0000000000000000000000000000000000000000..357e2380cbeb256f54bb8e1ce885bc4a1447a32a
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_184.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v 0.00709222 0.01350473 0.04546042
+v 0.00709222 0.02164282 0.04546042
+v 0.00222856 0.01534510 0.04546042
+v 0.00222856 0.01642726 0.04208296
+v 0.00222856 0.01746273 0.03899262
+v 0.00709222 0.01456708 0.04229290
+v 0.00668989 0.02187057 0.04546042
+v 0.00709222 0.02795469 0.03053046
+v 0.00222856 0.01541017 0.04546042
+v 0.00709222 0.01623063 0.03751074
+v 0.00222856 0.01824641 0.03676363
+v 0.00527389 0.02267122 0.04546042
+v 0.00633280 0.02795469 0.03134550
+v 0.00709222 0.02795469 0.01392722
+v 0.00301275 0.02289756 0.04546042
+v 0.00222856 0.02310550 0.04545733
+v 0.00222856 0.01968787 0.03319476
+v 0.00709222 0.01739059 0.03464268
+v 0.00459064 0.02674239 0.03560899
+v 0.00301323 0.02795469 0.03254644
+v 0.00709222 0.02038950 0.02852992
+v 0.00222856 0.02795186 0.01626118
+v 0.00450399 0.02795469 0.01533500
+v 0.00222856 0.02795469 0.03280577
+v 0.00222856 0.02143629 0.02943449
+v 0.00709222 0.01818983 0.03290147
+v 0.00709222 0.02005849 0.02918133
+v 0.00222856 0.02585120 0.02047219
+v 0.00222856 0.02795469 0.01692803
+v 0.00301894 0.02795469 0.01621487
+f 1 2 7
+f 1 7 12
+f 1 12 15
+f 1 15 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 10
+f 1 10 18
+f 1 18 26
+f 1 26 27
+f 1 27 21
+f 1 21 14
+f 1 14 8
+f 1 8 2
+f 2 8 7
+f 3 9 16
+f 3 16 24
+f 3 24 29
+f 3 29 22
+f 3 22 28
+f 3 28 25
+f 3 25 17
+f 3 17 11
+f 3 11 5
+f 3 5 4
+f 5 10 6
+f 5 11 10
+f 7 8 12
+f 8 13 12
+f 8 14 23
+f 8 23 30
+f 8 30 29
+f 8 29 24
+f 8 24 20
+f 8 20 13
+f 9 15 16
+f 10 11 17
+f 10 17 18
+f 12 16 15
+f 12 13 19
+f 12 19 16
+f 13 20 19
+f 14 21 22
+f 14 22 23
+f 16 19 24
+f 17 25 26
+f 17 26 18
+f 19 20 24
+f 21 27 22
+f 22 29 30
+f 22 30 23
+f 22 27 26
+f 22 26 28
+f 25 28 26
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_185.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_185.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6fc8af68d802d9e78db6fe4cf6e90dbc6c845fa
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_185.obj
@@ -0,0 +1,135 @@
+# https://github.com/mikedh/trimesh
+v -0.01952103 -0.02743150 -0.04017298
+v -0.02073706 -0.02671282 -0.04017298
+v -0.01952103 -0.02718845 -0.04083416
+v -0.01952103 -0.02089361 -0.04017298
+v -0.02464508 -0.02430211 -0.04041837
+v -0.02492957 -0.02422303 -0.04017298
+v -0.02371800 -0.02376833 -0.04301024
+v -0.01952103 -0.02584413 -0.04341580
+v -0.02477227 -0.01555700 -0.04017298
+v -0.01952103 -0.01644198 -0.04614741
+v -0.02120339 -0.01555119 -0.04498695
+v -0.02705148 -0.02275194 -0.04017298
+v -0.02697339 -0.02268682 -0.04041837
+v -0.02548738 -0.02107968 -0.04469726
+v -0.02415198 -0.01959580 -0.04836781
+v -0.01962367 -0.01944927 -0.05278644
+v -0.02077276 -0.02107502 -0.04946352
+v -0.02192074 -0.02269961 -0.04611674
+v -0.01952103 -0.02391486 -0.04642688
+v -0.01952103 -0.02500799 -0.04483870
+v -0.02475888 -0.01555119 -0.04020876
+v -0.03057015 -0.01555119 -0.04017298
+v -0.01952103 -0.01555119 -0.04754304
+v -0.02074822 -0.01555119 -0.04564983
+v -0.02892796 -0.02062963 -0.04017298
+v -0.02841700 -0.01945858 -0.04327948
+v -0.02272956 -0.01807703 -0.05147090
+v -0.01952103 -0.01555119 -0.05757996
+v -0.01952103 -0.01947369 -0.05283585
+v -0.01952103 -0.01955393 -0.05272168
+v -0.01952103 -0.02270543 -0.04818036
+v -0.01952103 -0.02341480 -0.04715281
+v -0.03091711 -0.01555119 -0.04017298
+v -0.02907076 -0.02042844 -0.04017298
+v -0.02903283 -0.02035867 -0.04041837
+v -0.02919571 -0.02016563 -0.04017298
+v -0.03059916 -0.01661642 -0.04017298
+v -0.03051772 -0.01660246 -0.04041837
+v -0.02892684 -0.01660246 -0.04403949
+v -0.02409731 -0.01555119 -0.05154418
+v -0.02353281 -0.01555119 -0.05232975
+v -0.01996059 -0.01555119 -0.05707556
+v -0.03068060 -0.01635476 -0.04017298
+v -0.03082340 -0.01555119 -0.04042518
+v -0.02960626 -0.01555119 -0.04319598
+v -0.02902390 -0.01555119 -0.04432748
+f 1 2 3
+f 1 3 8
+f 1 8 20
+f 1 20 19
+f 1 19 32
+f 1 32 31
+f 1 31 30
+f 1 30 29
+f 1 29 28
+f 1 28 23
+f 1 23 10
+f 1 10 4
+f 1 4 9
+f 1 9 22
+f 1 22 33
+f 1 33 43
+f 1 43 37
+f 1 37 36
+f 1 36 34
+f 1 34 25
+f 1 25 12
+f 1 12 6
+f 1 6 2
+f 2 5 3
+f 2 6 5
+f 3 7 8
+f 3 5 7
+f 4 10 11
+f 4 11 9
+f 5 6 7
+f 6 12 7
+f 7 12 13
+f 7 13 14
+f 7 14 15
+f 7 15 16
+f 7 16 17
+f 7 17 18
+f 7 18 19
+f 7 19 20
+f 7 20 8
+f 9 21 22
+f 9 11 21
+f 10 23 24
+f 10 24 11
+f 11 24 23
+f 11 23 28
+f 11 28 42
+f 11 42 41
+f 11 41 40
+f 11 40 46
+f 11 46 45
+f 11 45 44
+f 11 44 33
+f 11 33 22
+f 11 22 21
+f 12 25 26
+f 12 26 13
+f 13 26 14
+f 14 26 15
+f 15 26 27
+f 15 27 28
+f 15 28 16
+f 16 28 29
+f 16 29 30
+f 16 30 31
+f 16 31 17
+f 17 31 32
+f 17 32 18
+f 18 32 19
+f 25 34 35
+f 25 35 26
+f 26 35 36
+f 26 36 37
+f 26 37 38
+f 26 38 39
+f 26 39 40
+f 26 40 41
+f 26 41 42
+f 26 42 27
+f 27 42 28
+f 33 44 38
+f 33 38 43
+f 34 36 35
+f 37 43 38
+f 38 44 45
+f 38 45 39
+f 39 46 40
+f 39 45 46
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_186.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_186.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88229b8469b774a5f7895d999eb6b90ba21e91d0
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_186.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v -0.00222271 -0.02907103 -0.06176137
+v -0.00001593 -0.02907103 -0.06106111
+v -0.00337593 -0.02907103 -0.06150878
+v -0.00222271 -0.02459220 -0.06901905
+v -0.00001593 -0.02412901 -0.06919412
+v -0.00001593 -0.02907103 -0.04823638
+v -0.00579626 -0.02740935 -0.06356704
+v -0.00505657 -0.02256538 -0.07157999
+v -0.00662720 -0.02907103 -0.06034085
+v -0.00222271 -0.02271844 -0.07175506
+v -0.00001593 -0.02260339 -0.07164502
+v -0.00662720 -0.02907103 -0.04760365
+v -0.00001593 -0.02401697 -0.05583668
+v -0.00662720 -0.01885187 -0.06170635
+v -0.00662720 -0.02859683 -0.06117366
+v -0.00658902 -0.02349876 -0.06901405
+v -0.00662720 -0.02211219 -0.07100228
+v -0.00662720 -0.02012438 -0.07235028
+v -0.00658902 -0.02013739 -0.07235278
+v -0.00222271 -0.01999933 -0.07296801
+v -0.00001593 -0.02163200 -0.07208018
+v -0.00001593 -0.01885187 -0.06360705
+v -0.00662720 -0.01885187 -0.07270041
+v -0.00662720 -0.02347675 -0.06901405
+v -0.00662720 -0.02345174 -0.06905156
+v -0.00662720 -0.02009937 -0.07236028
+v -0.00336881 -0.01885187 -0.07313057
+v -0.00222271 -0.01885187 -0.07315057
+v -0.00001593 -0.02017741 -0.07270541
+v -0.00001593 -0.01885187 -0.07291549
+v -0.00661102 -0.01885187 -0.07270291
+v -0.00064885 -0.01885187 -0.07298301
+f 1 2 6
+f 1 6 12
+f 1 12 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
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+f 2 11 21
+f 2 21 29
+f 2 29 30
+f 2 30 22
+f 2 22 13
+f 2 13 6
+f 3 7 8
+f 3 8 4
+f 3 9 7
+f 4 8 10
+f 4 10 11
+f 4 11 5
+f 6 13 14
+f 6 14 12
+f 7 9 15
+f 7 15 8
+f 8 16 17
+f 8 17 18
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+f 8 19 20
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+f 9 12 14
+f 9 14 23
+f 9 23 26
+f 9 26 18
+f 9 18 17
+f 9 17 25
+f 9 25 24
+f 9 24 15
+f 10 20 21
+f 10 21 11
+f 13 22 14
+f 14 22 30
+f 14 30 32
+f 14 32 28
+f 14 28 27
+f 14 27 31
+f 14 31 23
+f 15 24 16
+f 16 24 25
+f 16 25 17
+f 18 26 19
+f 19 26 20
+f 20 27 28
+f 20 28 29
+f 20 29 21
+f 20 26 27
+f 23 31 26
+f 26 31 27
+f 28 32 29
+f 29 32 30
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_187.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_187.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9765155bba3fc41543b9045921c6e55819515f8a
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_187.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.03431478 0.00678604 0.00354490
+v -0.04003664 0.00678604 0.00354490
+v -0.03491510 0.00352560 0.00354490
+v -0.03627725 0.00678604 -0.00995231
+v -0.04013629 0.00655976 0.00354490
+v -0.04056542 0.00678604 0.00181415
+v -0.04218795 0.00473677 -0.00032881
+v -0.04028978 0.00352560 0.00354490
+v -0.03750118 0.00352560 -0.00995231
+v -0.04189704 0.00678604 -0.00995231
+v -0.04069722 0.00678604 0.00133720
+v -0.04160130 0.00678604 -0.00230398
+v -0.04174917 0.00678604 -0.00314954
+v -0.04240895 0.00533263 -0.00314954
+v -0.04218795 0.00384539 -0.00032881
+v -0.04196133 0.00352560 -0.00000776
+v -0.04248851 0.00352560 -0.00995231
+v -0.04197740 0.00662104 -0.00995231
+v -0.04252387 0.00564156 -0.00780671
+v -0.04196455 0.00678604 -0.00780671
+v -0.04240895 0.00352560 -0.00314954
+v -0.04227314 0.00352560 -0.00142539
+v -0.04248851 0.00554837 -0.00995231
+v -0.04252387 0.00352560 -0.00780671
+f 1 2 5
+f 1 5 8
+f 1 8 3
+f 1 3 4
+f 1 4 10
+f 1 10 20
+f 1 20 13
+f 1 13 12
+f 1 12 11
+f 1 11 6
+f 1 6 2
+f 2 6 7
+f 2 7 5
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+f 3 16 22
+f 3 22 21
+f 3 21 24
+f 3 24 17
+f 3 17 9
+f 3 9 4
+f 4 9 17
+f 4 17 23
+f 4 23 18
+f 4 18 10
+f 5 7 8
+f 6 11 7
+f 7 11 12
+f 7 12 13
+f 7 13 14
+f 7 14 21
+f 7 21 15
+f 7 15 8
+f 8 15 16
+f 10 18 19
+f 10 19 20
+f 13 20 19
+f 13 19 14
+f 14 19 24
+f 14 24 21
+f 15 21 22
+f 15 22 16
+f 17 24 19
+f 17 19 23
+f 18 23 19
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_188.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_188.obj
new file mode 100644
index 0000000000000000000000000000000000000000..feaf715cc052e4384567c0a06e64518bfff73bdd
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_188.obj
@@ -0,0 +1,138 @@
+# https://github.com/mikedh/trimesh
+v -0.00222162 -0.01849516 0.10430254
+v -0.00316496 -0.01833332 0.10430254
+v -0.00316496 -0.01826859 0.10307537
+v -0.00316496 -0.01801537 0.10021772
+v -0.00231242 -0.01807439 0.09971737
+v -0.00089133 -0.01786971 0.09687266
+v -0.00002507 -0.01786971 0.09687051
+v 0.00035554 -0.01786971 0.09687051
+v 0.00105078 -0.01805249 0.09985755
+v 0.00180830 -0.01823527 0.10430254
+v 0.00136593 -0.01811342 0.10692725
+v -0.00222162 -0.01818957 0.10701352
+v -0.00316496 -0.01811818 0.10692509
+v -0.00316496 -0.01786686 0.09884605
+v -0.00222162 -0.01653030 0.08632850
+v -0.00002507 -0.01639798 0.08580873
+v 0.00185845 -0.01628469 0.08580873
+v 0.00222164 -0.01626185 0.08580873
+v 0.00222797 -0.01772311 0.09985755
+v 0.00222797 -0.01811722 0.10430254
+v 0.00222797 -0.01795158 0.10607751
+v 0.00222797 -0.01660836 0.10729389
+v -0.00222162 -0.01555358 0.10784170
+v -0.00316496 -0.01556120 0.10775759
+v -0.00316496 -0.01773834 0.09784534
+v -0.00242222 -0.01646081 0.08632850
+v -0.00316496 -0.01619902 0.08632850
+v -0.00002507 -0.00938390 0.08580873
+v 0.00222797 -0.01381053 0.08580873
+v 0.00222797 -0.01625994 0.08581089
+v 0.00222797 -0.01593151 0.10747937
+v 0.00222164 -0.01250920 0.10738016
+v -0.00316496 -0.01222837 0.10736723
+v -0.00316496 -0.00877083 0.08632850
+v 0.00222797 -0.00919826 0.08580873
+v 0.00222797 -0.01256441 0.10738016
+v 0.00222797 -0.01250539 0.10737369
+v -0.00316496 -0.01090514 0.10430254
+v -0.00316496 -0.00876988 0.08652908
+v 0.00222797 -0.00919731 0.08652908
+v 0.00222797 -0.01132305 0.10429391
+v -0.00316496 -0.01041488 0.10100061
+v -0.00316496 -0.00912020 0.09053840
+v 0.00222797 -0.00951432 0.09090504
+v 0.00222797 -0.01069666 0.09985755
+v -0.00316496 -0.01025780 0.09985755
+v -0.00316496 -0.00987701 0.09680365
+f 1 2 3
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+f 1 5 6
+f 1 6 7
+f 1 7 8
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+f 1 10 11
+f 1 11 12
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+f 1 13 2
+f 2 13 24
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+f 2 33 38
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+f 2 42 46
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+f 2 34 27
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+f 2 14 4
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+f 5 14 15
+f 5 15 6
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+f 8 17 18
+f 8 18 9
+f 9 18 19
+f 9 19 10
+f 10 20 21
+f 10 21 11
+f 10 19 20
+f 11 22 23
+f 11 23 12
+f 11 21 22
+f 12 23 24
+f 12 24 13
+f 14 25 15
+f 15 26 16
+f 15 25 26
+f 16 26 27
+f 16 27 34
+f 16 34 28
+f 16 28 35
+f 16 35 29
+f 16 29 18
+f 16 18 17
+f 18 29 30
+f 18 30 19
+f 19 30 29
+f 19 29 35
+f 19 35 40
+f 19 40 44
+f 19 44 45
+f 19 45 41
+f 19 41 37
+f 19 37 36
+f 19 36 31
+f 19 31 22
+f 19 22 21
+f 19 21 20
+f 22 31 23
+f 23 32 33
+f 23 33 24
+f 23 31 32
+f 25 27 26
+f 28 34 35
+f 31 36 32
+f 32 36 37
+f 32 37 33
+f 33 37 38
+f 34 39 35
+f 35 39 40
+f 37 41 38
+f 38 41 42
+f 39 43 44
+f 39 44 40
+f 41 45 42
+f 42 45 46
+f 43 47 44
+f 44 47 46
+f 44 46 45
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_189.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_189.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03bde1ffdfbf16d7077fa7e35ddd84415ec2b1ff
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_189.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.01505060 -0.00397946 0.09985449
+v -0.01444037 -0.00621424 0.09985449
+v -0.01497375 -0.00506604 0.10177604
+v -0.01518596 -0.00428879 0.10177604
+v -0.01547731 -0.00397946 0.10359293
+v -0.00949313 -0.00397946 0.09985449
+v -0.01455164 -0.00660845 0.10177604
+v -0.01436466 -0.00647040 0.09985449
+v -0.01429125 -0.00706549 0.10069505
+v -0.01441858 -0.00706549 0.10177604
+v -0.01465258 -0.00699118 0.10359293
+v -0.00728276 -0.00397946 0.10359293
+v -0.00375901 -0.00706549 0.10359293
+v -0.00643853 -0.00706549 0.09985449
+v -0.01463193 -0.00706549 0.10359293
+v -0.01415820 -0.00706549 0.09985449
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 6
+f 1 6 14
+f 1 14 16
+f 1 16 8
+f 1 8 2
+f 2 7 3
+f 2 8 9
+f 2 9 10
+f 2 10 7
+f 3 7 5
+f 3 5 4
+f 5 7 11
+f 5 11 15
+f 5 15 13
+f 5 13 12
+f 6 12 13
+f 6 13 14
+f 7 10 15
+f 7 15 11
+f 8 16 9
+f 9 16 14
+f 9 14 13
+f 9 13 15
+f 9 15 10
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_19.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f66f7892064c9aad2b5cd02f4f383b75b12d5233
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_19.obj
@@ -0,0 +1,150 @@
+# https://github.com/mikedh/trimesh
+v -0.01761508 0.00013831 -0.07340464
+v -0.01761508 0.00013831 -0.06687740
+v -0.01761508 0.00110393 -0.07340930
+v -0.01555473 0.00013831 -0.07367528
+v -0.01339790 0.00013831 -0.06687740
+v -0.01761508 0.01910819 -0.06687740
+v -0.01761508 0.00222346 -0.07341398
+v -0.01555473 0.00222346 -0.07368461
+v -0.01346681 0.00013831 -0.07368594
+v -0.00001766 0.00013831 -0.06694406
+v -0.00001766 0.01336907 -0.06687740
+v -0.01593545 0.02075149 -0.06687740
+v -0.01410421 0.01840818 -0.07183083
+v -0.01761508 0.01857201 -0.06751666
+v -0.01761508 0.00668170 -0.07308002
+v -0.01555473 0.00666681 -0.07361262
+v -0.01111015 0.01111264 -0.07366661
+v -0.01111015 0.00666681 -0.07368728
+v -0.01111015 0.00013831 -0.07368728
+v -0.00001766 0.00013831 -0.07368728
+v -0.00001766 0.02549520 -0.06687740
+v -0.01343236 0.02217138 -0.06687740
+v -0.01111015 0.01555351 -0.07343064
+v -0.01557368 0.01532762 -0.07219811
+v -0.01761508 0.01394993 -0.07157352
+v -0.01706726 0.01666063 -0.07026701
+v -0.01761508 0.01752944 -0.06870585
+v -0.01334278 0.02222102 -0.06687740
+v -0.01111015 0.02119831 -0.06957242
+v -0.00417454 0.02211428 -0.07112357
+v -0.01111015 0.01897663 -0.07222878
+v -0.01761508 0.01111264 -0.07236343
+v -0.01555473 0.01111264 -0.07314601
+v -0.00666730 0.01111264 -0.07368728
+v -0.00666730 0.01555351 -0.07359196
+v -0.00222272 0.01555351 -0.07365795
+v -0.00001766 0.01555351 -0.07366861
+v -0.00001766 0.01111264 -0.07368728
+v -0.00001766 0.02412248 -0.06919780
+v -0.00121149 0.02253876 -0.07158619
+v -0.00232264 0.02510796 -0.06687740
+v -0.00001766 0.02017807 -0.07270139
+v -0.01761508 0.01624360 -0.06983372
+v -0.01317395 0.02226571 -0.06687740
+v -0.01111015 0.02253876 -0.06735068
+v -0.00666730 0.02312211 -0.06834856
+v -0.00250524 0.02359871 -0.06939444
+v -0.00250524 0.02037914 -0.07240343
+v -0.00001766 0.02260082 -0.07164485
+v -0.00001766 0.02165505 -0.07206746
+v -0.01111015 0.02280933 -0.06687740
+f 1 2 6
+f 1 6 14
+f 1 14 27
+f 1 27 43
+f 1 43 25
+f 1 25 32
+f 1 32 15
+f 1 15 7
+f 1 7 3
+f 1 3 4
+f 1 4 9
+f 1 9 19
+f 1 19 20
+f 1 20 10
+f 1 10 5
+f 1 5 2
+f 2 5 11
+f 2 11 21
+f 2 21 41
+f 2 41 51
+f 2 51 44
+f 2 44 28
+f 2 28 22
+f 2 22 12
+f 2 12 6
+f 3 7 8
+f 3 8 4
+f 4 8 9
+f 5 10 11
+f 6 12 13
+f 6 13 14
+f 7 15 16
+f 7 16 8
+f 8 16 17
+f 8 17 18
+f 8 18 9
+f 9 18 19
+f 10 20 38
+f 10 38 37
+f 10 37 42
+f 10 42 50
+f 10 50 49
+f 10 49 39
+f 10 39 21
+f 10 21 11
+f 12 22 13
+f 13 23 24
+f 13 24 25
+f 13 25 26
+f 13 26 27
+f 13 27 14
+f 13 22 28
+f 13 28 29
+f 13 29 30
+f 13 30 31
+f 13 31 23
+f 15 32 33
+f 15 33 16
+f 16 33 23
+f 16 23 17
+f 17 34 18
+f 17 23 35
+f 17 35 36
+f 17 36 37
+f 17 37 34
+f 18 34 38
+f 18 38 20
+f 18 20 19
+f 21 39 40
+f 21 40 41
+f 23 31 42
+f 23 42 35
+f 23 33 24
+f 24 33 32
+f 24 32 25
+f 25 43 26
+f 26 43 27
+f 28 44 45
+f 28 45 29
+f 29 45 30
+f 30 45 46
+f 30 46 47
+f 30 47 40
+f 30 40 31
+f 31 40 48
+f 31 48 42
+f 34 37 38
+f 35 42 36
+f 36 42 37
+f 39 49 40
+f 40 47 41
+f 40 49 50
+f 40 50 48
+f 41 47 46
+f 41 46 45
+f 41 45 51
+f 42 48 50
+f 44 51 45
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_190.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_190.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8f1707e3e25081e640e8f86484ebf4791bbe5a8
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_190.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v -0.01326463 -0.01028780 -0.06048733
+v -0.01326463 -0.01028780 -0.06073337
+v -0.01394780 -0.00927339 -0.06115334
+v -0.01564883 -0.00726911 -0.05933984
+v -0.01781253 -0.00726911 -0.05531194
+v -0.01689310 -0.01028780 -0.05455260
+v -0.01330598 -0.01028780 -0.06177269
+v -0.01394780 -0.00927339 -0.06153301
+v -0.01565671 -0.00726911 -0.05955618
+v -0.02730601 -0.00726911 -0.04061511
+v -0.02738869 -0.00726911 -0.04048997
+v -0.02727253 -0.00763433 -0.04048997
+v -0.02725088 -0.00770466 -0.04048997
+v -0.02654802 -0.01028780 -0.04048997
+v -0.01381392 -0.01028780 -0.06215660
+v -0.01636941 -0.00726911 -0.06211206
+v -0.03337577 -0.00726911 -0.04048997
+v -0.03239925 -0.01028780 -0.04048997
+v -0.01769834 -0.01028780 -0.06210570
+v -0.01949190 -0.00728506 -0.06215024
+v -0.01950174 -0.00726911 -0.06214176
+v -0.03336395 -0.00726911 -0.04052390
+v -0.03208425 -0.01028780 -0.04125143
+v -0.01906270 -0.01028780 -0.06173875
+v -0.02176191 -0.00726911 -0.05885835
+v -0.01920643 -0.01028780 -0.06153089
+v -0.03331474 -0.00726911 -0.04064056
+v -0.03233822 -0.00852197 -0.04202137
+v -0.03077894 -0.01028780 -0.04375216
+v -0.02869794 -0.00726911 -0.04834426
+v -0.02828449 -0.01028780 -0.04768248
+v -0.03097582 -0.00726911 -0.04489116
+v -0.03328717 -0.00726911 -0.04070419
+v -0.03254888 -0.00726911 -0.04239256
+v -0.02995402 -0.01028780 -0.04512660
+v -0.03106639 -0.00726911 -0.04475118
+f 1 2 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 14
+f 1 14 18
+f 1 18 23
+f 1 23 29
+f 1 29 35
+f 1 35 31
+f 1 31 26
+f 1 26 24
+f 1 24 19
+f 1 19 15
+f 1 15 7
+f 1 7 2
+f 2 7 8
+f 3 8 4
+f 4 8 9
+f 4 9 16
+f 4 16 21
+f 4 21 25
+f 4 25 30
+f 4 30 32
+f 4 32 36
+f 4 36 34
+f 4 34 33
+f 4 33 27
+f 4 27 22
+f 4 22 17
+f 4 17 11
+f 4 11 10
+f 4 10 5
+f 5 10 6
+f 6 10 11
+f 6 11 12
+f 6 12 13
+f 6 13 14
+f 7 15 16
+f 7 16 8
+f 8 16 9
+f 11 17 18
+f 11 18 14
+f 11 14 13
+f 11 13 12
+f 15 19 20
+f 15 20 16
+f 16 20 21
+f 17 22 18
+f 18 22 23
+f 19 24 20
+f 20 24 21
+f 21 24 26
+f 21 26 25
+f 22 27 28
+f 22 28 23
+f 23 28 29
+f 25 26 30
+f 26 31 32
+f 26 32 30
+f 27 33 28
+f 28 34 29
+f 28 33 34
+f 29 34 35
+f 31 35 32
+f 32 35 36
+f 34 36 35
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_191.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_191.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ea47f6c875f4cfa897a6454434adb26a1987366
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_191.obj
@@ -0,0 +1,144 @@
+# https://github.com/mikedh/trimesh
+v 0.02182810 -0.03622870 -0.01105286
+v 0.02329375 -0.03583950 -0.01105286
+v 0.02289327 -0.03573283 -0.00807691
+v 0.02182810 -0.03609608 -0.00924120
+v 0.02182810 -0.02824866 -0.01105286
+v 0.02606404 -0.02321212 -0.01121176
+v 0.03391869 -0.02321212 -0.01121176
+v 0.02538075 -0.03513894 -0.01105286
+v 0.02182810 -0.03543012 -0.00511958
+v 0.02182810 -0.03590581 -0.00752271
+v 0.02440228 -0.03482470 -0.00667721
+v 0.02182810 -0.02591634 -0.00119219
+v 0.03351203 -0.00677635 -0.00119219
+v 0.03551439 -0.00677635 -0.01121176
+v 0.03027727 -0.02942779 -0.01105286
+v 0.03020915 -0.02953446 -0.01105286
+v 0.03010387 -0.02969879 -0.01105286
+v 0.02797764 -0.03286140 -0.01105286
+v 0.02563673 -0.03498615 -0.01105286
+v 0.02549429 -0.03508705 -0.01105286
+v 0.03632360 -0.01909813 -0.01121176
+v 0.02451788 -0.03328231 -0.00119219
+v 0.02182810 -0.03432883 -0.00119219
+v 0.02772167 -0.03250968 -0.00680079
+v 0.02720560 -0.03181777 -0.00235844
+v 0.02706109 -0.03162461 -0.00119219
+v 0.02539727 -0.03271725 -0.00119219
+v 0.04120360 -0.00677635 -0.00119219
+v 0.04291490 -0.00677635 -0.01121176
+v 0.03150140 -0.02733188 -0.01105286
+v 0.03135896 -0.02708971 -0.00787681
+v 0.04113961 -0.01084998 -0.01121176
+v 0.03012658 -0.02869552 -0.00655754
+v 0.02816343 -0.02986023 -0.00119219
+v 0.04144719 -0.00677635 -0.00224269
+v 0.04082171 -0.00777097 -0.00119219
+v 0.04243186 -0.00677635 -0.00680079
+v 0.04087331 -0.01039158 -0.00680079
+v 0.03102661 -0.02653906 -0.00491556
+v 0.03335514 -0.02321212 -0.00665562
+v 0.02903456 -0.02888579 -0.00235844
+v 0.02871047 -0.02895210 -0.00119219
+v 0.04146164 -0.00677635 -0.00230939
+v 0.04021274 -0.00926435 -0.00119219
+v 0.04239677 -0.00677635 -0.00662816
+v 0.04035724 -0.00950940 -0.00235844
+v 0.03572702 -0.01807756 -0.00387192
+v 0.03235808 -0.02321212 -0.00236138
+v 0.03206908 -0.02321212 -0.00119219
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 9
+f 1 9 23
+f 1 23 12
+f 1 12 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 8
+f 2 8 3
+f 3 9 10
+f 3 10 4
+f 3 8 11
+f 3 11 9
+f 5 12 13
+f 5 13 14
+f 5 14 6
+f 6 14 29
+f 6 29 32
+f 6 32 21
+f 6 21 7
+f 7 15 16
+f 7 16 17
+f 7 17 18
+f 7 18 19
+f 7 19 20
+f 7 20 8
+f 7 21 15
+f 8 20 11
+f 9 11 22
+f 9 22 23
+f 11 24 25
+f 11 25 26
+f 11 26 27
+f 11 27 22
+f 11 20 24
+f 12 23 22
+f 12 22 27
+f 12 27 26
+f 12 26 34
+f 12 34 42
+f 12 42 49
+f 12 49 44
+f 12 44 36
+f 12 36 28
+f 12 28 13
+f 13 28 35
+f 13 35 43
+f 13 43 45
+f 13 45 37
+f 13 37 29
+f 13 29 14
+f 15 21 30
+f 15 30 31
+f 15 31 16
+f 16 31 17
+f 17 31 24
+f 17 24 18
+f 18 24 19
+f 19 24 20
+f 21 32 31
+f 21 31 30
+f 24 31 33
+f 24 33 25
+f 25 33 26
+f 26 33 34
+f 28 36 35
+f 29 37 38
+f 29 38 32
+f 31 39 33
+f 31 32 38
+f 31 38 40
+f 31 40 39
+f 33 39 41
+f 33 41 34
+f 34 41 42
+f 35 36 43
+f 36 44 45
+f 36 45 43
+f 37 45 46
+f 37 46 38
+f 38 46 47
+f 38 47 39
+f 38 39 40
+f 39 47 48
+f 39 48 41
+f 41 48 42
+f 42 48 49
+f 44 46 45
+f 44 49 48
+f 44 48 46
+f 46 48 47
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_192.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_192.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f9202c2e3db9d85000d0322626b24471210bf80
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_192.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.00814474 0.02299047 0.03907474
+v -0.00814474 0.02683478 0.03006856
+v -0.01301837 0.02695111 0.02713155
+v -0.01420861 0.02695111 0.02646878
+v -0.01625296 0.02695111 0.02531484
+v -0.01691530 0.02642388 0.02604825
+v -0.01301837 0.02270712 0.03624874
+v -0.00814474 0.02299047 0.02184290
+v -0.00814474 0.02683478 0.01360378
+v -0.01301837 0.02695111 0.01033034
+v -0.01824394 0.02695111 0.02358896
+v -0.01824394 0.02271834 0.03190546
+v -0.01449628 0.02270712 0.03519909
+v -0.01301837 0.02270712 0.01947109
+v -0.01824394 0.02270712 0.01486539
+v -0.01824394 0.02514508 0.00869867
+v -0.01824394 0.02695111 0.00470527
+v -0.00814474 0.02580442 0.01579393
+v -0.00814474 0.02676872 0.01374172
+v -0.01824394 0.02270712 0.03191555
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 14
+f 1 14 8
+f 1 8 18
+f 1 18 19
+f 1 19 9
+f 1 9 2
+f 2 9 10
+f 2 10 3
+f 3 10 17
+f 3 17 11
+f 3 11 5
+f 3 5 4
+f 5 11 6
+f 6 11 12
+f 6 12 13
+f 6 13 7
+f 7 13 20
+f 7 20 15
+f 7 15 14
+f 8 14 15
+f 8 15 16
+f 8 16 17
+f 8 17 18
+f 9 19 17
+f 9 17 10
+f 11 17 16
+f 11 16 15
+f 11 15 20
+f 11 20 12
+f 12 20 13
+f 17 19 18
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_193.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_193.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4c3605964526c366fe1a9874a29bdef2ed21442
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_193.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.01992865 0.03349959 -0.02160560
+v 0.02010912 0.03339880 -0.02160560
+v 0.01991296 0.03349959 -0.02178181
+v 0.00954598 0.03349959 -0.02160560
+v 0.02025820 0.03330558 -0.02178369
+v 0.02026604 0.03330936 -0.02160560
+v 0.01957360 0.03291504 -0.02644206
+v 0.01880858 0.03349959 -0.02550337
+v 0.00719012 0.03349959 -0.02801158
+v 0.02722967 0.02063193 -0.02801158
+v 0.02722967 0.02284793 -0.02160560
+v 0.02722967 0.02921121 -0.02178369
+v 0.02722967 0.02893027 -0.02391818
+v 0.02722967 0.02858131 -0.02618936
+v 0.02722967 0.02921751 -0.02160560
+v 0.01918129 0.03269331 -0.02801158
+v 0.01850650 0.03349959 -0.02644206
+v 0.01770814 0.03349959 -0.02801158
+v 0.02722967 0.02805345 -0.02801158
+v 0.02712374 0.02811770 -0.02801158
+f 1 2 3
+f 1 3 8
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+f 1 18 9
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+f 10 15 11
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+f 14 20 16
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\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_194.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_194.obj
new file mode 100644
index 0000000000000000000000000000000000000000..922046babb37c4c86e6dd653945d196694034e7e
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_194.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v 0.02009545 -0.03125448 -0.03777129
+v 0.02044556 -0.03112964 -0.03777129
+v 0.02009545 -0.02425820 -0.03777129
+v 0.02009545 -0.02917414 -0.04291765
+v 0.02089123 -0.03096894 -0.03777129
+v 0.02407825 -0.01863151 -0.03777129
+v 0.02009545 -0.01862780 -0.04343977
+v 0.02009545 -0.02828168 -0.04411441
+v 0.02283874 -0.02784657 -0.04230607
+v 0.02110870 -0.02973038 -0.04061946
+v 0.02366280 -0.02888489 -0.03919977
+v 0.02392904 -0.02921369 -0.03777129
+v 0.02408800 -0.01862780 -0.03777129
+v 0.02009545 -0.01862780 -0.05275425
+v 0.02009545 -0.02522359 -0.04740257
+v 0.02009545 -0.02318651 -0.04913171
+v 0.02009545 -0.02073657 -0.05117764
+v 0.02381494 -0.02474275 -0.04356883
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+v 0.02852817 -0.02018033 -0.03956936
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+v 0.03005829 -0.01862780 -0.03777129
+v 0.02039777 -0.01862780 -0.05236999
+v 0.02595066 -0.01862780 -0.04519091
+v 0.02764267 -0.01862780 -0.04300271
+v 0.02800838 -0.01862780 -0.04244247
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+f 19 28 29
+f 20 30 25
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\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_195.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_195.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57392091e549d77ed0a8459bc7aa7d91459a744d
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_195.obj
@@ -0,0 +1,222 @@
+# https://github.com/mikedh/trimesh
+v -0.02544597 -0.03254759 -0.02457835
+v -0.02954311 -0.03021426 -0.02457835
+v -0.02719760 -0.03140700 -0.02901844
+v -0.02544597 -0.03249546 -0.02619639
+v -0.02544597 -0.03245597 -0.02072936
+v -0.02544722 -0.03245597 -0.02072936
+v -0.03317015 -0.02799152 -0.02457835
+v -0.03305763 -0.02791727 -0.02901844
+v -0.02941684 -0.03014159 -0.02901844
+v -0.02654246 -0.03183196 -0.02072936
+v -0.02946184 -0.03016845 -0.02072936
+v -0.03290259 -0.02783038 -0.01124718
+v -0.02544597 -0.03240384 -0.02901844
+v -0.02544597 -0.02457446 -0.02072936
+v -0.02544722 -0.03217477 -0.01078955
+v -0.02544722 -0.03222532 -0.01124718
+v -0.02926430 -0.03005155 -0.01124718
+v -0.03539064 -0.02635644 -0.02457835
+v -0.03527561 -0.02614002 -0.02901844
+v -0.02688503 -0.03123164 -0.00843876
+v -0.03286009 -0.02780352 -0.01078955
+v -0.03512558 -0.02585566 -0.01124718
+v -0.02544597 -0.02436908 -0.02901844
+v -0.02544847 -0.02204207 -0.00119024
+v -0.02544722 -0.02427114 -0.01078955
+v -0.02544847 -0.03039910 -0.00119024
+v -0.02544847 -0.03068346 -0.00236156
+v -0.02544847 -0.03157761 -0.00623778
+v -0.02544847 -0.03183354 -0.00743361
+v -0.02701631 -0.03130589 -0.01078955
+v -0.03609329 -0.02399152 -0.02072936
+v -0.03613330 -0.02413844 -0.02457835
+v -0.03607079 -0.02391569 -0.02901844
+v -0.03598827 -0.02363765 -0.01124718
+v -0.02632991 -0.03091410 -0.00547507
+v -0.02857665 -0.02993622 -0.00689426
+v -0.03248250 -0.02756656 -0.00680437
+v -0.03169983 -0.02705787 -0.00236156
+v -0.03486302 -0.02453180 -0.00640122
+v -0.03582573 -0.02311158 -0.00761339
+v -0.03088340 -0.01701680 -0.02901844
+v -0.02906176 -0.01641016 -0.00119024
+v -0.02893298 -0.02841174 -0.00119024
+v -0.02889047 -0.02871979 -0.00236156
+v -0.03644587 -0.02305787 -0.02457835
+v -0.03732481 -0.02000100 -0.02457835
+v -0.03719353 -0.02000100 -0.02901844
+v -0.03679219 -0.02083828 -0.01124718
+v -0.03148729 -0.02691569 -0.00119024
+v -0.03187862 -0.02639910 -0.00119024
+v -0.03329018 -0.02450811 -0.00119024
+v -0.03553442 -0.02217319 -0.00465242
+v -0.03627583 -0.02083828 -0.00659190
+v -0.03751985 -0.01641016 -0.00673354
+v -0.03762738 -0.01641016 -0.00765970
+v -0.03789243 -0.01641016 -0.01011128
+v -0.03801496 -0.01641016 -0.01124718
+v -0.03703225 -0.02000100 -0.01124718
+v -0.03107970 -0.01701364 -0.02901844
+v -0.03123223 -0.01641016 -0.02072664
+v -0.03635210 -0.01641016 -0.00119024
+v -0.03807372 -0.01701364 -0.02159286
+v -0.03812874 -0.01701364 -0.02457835
+v -0.03800246 -0.01701364 -0.02901844
+v -0.03813124 -0.01641016 -0.01653988
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+v -0.03821750 -0.01641016 -0.02072664
+v -0.03514183 -0.02081458 -0.00119024
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\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_196.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_196.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f65d5f5134e6a82823722a93b0a290c3b159a70f
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_196.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.04220229 -0.00348133 -0.00463237
+v 0.04081047 -0.00005971 -0.00314807
+v 0.04216593 -0.00361656 -0.00314807
+v 0.04220229 -0.00495883 -0.00463237
+v 0.04084606 -0.00005971 -0.00463237
+v 0.04005151 -0.00005971 0.00143532
+v 0.04216593 -0.00495883 -0.00314807
+v 0.04194466 -0.00443900 -0.00032838
+v 0.04199263 -0.00495883 -0.00093924
+v 0.03726244 -0.00495883 -0.00463237
+v 0.03588532 -0.00005971 -0.00463237
+v 0.03949833 -0.00005971 0.00354568
+v 0.04194466 -0.00495883 -0.00032838
+v 0.04017839 -0.00271069 0.00354568
+v 0.03654293 -0.00266609 -0.00463237
+v 0.03623656 -0.00495883 -0.00330579
+v 0.03429930 -0.00005971 0.00354568
+v 0.03605243 -0.00072246 -0.00463237
+v 0.03502346 -0.00495883 0.00150977
+v 0.03460645 -0.00495883 0.00331991
+v 0.03455462 -0.00495883 0.00354568
+v 0.03997569 -0.00495883 0.00354568
+f 1 2 3
+f 1 3 7
+f 1 7 4
+f 1 4 10
+f 1 10 15
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+f 1 11 5
+f 1 5 2
+f 2 5 11
+f 2 11 17
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+f 12 17 21
+f 12 21 22
+f 12 22 14
+f 13 14 22
+f 15 16 18
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_197.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_197.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c10404938c911ec4d9a21f1c2cd2b3e89a93c8b
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_197.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v -0.04268859 0.00013415 -0.02902261
+v -0.03561082 0.00013415 -0.02902261
+v -0.04193329 0.00013415 -0.03346800
+v -0.04001816 -0.00896196 -0.03132171
+v -0.04206200 -0.00222255 -0.02902361
+v -0.04206200 -0.00222255 -0.02902261
+v -0.03314124 0.00013415 -0.03922475
+v -0.03500262 -0.00200769 -0.02902261
+v -0.02824027 -0.01701234 -0.03922475
+v -0.04040430 0.00013415 -0.03922475
+v -0.04129256 -0.00222255 -0.03346800
+v -0.03907474 -0.01070934 -0.03306950
+v -0.03722609 -0.01701234 -0.03352993
+v -0.03800402 -0.01701066 -0.02902261
+v -0.04011717 -0.00932621 -0.02902361
+v -0.04084560 -0.00666737 -0.02902361
+v -0.04084560 -0.00666737 -0.02902261
+v -0.03088524 -0.01700730 -0.02902261
+v -0.03011155 -0.01701234 -0.03191297
+v -0.02890364 -0.01701234 -0.03662902
+v -0.03568861 -0.01701234 -0.03922475
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+v -0.03614264 -0.01701234 -0.03760179
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+v -0.03782015 -0.01701234 -0.02902261
+v -0.04011717 -0.00932453 -0.02902261
+v -0.03109174 -0.01701234 -0.02902261
+v -0.03088382 -0.01701234 -0.02902361
+v -0.03617235 -0.01532370 -0.03922475
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+f 18 29 30
+f 18 30 19
+f 21 25 31
+f 22 24 23
+f 24 31 25
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_198.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_198.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55032fc2156a5d474886d7ca6122eacd77700996
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_198.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.00487110 0.03867488 -0.04468353
+v 0.00665944 0.03858543 -0.04468353
+v 0.00487110 0.03807577 -0.04680012
+v 0.00487110 0.03154376 -0.04468353
+v 0.00842483 0.03774708 -0.04468353
+v 0.00975557 0.03653222 -0.04656066
+v 0.00666661 0.03792391 -0.04680012
+v 0.00666661 0.03638036 -0.05026302
+v 0.00487110 0.03715421 -0.04886480
+v 0.00487110 0.02982547 -0.04696422
+v 0.00872464 0.02941149 -0.04468353
+v 0.00975557 0.03708972 -0.04468353
+v 0.00975557 0.03660710 -0.04631451
+v 0.00975557 0.03645732 -0.04680012
+v 0.00928983 0.03577292 -0.04934538
+v 0.00487110 0.03646357 -0.05040535
+v 0.00666661 0.03482849 -0.05248510
+v 0.00509058 0.03143975 -0.05838274
+v 0.00487110 0.01959476 -0.06169996
+v 0.00975557 0.02884566 -0.04468353
+v 0.00975557 0.03603920 -0.04797228
+v 0.00975557 0.03565643 -0.04896024
+v 0.00975557 0.03515092 -0.04983266
+v 0.00641319 0.02829024 -0.06179038
+v 0.00487110 0.03157496 -0.05817678
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+v 0.00487110 0.02860644 -0.06179038
+v 0.00487110 0.01953859 -0.06179038
+v 0.00679428 0.01855879 -0.06179038
+v 0.00975557 0.01897900 -0.05937573
+v 0.00975557 0.02636392 -0.06179038
+v 0.00975557 0.01742297 -0.06179038
+f 1 2 3
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+f 24 29 28
+f 24 28 27
+f 29 32 30
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_199.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_199.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0e4646a04c06bfb80bb73ebc6092dbacdd57e38
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_199.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.02946339 0.01971697 -0.03753930
+v -0.03011888 0.01971697 -0.03587996
+v -0.02912550 0.02034748 -0.03753930
+v -0.02341662 0.01971697 -0.03753930
+v -0.02940662 0.02095031 -0.03593219
+v -0.03209348 0.01971697 -0.03039173
+v -0.02844433 0.02363287 -0.03449391
+v -0.02782262 0.02262748 -0.03753930
+v -0.01911468 0.02485766 -0.03753930
+v -0.02677924 0.01971697 -0.02801045
+v -0.03292062 0.01971697 -0.02801045
+v -0.02902684 0.02462871 -0.03110154
+v -0.02889304 0.02485766 -0.03110154
+v -0.02729012 0.02485766 -0.03558894
+v -0.02773207 0.02278548 -0.03753930
+v -0.02180559 0.02485766 -0.03146811
+v -0.02648460 0.02485766 -0.03753930
+v -0.02341392 0.02485766 -0.02801045
+v -0.02987155 0.02485766 -0.02801045
+v -0.02915929 0.02485766 -0.03026861
+v -0.02705360 0.02485766 -0.03618310
+f 1 2 3
+f 1 3 8
+f 1 8 15
+f 1 15 17
+f 1 17 9
+f 1 9 4
+f 1 4 10
+f 1 10 11
+f 1 11 6
+f 1 6 2
+f 2 5 3
+f 2 6 7
+f 2 7 5
+f 3 5 7
+f 3 7 8
+f 4 9 10
+f 6 11 7
+f 7 12 13
+f 7 13 14
+f 7 14 15
+f 7 15 8
+f 7 11 12
+f 9 16 10
+f 9 17 21
+f 9 21 14
+f 9 14 13
+f 9 13 20
+f 9 20 19
+f 9 19 18
+f 9 18 16
+f 10 16 18
+f 10 18 19
+f 10 19 11
+f 11 19 20
+f 11 20 13
+f 11 13 12
+f 14 21 15
+f 15 21 17
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_2.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ccdfaeee519847f0b7a432fbe864b1f93b559348
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_2.obj
@@ -0,0 +1,183 @@
+# https://github.com/mikedh/trimesh
+v 0.03428184 0.01661853 -0.04468630
+v 0.03394333 0.01787501 -0.04468630
+v 0.02691148 0.01661853 -0.04468630
+v 0.03366484 0.01661853 -0.04680553
+v 0.03276215 0.02000121 -0.04680553
+v 0.03336715 0.02000121 -0.04468630
+v 0.00975797 0.02884268 -0.04468630
+v 0.00975797 0.01661853 -0.06232069
+v 0.03338155 0.01661853 -0.04751655
+v 0.03123046 0.02239995 -0.04922631
+v 0.03277896 0.02155629 -0.04468630
+v 0.00975797 0.03709098 -0.04468630
+v 0.00975797 0.01661853 -0.07294448
+v 0.03203952 0.01661853 -0.05046576
+v 0.03160258 0.01986495 -0.04980730
+v 0.03158337 0.02000121 -0.04977687
+v 0.02668820 0.01782492 -0.05794391
+v 0.02282296 0.01661853 -0.06369293
+v 0.02258768 0.01812952 -0.06288231
+v 0.02692588 0.02243202 -0.05374973
+v 0.02859682 0.02323560 -0.05092225
+v 0.02634729 0.02648603 -0.04853743
+v 0.02877207 0.02537583 -0.04695492
+v 0.02951871 0.02572252 -0.04468630
+v 0.03099518 0.02445000 -0.04468630
+v 0.03163619 0.02296908 -0.04680553
+v 0.03194109 0.02339191 -0.04468630
+v 0.01079750 0.03657596 -0.04468630
+v 0.00975797 0.03660802 -0.04631584
+v 0.00975797 0.01692915 -0.07286149
+v 0.01006286 0.01661853 -0.07291405
+v 0.02783577 0.01661853 -0.05674873
+v 0.02685626 0.01661853 -0.05819567
+v 0.02110881 0.01661853 -0.06576236
+v 0.02091915 0.01661853 -0.06596985
+v 0.01682583 0.01661853 -0.07041580
+v 0.01654254 0.01705740 -0.07016681
+v 0.02470037 0.02553615 -0.05134277
+v 0.01784616 0.03113120 -0.04905201
+v 0.01015409 0.03626735 -0.04680276
+v 0.01850638 0.03152197 -0.04680553
+v 0.02721877 0.02697900 -0.04557715
+v 0.02806624 0.02673251 -0.04468630
+v 0.02338954 0.02730364 -0.04992626
+v 0.01784616 0.03111116 -0.04908798
+v 0.01782696 0.03113521 -0.04906585
+v 0.01257647 0.03559001 -0.04468630
+v 0.00975797 0.03653187 -0.04656207
+v 0.00975797 0.01906937 -0.07202321
+v 0.01382727 0.01661853 -0.07206470
+v 0.01450909 0.01661853 -0.07181571
+v 0.01358239 0.01791910 -0.07138688
+v 0.00975797 0.03565414 -0.04896349
+v 0.00975797 0.03604090 -0.04797580
+v 0.00975797 0.03645372 -0.04680276
+v 0.01359200 0.03501287 -0.04468630
+v 0.02641692 0.02770443 -0.04468630
+v 0.02744925 0.02711326 -0.04468630
+v 0.00975797 0.03515114 -0.04983497
+v 0.00975797 0.01997316 -0.07127069
+v 0.01111200 0.01861447 -0.07188210
+v 0.00975797 0.02125569 -0.06967158
+f 1 2 6
+f 1 6 11
+f 1 11 27
+f 1 27 25
+f 1 25 24
+f 1 24 43
+f 1 43 58
+f 1 58 57
+f 1 57 56
+f 1 56 47
+f 1 47 28
+f 1 28 12
+f 1 12 7
+f 1 7 3
+f 1 3 8
+f 1 8 13
+f 1 13 31
+f 1 31 50
+f 1 50 51
+f 1 51 36
+f 1 36 35
+f 1 35 34
+f 1 34 18
+f 1 18 33
+f 1 33 32
+f 1 32 14
+f 1 14 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 4 9 10
+f 4 10 5
+f 5 10 6
+f 6 10 11
+f 7 12 29
+f 7 29 48
+f 7 48 55
+f 7 55 54
+f 7 54 53
+f 7 53 59
+f 7 59 62
+f 7 62 60
+f 7 60 49
+f 7 49 30
+f 7 30 13
+f 7 13 8
+f 9 14 15
+f 9 15 16
+f 9 16 10
+f 10 16 17
+f 10 17 18
+f 10 18 19
+f 10 19 20
+f 10 20 21
+f 10 21 22
+f 10 22 23
+f 10 23 24
+f 10 24 25
+f 10 25 26
+f 10 26 11
+f 11 26 27
+f 12 28 29
+f 13 30 31
+f 14 32 15
+f 15 32 17
+f 15 17 16
+f 17 32 33
+f 17 33 18
+f 18 34 19
+f 19 34 35
+f 19 35 36
+f 19 36 20
+f 20 36 37
+f 20 37 38
+f 20 38 22
+f 20 22 21
+f 22 39 40
+f 22 40 41
+f 22 41 42
+f 22 42 43
+f 22 43 24
+f 22 24 23
+f 22 38 44
+f 22 44 45
+f 22 45 46
+f 22 46 39
+f 25 27 26
+f 28 47 40
+f 28 40 29
+f 29 40 48
+f 30 49 50
+f 30 50 31
+f 36 51 52
+f 36 52 37
+f 37 52 44
+f 37 44 38
+f 39 53 54
+f 39 54 40
+f 39 46 53
+f 40 42 41
+f 40 54 55
+f 40 55 48
+f 40 47 42
+f 42 47 56
+f 42 56 57
+f 42 57 58
+f 42 58 43
+f 44 52 45
+f 45 59 46
+f 45 52 59
+f 46 59 53
+f 49 60 61
+f 49 61 50
+f 50 61 51
+f 51 61 52
+f 52 61 60
+f 52 60 62
+f 52 62 59
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_20.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f181324b6a2140309c0197a56bb35d565f46a8d2
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_20.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.00816530 0.00566061 0.06632009
+v -0.00816530 0.00574545 0.06520744
+v -0.00283330 0.00987018 0.06430507
+v -0.00283330 0.00979350 0.06584441
+v -0.00283330 0.00977065 0.06632009
+v -0.00816530 0.01517458 0.06632009
+v -0.00816530 0.00581561 0.06430507
+v -0.00283330 0.00997461 0.06345987
+v -0.00283330 0.01677356 0.06632009
+v -0.00666618 0.01578806 0.06632009
+v -0.00816530 0.02092603 0.04546350
+v -0.00816530 0.00629041 0.06230026
+v -0.00283330 0.01054894 0.05986059
+v -0.00283330 0.02232922 0.04546350
+v -0.00413355 0.01645050 0.06632009
+v -0.00651690 0.02136167 0.04546350
+v -0.00816530 0.01342548 0.04546350
+v -0.00816530 0.00703769 0.05986059
+v -0.00283330 0.01188034 0.05508130
+v -0.00283330 0.01070068 0.05927262
+v -0.00283330 0.01506036 0.04546350
+v -0.00816530 0.01169270 0.04868917
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 15
+f 1 15 10
+f 1 10 6
+f 1 6 11
+f 1 11 17
+f 1 17 22
+f 1 22 18
+f 1 18 12
+f 1 12 7
+f 1 7 2
+f 2 7 3
+f 3 7 8
+f 3 8 13
+f 3 13 20
+f 3 20 19
+f 3 19 21
+f 3 21 14
+f 3 14 9
+f 3 9 5
+f 3 5 4
+f 6 10 11
+f 7 12 13
+f 7 13 8
+f 9 14 15
+f 10 15 14
+f 10 14 16
+f 10 16 11
+f 11 16 14
+f 11 14 21
+f 11 21 17
+f 12 18 19
+f 12 19 20
+f 12 20 13
+f 17 21 22
+f 18 22 21
+f 18 21 19
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_200.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_200.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9182f3bc05fb0f8218027636b1c6d820c1d17622
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_200.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v -0.00662281 0.03441551 -0.03958059
+v -0.00662281 0.03418753 -0.04038030
+v -0.01154718 0.03318706 -0.03958059
+v -0.00662281 0.02884430 -0.03958059
+v -0.00662281 0.03283734 -0.04342008
+v -0.00976738 0.03239908 -0.04286558
+v -0.01149929 0.03295244 -0.04040681
+v -0.01171828 0.03292809 -0.04031182
+v -0.01171828 0.03314279 -0.03958059
+v -0.01171828 0.02736573 -0.03958059
+v -0.01171828 0.01588243 -0.05414767
+v -0.01171828 0.01183406 -0.05930602
+v -0.00662281 0.02146914 -0.04947976
+v -0.00662281 0.01904100 -0.06211825
+v -0.00710966 0.01897903 -0.06207186
+v -0.01021483 0.01856069 -0.06165434
+v -0.01171828 0.03020778 -0.04492892
+v -0.01171828 0.03279085 -0.04065424
+v -0.01171828 0.03291481 -0.04034716
+v -0.01171828 0.01180308 -0.05947170
+v -0.00662281 0.01524497 -0.05930602
+v -0.00662281 0.01544196 -0.05888849
+v -0.00662281 0.01736765 -0.05523678
+v -0.00662281 0.01752923 -0.05499377
+v -0.00662281 0.01896796 -0.05290613
+v -0.00662281 0.01921144 -0.05256372
+v -0.00662281 0.01876654 -0.06211825
+v -0.01171828 0.01187169 -0.06214918
+v -0.01171828 0.01625429 -0.06208291
+v -0.01171828 0.01633397 -0.06206965
+v -0.01171828 0.01957887 -0.05938334
+v -0.00898423 0.01350742 -0.06156597
+v -0.00898423 0.01350742 -0.06109984
+v -0.00662281 0.01601745 -0.06210942
+f 1 2 3
+f 1 3 9
+f 1 9 10
+f 1 10 4
+f 1 4 13
+f 1 13 26
+f 1 26 25
+f 1 25 24
+f 1 24 23
+f 1 23 22
+f 1 22 21
+f 1 21 34
+f 1 34 27
+f 1 27 14
+f 1 14 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 3 8 9
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 5 14 15
+f 5 15 16
+f 5 16 6
+f 6 17 18
+f 6 18 7
+f 6 16 17
+f 7 19 8
+f 7 18 19
+f 8 19 18
+f 8 18 17
+f 8 17 31
+f 8 31 30
+f 8 30 29
+f 8 29 28
+f 8 28 20
+f 8 20 12
+f 8 12 11
+f 8 11 10
+f 8 10 9
+f 12 20 21
+f 12 21 22
+f 12 22 23
+f 12 23 24
+f 12 24 25
+f 12 25 26
+f 12 26 13
+f 14 27 28
+f 14 28 29
+f 14 29 30
+f 14 30 15
+f 15 30 16
+f 16 30 31
+f 16 31 17
+f 20 28 32
+f 20 32 33
+f 20 33 21
+f 21 33 32
+f 21 32 34
+f 27 34 28
+f 28 34 32
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_201.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_201.obj
new file mode 100644
index 0000000000000000000000000000000000000000..985e78221849b55b73eb699ba82dee0ce6fb15d8
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_201.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v -0.00005540 -0.02683761 0.03434577
+v -0.00104440 -0.02683761 0.03485417
+v -0.00005540 -0.03047867 0.02682748
+v -0.00005540 -0.02683761 0.01799950
+v -0.00346596 -0.02683761 0.03537916
+v -0.00375062 -0.03124191 0.02679432
+v -0.00351178 -0.03136831 0.02643789
+v -0.00135197 -0.03136831 0.02557305
+v -0.00078850 -0.03094965 0.02620855
+v -0.00005540 -0.03086096 0.02602067
+v -0.00005540 -0.02724562 0.01688598
+v -0.00503501 -0.02785985 0.01531380
+v -0.00503501 -0.02684071 0.01827028
+v -0.00503501 -0.02683761 0.01831449
+v -0.00492972 -0.02683761 0.03505035
+v -0.00470843 -0.03124191 0.02679432
+v -0.00503501 -0.03134392 0.02624447
+v -0.00503501 -0.03136831 0.02611185
+v -0.00005540 -0.03136831 0.02489334
+v -0.00005540 -0.03136831 0.00715724
+v -0.00503501 -0.02850380 0.01383833
+v -0.00503501 -0.02683761 0.03493983
+v -0.00503501 -0.03136831 0.00923506
+v -0.00503501 -0.03047468 0.01018832
+v -0.00503501 -0.02996732 0.01087356
+f 1 2 3
+f 1 3 10
+f 1 10 19
+f 1 19 20
+f 1 20 11
+f 1 11 4
+f 1 4 14
+f 1 14 22
+f 1 22 15
+f 1 15 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 3 9 10
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 5 15 16
+f 5 16 6
+f 6 16 7
+f 7 17 18
+f 7 18 23
+f 7 23 20
+f 7 20 19
+f 7 19 8
+f 7 16 17
+f 8 19 9
+f 9 19 10
+f 11 20 12
+f 12 20 21
+f 12 21 25
+f 12 25 24
+f 12 24 23
+f 12 23 18
+f 12 18 17
+f 12 17 22
+f 12 22 14
+f 12 14 13
+f 15 22 16
+f 16 22 17
+f 20 23 24
+f 20 24 25
+f 20 25 21
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_202.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_202.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4dca5a388e62fcefc6127b48766c08900915ecc8
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_202.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v 0.01220933 0.03306578 -0.04049264
+v 0.01263556 0.03281798 -0.04049264
+v 0.01322529 0.03193664 -0.04191821
+v 0.01220933 0.03289207 -0.04095155
+v 0.01220933 0.02629347 -0.04049264
+v 0.01529098 0.03127243 -0.04049264
+v 0.01529098 0.03116769 -0.04077308
+v 0.01220933 0.03223808 -0.04239411
+v 0.01529098 0.02969367 -0.04336503
+v 0.01529098 0.02451289 -0.04049264
+v 0.01220933 0.01742635 -0.05104527
+v 0.01529098 0.00697027 -0.05940110
+v 0.01529098 0.00701114 -0.05935437
+v 0.01529098 0.02901925 -0.04425946
+v 0.01220933 0.03004366 -0.04518789
+v 0.01220933 0.01409768 -0.05522425
+v 0.01220933 0.01129525 -0.05907393
+v 0.01220933 0.01090184 -0.05969642
+v 0.01370461 0.00867931 -0.06115385
+v 0.01370461 0.00867931 -0.06153415
+v 0.01529098 0.00751696 -0.06190807
+v 0.01529098 0.01477465 -0.06145342
+v 0.01504122 0.01443489 -0.06206529
+v 0.01220933 0.01761029 -0.06032741
+v 0.01220933 0.01090184 -0.05978352
+v 0.01220933 0.01104234 -0.06209078
+v 0.01529098 0.00780052 -0.06210991
+v 0.01529098 0.01431993 -0.06198455
+v 0.01529098 0.01389331 -0.06206741
+v 0.01529098 0.01240140 -0.06210141
+v 0.01220933 0.01557170 -0.06214389
+v 0.01220933 0.01116496 -0.06217789
+v 0.01220933 0.01119051 -0.06219489
+v 0.01220933 0.01152261 -0.06219701
+v 0.01529098 0.01144086 -0.06211203
+v 0.01220933 0.01507610 -0.06215451
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 15
+f 1 15 24
+f 1 24 31
+f 1 31 36
+f 1 36 34
+f 1 34 33
+f 1 33 32
+f 1 32 26
+f 1 26 25
+f 1 25 18
+f 1 18 17
+f 1 17 16
+f 1 16 11
+f 1 11 5
+f 1 5 10
+f 1 10 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 8 4
+f 3 7 9
+f 3 9 8
+f 5 11 12
+f 5 12 13
+f 5 13 10
+f 6 10 13
+f 6 13 12
+f 6 12 21
+f 6 21 27
+f 6 27 35
+f 6 35 30
+f 6 30 29
+f 6 29 28
+f 6 28 22
+f 6 22 14
+f 6 14 9
+f 6 9 7
+f 8 9 14
+f 8 14 15
+f 11 16 12
+f 12 16 17
+f 12 17 18
+f 12 18 19
+f 12 19 20
+f 12 20 21
+f 14 22 23
+f 14 23 24
+f 14 24 15
+f 18 25 20
+f 18 20 19
+f 20 25 26
+f 20 26 21
+f 21 26 27
+f 22 28 23
+f 23 28 29
+f 23 29 30
+f 23 30 31
+f 23 31 24
+f 26 32 27
+f 27 33 34
+f 27 34 35
+f 27 32 33
+f 30 35 34
+f 30 34 36
+f 30 36 31
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_203.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_203.obj
new file mode 100644
index 0000000000000000000000000000000000000000..363afdb4ec17aa657b27be3d112996608ea62c99
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_203.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v -0.01400017 0.00657938 0.04546350
+v -0.02223736 0.00657938 0.04546350
+v -0.01551541 0.00004101 0.04546350
+v -0.01658137 0.00004101 0.04208217
+v -0.01483964 0.00657938 0.04280521
+v -0.02281465 0.00558288 0.04546350
+v -0.02657505 0.00657938 0.03449433
+v -0.02308914 0.00004101 0.04546350
+v -0.01754024 0.00004101 0.03915777
+v -0.01497996 0.00657938 0.04238052
+v -0.02310760 0.00449294 0.04546350
+v -0.02657505 0.00511567 0.03620381
+v -0.02657505 0.00657938 0.01800428
+v -0.02341040 0.00222281 0.04546350
+v -0.02657505 0.00004101 0.03593771
+v -0.01830586 0.00004101 0.03693491
+v -0.01672046 0.00657938 0.03772783
+v -0.02657505 0.00222281 0.03659086
+v -0.02551402 0.00657938 0.01993148
+v -0.02653197 0.00004101 0.01917350
+v -0.02657505 0.00004101 0.01910093
+v -0.02657505 0.00048646 0.03609361
+v -0.02657505 0.00027653 0.03603179
+v -0.01979648 0.00004101 0.03319609
+v -0.01872683 0.00657938 0.03301331
+v -0.02091044 0.00657938 0.02870467
+v -0.02593498 0.00004101 0.02033734
+v -0.02155790 0.00004101 0.02929600
+f 1 2 6
+f 1 6 11
+f 1 11 14
+f 1 14 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 17
+f 1 17 25
+f 1 25 26
+f 1 26 19
+f 1 19 13
+f 1 13 7
+f 1 7 2
+f 2 7 6
+f 3 8 15
+f 3 15 21
+f 3 21 20
+f 3 20 27
+f 3 27 28
+f 3 28 24
+f 3 24 16
+f 3 16 9
+f 3 9 4
+f 4 9 5
+f 5 9 10
+f 6 7 12
+f 6 12 11
+f 7 13 21
+f 7 21 15
+f 7 15 23
+f 7 23 22
+f 7 22 18
+f 7 18 12
+f 8 14 15
+f 9 16 10
+f 10 16 17
+f 11 12 14
+f 12 18 14
+f 13 19 20
+f 13 20 21
+f 14 18 22
+f 14 22 23
+f 14 23 15
+f 16 24 17
+f 17 24 25
+f 19 26 20
+f 20 26 27
+f 24 28 25
+f 25 28 27
+f 25 27 26
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_204.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_204.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5145468e162c1598646165110102c070f16f8537
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_204.obj
@@ -0,0 +1,117 @@
+# https://github.com/mikedh/trimesh
+v -0.02883937 -0.02930001 -0.00314894
+v -0.02931504 -0.02895579 -0.00780666
+v -0.02883937 -0.02921427 -0.00718727
+v -0.02883937 -0.02868488 0.00042416
+v -0.02940538 -0.02900798 -0.00314894
+v -0.02883937 -0.02919936 -0.00780666
+v -0.03164465 -0.02753414 -0.00780666
+v -0.03130728 -0.02735022 -0.01039201
+v -0.02897767 -0.02876441 -0.01039201
+v -0.02883937 -0.02865257 0.00057424
+v -0.03173419 -0.02754408 -0.00314894
+v -0.02883937 -0.02885016 -0.01028150
+v -0.03398146 -0.02520408 -0.00780666
+v -0.03283904 -0.02605906 -0.01039201
+v -0.02883937 -0.02883400 -0.01039201
+v -0.03038471 -0.02712778 0.00186896
+v -0.02883937 -0.02760994 0.00354432
+v -0.02918233 -0.02737881 0.00354432
+v -0.03344902 -0.02459268 0.00150878
+v -0.03392470 -0.02521403 -0.00314894
+v -0.03549963 -0.02126225 -0.00780666
+v -0.03536132 -0.02126225 -0.01039201
+v -0.03387913 -0.02502141 -0.01039201
+v -0.02883937 -0.02175311 -0.01039201
+v -0.03051183 -0.02642690 0.00354432
+v -0.03316362 -0.02419377 0.00354432
+v -0.02883937 -0.02121751 0.00354432
+v -0.03469697 -0.02126225 0.00150878
+v -0.03543167 -0.02126225 -0.00314894
+v -0.03700660 -0.01660586 -0.00780666
+v -0.03684271 -0.01660586 -0.01039201
+v -0.03170541 -0.01660586 -0.01039201
+v -0.03011849 -0.01660586 0.00354432
+v -0.02883937 -0.01983688 0.00353613
+v -0.03416214 -0.02129580 0.00354432
+v -0.02884736 -0.01982569 0.00354432
+v -0.03584339 -0.01660586 0.00150878
+v -0.03670520 -0.01660586 -0.00271373
+v -0.03468178 -0.01922547 0.00354432
+v -0.03532694 -0.01660586 0.00354432
+f 1 2 3
+f 1 3 6
+f 1 6 12
+f 1 12 15
+f 1 15 24
+f 1 24 34
+f 1 34 27
+f 1 27 17
+f 1 17 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 6 3
+f 2 5 7
+f 2 7 8
+f 2 8 9
+f 2 9 6
+f 4 10 11
+f 4 11 5
+f 5 11 7
+f 6 9 12
+f 7 13 14
+f 7 14 8
+f 7 11 13
+f 8 14 23
+f 8 23 22
+f 8 22 31
+f 8 31 32
+f 8 32 24
+f 8 24 15
+f 8 15 9
+f 9 15 12
+f 10 16 11
+f 10 17 18
+f 10 18 16
+f 11 16 19
+f 11 19 20
+f 11 20 13
+f 13 21 22
+f 13 22 23
+f 13 23 14
+f 13 20 21
+f 16 18 25
+f 16 25 26
+f 16 26 19
+f 17 27 36
+f 17 36 33
+f 17 33 40
+f 17 40 39
+f 17 39 35
+f 17 35 26
+f 17 26 25
+f 17 25 18
+f 19 28 29
+f 19 29 20
+f 19 26 28
+f 20 29 21
+f 21 30 22
+f 21 29 30
+f 22 30 31
+f 24 32 33
+f 24 33 34
+f 26 35 28
+f 27 34 36
+f 28 37 38
+f 28 38 29
+f 28 35 39
+f 28 39 40
+f 28 40 37
+f 29 38 30
+f 30 38 37
+f 30 37 40
+f 30 40 33
+f 30 33 32
+f 30 32 31
+f 33 36 34
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_205.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_205.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da0aec76e9413021649a183fcd78410ab6153fad
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_205.obj
@@ -0,0 +1,126 @@
+# https://github.com/mikedh/trimesh
+v 0.01968140 -0.03309169 0.00812465
+v 0.01968140 -0.02449140 0.00812465
+v 0.01979645 -0.03306133 0.00812465
+v 0.01999988 -0.03230907 0.01097687
+v 0.01968140 -0.03239172 0.01097687
+v 0.02587559 -0.01586075 0.00812465
+v 0.01968140 -0.01586075 0.02084057
+v 0.01999988 -0.03300735 0.00812465
+v 0.02223063 -0.03111323 0.01321043
+v 0.01968140 -0.03155345 0.01362868
+v 0.03401292 -0.01586075 0.00812465
+v 0.01968140 -0.01586075 0.03779706
+v 0.02097917 -0.03268858 0.00812465
+v 0.02273009 -0.03141852 0.01097687
+v 0.02472935 -0.03060555 0.00812465
+v 0.02562726 -0.02967282 0.00812465
+v 0.02520777 -0.02876034 0.01115404
+v 0.02652237 -0.02641757 0.01275152
+v 0.02335583 -0.02880756 0.01498218
+v 0.02276657 -0.02727270 0.01865928
+v 0.02174941 -0.02623878 0.02162188
+v 0.01968140 -0.02686622 0.02264717
+v 0.01968140 -0.02771124 0.02109616
+v 0.01968140 -0.03143707 0.01394527
+v 0.01999988 -0.03140671 0.01383200
+v 0.03094458 -0.02115518 0.00812465
+v 0.03321602 -0.01586075 0.01097687
+v 0.01968140 -0.01596027 0.03768088
+v 0.02376410 -0.02463139 0.02003021
+v 0.02597380 -0.02473765 0.01578382
+v 0.02738520 -0.02345579 0.01454651
+v 0.03121255 -0.01795727 0.01339342
+v 0.03172043 -0.01586075 0.01473239
+v 0.02330391 -0.03176766 0.00812465
+v 0.02640031 -0.02870468 0.00812465
+v 0.02697413 -0.02719512 0.00978893
+v 0.03160539 -0.01863025 0.01097687
+v 0.03311641 -0.01586075 0.01128475
+v 0.01968140 -0.02016174 0.03251958
+v 0.01968140 -0.02164094 0.03066070
+v 0.01968140 -0.02408491 0.02700393
+v 0.03071590 -0.02154817 0.00812465
+v 0.02719440 -0.02757124 0.00812465
+f 1 2 6
+f 1 6 11
+f 1 11 26
+f 1 26 42
+f 1 42 43
+f 1 43 35
+f 1 35 16
+f 1 16 15
+f 1 15 34
+f 1 34 13
+f 1 13 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 24
+f 1 24 23
+f 1 23 22
+f 1 22 41
+f 1 41 40
+f 1 40 39
+f 1 39 28
+f 1 28 12
+f 1 12 7
+f 1 7 2
+f 2 7 6
+f 3 8 4
+f 4 9 5
+f 4 8 9
+f 5 9 10
+f 6 7 12
+f 6 12 33
+f 6 33 38
+f 6 38 27
+f 6 27 11
+f 8 13 9
+f 9 13 14
+f 9 14 15
+f 9 15 16
+f 9 16 17
+f 9 17 18
+f 9 18 19
+f 9 19 20
+f 9 20 21
+f 9 21 22
+f 9 22 23
+f 9 23 24
+f 9 24 25
+f 9 25 10
+f 10 25 24
+f 11 27 26
+f 12 28 29
+f 12 29 30
+f 12 30 31
+f 12 31 32
+f 12 32 33
+f 13 34 14
+f 14 34 15
+f 16 35 18
+f 16 18 17
+f 18 35 36
+f 18 36 37
+f 18 37 27
+f 18 27 38
+f 18 38 32
+f 18 32 31
+f 18 31 30
+f 18 30 29
+f 18 29 20
+f 18 20 19
+f 20 29 28
+f 20 28 21
+f 21 28 39
+f 21 39 40
+f 21 40 41
+f 21 41 22
+f 26 27 36
+f 26 36 42
+f 27 37 36
+f 32 38 33
+f 35 43 36
+f 36 43 42
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_206.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_206.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5eb21053d85aad453a91af80d0d9df6a0728ffdf
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_206.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v -0.03170530 -0.01660580 -0.01039313
+v -0.02918971 -0.02092750 -0.01292537
+v -0.03071120 -0.01661169 -0.02186909
+v -0.03072693 -0.01660580 -0.02181404
+v -0.03684283 -0.01660580 -0.01039313
+v -0.02918971 -0.02135614 -0.01039313
+v -0.02918971 -0.01973108 -0.02186235
+v -0.03077862 -0.01660580 -0.02186909
+v -0.02918971 -0.02000899 -0.02186909
+v -0.03672822 -0.01660580 -0.01246701
+v -0.03525093 -0.02126193 -0.01246701
+v -0.03536180 -0.02126193 -0.01039313
+v -0.02918971 -0.02863474 -0.01039313
+v -0.03581503 -0.01660580 -0.02186909
+v -0.02918971 -0.02675297 -0.02186909
+v -0.03631844 -0.01660580 -0.01735061
+v -0.03466062 -0.02126193 -0.02178258
+v -0.03498724 -0.02126193 -0.01712479
+v -0.03387927 -0.02502193 -0.01039313
+v -0.03130676 -0.02735118 -0.01039313
+v -0.03103632 -0.02720398 -0.01246701
+v -0.02918971 -0.02831797 -0.01246701
+v -0.03582851 -0.01660580 -0.02178258
+v -0.03464264 -0.02126429 -0.02186909
+v -0.02918971 -0.02676121 -0.02183313
+v -0.03047148 -0.02601581 -0.02186909
+v -0.03461866 -0.02133023 -0.02186909
+v -0.03333465 -0.02423531 -0.02178258
+v -0.03359310 -0.02456621 -0.01712479
+v -0.03379687 -0.02487474 -0.01246701
+v -0.03283948 -0.02605820 -0.01039313
+v -0.03040331 -0.02607233 -0.02178258
+v -0.02918971 -0.02799178 -0.01460042
+v -0.03332641 -0.02422707 -0.02186909
+v -0.02918971 -0.02677063 -0.02178258
+v -0.02918971 -0.02769385 -0.01640692
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 14
+f 1 14 23
+f 1 23 16
+f 1 16 10
+f 1 10 5
+f 1 5 12
+f 1 12 19
+f 1 19 31
+f 1 31 20
+f 1 20 13
+f 1 13 6
+f 1 6 2
+f 2 7 3
+f 2 6 13
+f 2 13 22
+f 2 22 33
+f 2 33 36
+f 2 36 35
+f 2 35 25
+f 2 25 15
+f 2 15 9
+f 2 9 7
+f 3 8 4
+f 3 7 9
+f 3 9 15
+f 3 15 26
+f 3 26 34
+f 3 34 27
+f 3 27 24
+f 3 24 14
+f 3 14 8
+f 5 10 11
+f 5 11 12
+f 10 16 17
+f 10 17 18
+f 10 18 11
+f 11 18 19
+f 11 19 12
+f 13 20 21
+f 13 21 22
+f 14 24 17
+f 14 17 23
+f 15 25 26
+f 16 23 17
+f 17 24 27
+f 17 27 28
+f 17 28 29
+f 17 29 30
+f 17 30 18
+f 18 30 19
+f 19 30 29
+f 19 29 31
+f 20 31 28
+f 20 28 21
+f 21 32 33
+f 21 33 22
+f 21 28 34
+f 21 34 26
+f 21 26 32
+f 25 32 26
+f 25 35 32
+f 27 34 28
+f 28 31 29
+f 32 35 36
+f 32 36 33
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_207.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_207.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a73365da19a242f33828498cf6be7e3a030c84e1
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_207.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v -0.03541232 0.01353087 0.00813079
+v -0.02728472 0.01353087 0.00813079
+v -0.03537151 0.01353087 0.00829496
+v -0.02719388 0.02756919 0.00813079
+v -0.02651581 0.01476549 0.00813079
+v -0.02196288 0.01353087 0.01918152
+v -0.03522141 0.01353087 0.00883323
+v -0.02697663 0.02719440 0.00978867
+v -0.02640126 0.02869909 0.00813079
+v -0.02569817 0.01616179 0.00813079
+v -0.02196288 0.01353087 0.03562575
+v -0.02196288 0.02257375 0.00813079
+v -0.03457889 0.01353087 0.01097556
+v -0.02652239 0.02641725 0.01275186
+v -0.02562576 0.02967099 0.00813079
+v -0.02196288 0.02168085 0.02661238
+v -0.02204451 0.02191969 0.02619791
+v -0.02376403 0.02463145 0.02002930
+v -0.02597335 0.02473801 0.01578502
+v -0.02738742 0.02345562 0.01454431
+v -0.03121225 0.01795677 0.01339509
+v -0.03282777 0.01353087 0.01520907
+v -0.02196288 0.03229824 0.00813079
+v -0.03399694 0.01353087 0.01239391
+v -0.02520839 0.02876156 0.01115319
+v -0.02276602 0.02727340 0.01865940
+v -0.02335588 0.02880749 0.01498300
+v -0.02223015 0.03111322 0.01320939
+v -0.02472518 0.03060798 0.00813079
+v -0.02196288 0.02565663 0.02193748
+v -0.02196288 0.02606817 0.02145303
+v -0.02283844 0.02327557 0.02323472
+v -0.02330321 0.03176728 0.00813079
+v -0.02196288 0.03197488 0.00972946
+v -0.02196288 0.03114996 0.01328475
+v -0.02196288 0.03125652 0.01294294
+v -0.02272916 0.03141820 0.01097556
+f 1 2 6
+f 1 6 11
+f 1 11 22
+f 1 22 24
+f 1 24 13
+f 1 13 7
+f 1 7 3
+f 1 3 4
+f 1 4 9
+f 1 9 15
+f 1 15 29
+f 1 29 33
+f 1 33 23
+f 1 23 12
+f 1 12 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 3 8 4
+f 4 8 9
+f 5 10 6
+f 6 10 12
+f 6 12 23
+f 6 23 34
+f 6 34 36
+f 6 36 35
+f 6 35 31
+f 6 31 30
+f 6 30 16
+f 6 16 11
+f 7 13 8
+f 8 13 14
+f 8 14 9
+f 9 14 15
+f 11 16 17
+f 11 17 18
+f 11 18 19
+f 11 19 20
+f 11 20 21
+f 11 21 22
+f 13 24 21
+f 13 21 14
+f 14 25 15
+f 14 21 20
+f 14 20 19
+f 14 19 18
+f 14 18 26
+f 14 26 27
+f 14 27 28
+f 14 28 25
+f 15 25 28
+f 15 28 29
+f 16 30 17
+f 17 30 31
+f 17 31 26
+f 17 26 32
+f 17 32 18
+f 18 32 26
+f 21 24 22
+f 23 33 34
+f 26 31 28
+f 26 28 27
+f 28 35 36
+f 28 36 34
+f 28 34 37
+f 28 37 29
+f 28 31 35
+f 29 37 33
+f 33 37 34
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_208.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_208.obj
new file mode 100644
index 0000000000000000000000000000000000000000..025fb5374310c2e9abbf30d3ffc1cec0274f1ea6
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_208.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v -0.04084332 -0.00005971 -0.02211193
+v -0.03568661 -0.00005971 -0.02211193
+v -0.04018330 -0.00005971 -0.02631622
+v -0.03891869 -0.00761958 -0.02211193
+v -0.03221269 -0.00302827 -0.03116186
+v -0.03223032 -0.00297321 -0.03116186
+v -0.03319894 -0.00005971 -0.03116186
+v -0.03065459 -0.01660462 -0.02211193
+v -0.02797673 -0.01660462 -0.03116186
+v -0.03951195 -0.00005971 -0.02854592
+v -0.03810751 -0.00725033 -0.02644998
+v -0.03764399 -0.01046020 -0.02490239
+v -0.03785182 -0.01113716 -0.02211193
+v -0.03867559 -0.00005971 -0.03116186
+v -0.03100853 -0.01660462 -0.02211193
+v -0.03377834 -0.01660462 -0.03116186
+v -0.03870581 -0.00005971 -0.03106796
+v -0.03866929 -0.00008724 -0.03116186
+v -0.03802060 -0.00243229 -0.03116186
+v -0.03804202 -0.00250679 -0.03102898
+v -0.03379346 -0.01660462 -0.03111402
+v -0.03510594 -0.01660462 -0.02645796
+v -0.03511098 -0.01660138 -0.02644290
+v -0.03577730 -0.01660138 -0.02211193
+v -0.03510972 -0.01660462 -0.02644290
+f 1 2 7
+f 1 7 14
+f 1 14 17
+f 1 17 10
+f 1 10 3
+f 1 3 4
+f 1 4 13
+f 1 13 24
+f 1 24 15
+f 1 15 8
+f 1 8 2
+f 2 5 6
+f 2 6 7
+f 2 8 9
+f 2 9 5
+f 3 10 11
+f 3 11 12
+f 3 12 4
+f 4 12 13
+f 5 9 16
+f 5 16 19
+f 5 19 18
+f 5 18 14
+f 5 14 7
+f 5 7 6
+f 8 15 25
+f 8 25 22
+f 8 22 21
+f 8 21 16
+f 8 16 9
+f 10 17 18
+f 10 18 19
+f 10 19 20
+f 10 20 11
+f 11 20 16
+f 11 16 12
+f 12 16 21
+f 12 21 22
+f 12 22 23
+f 12 23 13
+f 13 23 24
+f 14 18 17
+f 15 24 25
+f 16 20 19
+f 22 25 23
+f 23 25 24
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_209.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_209.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6bb7adecbcd6dcf79810c3979d05a9f23ae3e5eb
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_209.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.01632937 -0.03068367 -0.01125940
+v -0.00001593 -0.03498382 -0.01125940
+v 0.01632937 -0.03769028 -0.01125940
+v 0.01632937 -0.03076534 -0.02901417
+v -0.00001593 -0.03505528 -0.02901417
+v -0.00001593 -0.04198363 -0.01125940
+v 0.00654235 -0.04054873 -0.02457722
+v 0.01632937 -0.03788198 -0.02013505
+v 0.01632937 -0.03784908 -0.02901417
+v -0.00001593 -0.04214130 -0.02901417
+v -0.00001593 -0.04227061 -0.02457722
+v 0.00222243 -0.04168304 -0.02457722
+v 0.00629755 -0.04048408 -0.02901417
+v 0.01632937 -0.03787177 -0.02824774
+v 0.01555339 -0.03818143 -0.02457722
+v 0.01632937 -0.03797726 -0.02457722
+f 1 2 6
+f 1 6 3
+f 1 3 8
+f 1 8 16
+f 1 16 14
+f 1 14 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 10
+f 2 10 11
+f 2 11 6
+f 3 6 7
+f 3 7 8
+f 4 9 13
+f 4 13 10
+f 4 10 5
+f 6 11 12
+f 6 12 7
+f 7 12 13
+f 7 13 14
+f 7 14 15
+f 7 15 8
+f 8 15 16
+f 9 14 13
+f 10 13 11
+f 11 13 12
+f 14 16 15
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_21.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5a2a61feb763fba8510c7b02eb84d3a9963f8a1
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_21.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v 0.00686819 0.00109123 0.08903023
+v 0.00686819 -0.00032285 0.08903707
+v 0.00230836 -0.00382746 0.09020084
+v 0.00232177 0.00109123 0.09055863
+v 0.01175851 0.00109123 0.09081919
+v 0.01176583 -0.00032285 0.09082755
+v 0.01177802 -0.00242879 0.09084122
+v 0.00686819 -0.00262620 0.08904923
+v 0.00230836 -0.00382746 0.09381521
+v 0.00230836 -0.00328051 0.09037632
+v 0.00686819 -0.00382746 0.08920799
+v 0.00232177 0.00109123 0.09314749
+v 0.00230836 -0.00273886 0.09055104
+v 0.01249267 0.00109123 0.09128409
+v 0.01359024 -0.00032285 0.09198296
+v 0.01135850 -0.00382746 0.09096048
+v 0.01395366 -0.00074558 0.09221541
+v 0.00230836 -0.00273886 0.09316496
+v 0.00722185 -0.00382746 0.09654461
+v 0.00887066 0.00109123 0.09679073
+v 0.01267681 0.00109123 0.09140183
+v 0.01395488 0.00010229 0.09221541
+v 0.01395488 -0.00032285 0.09221541
+v 0.01347195 -0.00382746 0.09329106
+v 0.01473904 -0.00250438 0.09654461
+v 0.01432074 -0.00242879 0.09480351
+v 0.01351463 -0.00382746 0.09335563
+v 0.01432318 -0.00382746 0.09654461
+v 0.00963530 -0.00032285 0.09679073
+v 0.00959140 -0.00032092 0.09679073
+v 0.01473294 0.00109123 0.09679073
+v 0.01379634 0.00109123 0.09262713
+v 0.01414635 0.00109123 0.09377876
+v 0.01476343 -0.00007489 0.09679073
+v 0.01476709 -0.00032285 0.09679073
+v 0.01417318 -0.00382746 0.09566799
+v 0.01416464 -0.00382746 0.09562165
+f 1 2 3
+f 1 3 4
+f 1 4 12
+f 1 12 20
+f 1 20 31
+f 1 31 33
+f 1 33 32
+f 1 32 21
+f 1 21 14
+f 1 14 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 8 3
+f 2 7 8
+f 3 9 18
+f 3 18 13
+f 3 13 10
+f 3 10 4
+f 3 8 11
+f 3 11 16
+f 3 16 24
+f 3 24 27
+f 3 27 37
+f 3 37 36
+f 3 36 28
+f 3 28 19
+f 3 19 9
+f 4 10 13
+f 4 13 18
+f 4 18 12
+f 5 14 6
+f 6 14 15
+f 6 15 7
+f 7 16 11
+f 7 11 8
+f 7 15 17
+f 7 17 16
+f 9 12 18
+f 9 19 20
+f 9 20 12
+f 14 21 22
+f 14 22 15
+f 15 22 23
+f 15 23 17
+f 16 17 24
+f 17 23 25
+f 17 25 26
+f 17 26 27
+f 17 27 24
+f 19 28 35
+f 19 35 29
+f 19 29 30
+f 19 30 20
+f 20 30 29
+f 20 29 35
+f 20 35 34
+f 20 34 31
+f 21 32 22
+f 22 33 31
+f 22 31 34
+f 22 34 35
+f 22 35 25
+f 22 25 23
+f 22 32 33
+f 25 35 28
+f 25 28 36
+f 25 36 37
+f 25 37 26
+f 26 37 27
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_210.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_210.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5480458d29490a0dc2cf705d3f8bba9909ad95f4
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_210.obj
@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
+v -0.03100874 -0.01660462 -0.02210925
+v -0.03065374 -0.01660462 -0.02210925
+v -0.03582866 -0.01660462 -0.02178205
+v -0.03577930 -0.01660138 -0.02210925
+v -0.03568687 -0.00005971 -0.02210925
+v -0.03614061 -0.00006457 -0.00322791
+v -0.03158642 -0.01660300 -0.00322791
+v -0.03187421 -0.01660462 -0.00780867
+v -0.03631811 -0.01660462 -0.01735102
+v -0.03743355 -0.01441181 -0.01533976
+v -0.03787574 -0.01121489 -0.02178205
+v -0.03785158 -0.01113716 -0.02210925
+v -0.04084289 -0.00005971 -0.02210925
+v -0.03614271 -0.00005971 -0.00323345
+v -0.03615426 -0.00005971 -0.00322791
+v -0.03636538 -0.01660462 -0.00322791
+v -0.03672774 -0.01660462 -0.01246708
+v -0.03753333 -0.01476000 -0.01246708
+v -0.03796081 -0.01225138 -0.01698685
+v -0.03906890 -0.00728596 -0.02178205
+v -0.03891870 -0.00761958 -0.02210925
+v -0.04089541 -0.00005971 -0.02178205
+v -0.04119895 -0.00005971 -0.00322791
+v -0.03672984 -0.01660462 -0.00322791
+v -0.03700502 -0.01660462 -0.00780867
+v -0.03765097 -0.01520213 -0.00780867
+v -0.03835048 -0.01194367 -0.01246708
+v -0.03825700 -0.01201817 -0.01355589
+v -0.03939345 -0.00728596 -0.01712364
+v -0.03951949 -0.00728596 -0.01355589
+v -0.04136805 -0.00005971 -0.00833737
+v -0.04138381 -0.00005971 -0.00780867
+v -0.03947642 -0.00736370 -0.00322791
+v -0.03707014 -0.01593091 -0.00322791
+v -0.03759005 -0.01500131 -0.00397288
+v -0.03855004 -0.01194367 -0.00780867
+v -0.03955730 -0.00728596 -0.01246708
+v -0.03791250 -0.01345791 -0.00322791
+v -0.03753333 -0.01481992 -0.00322791
+f 1 2 8
+f 1 8 16
+f 1 16 24
+f 1 24 25
+f 1 25 17
+f 1 17 9
+f 1 9 3
+f 1 3 4
+f 1 4 12
+f 1 12 21
+f 1 21 13
+f 1 13 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 4 11 12
+f 5 13 22
+f 5 22 31
+f 5 31 32
+f 5 32 23
+f 5 23 15
+f 5 15 14
+f 5 14 6
+f 6 14 15
+f 6 15 23
+f 6 23 33
+f 6 33 38
+f 6 38 39
+f 6 39 34
+f 6 34 24
+f 6 24 16
+f 6 16 7
+f 7 16 8
+f 9 17 18
+f 9 18 10
+f 10 19 11
+f 10 18 19
+f 11 20 12
+f 11 19 20
+f 12 20 21
+f 13 21 20
+f 13 20 22
+f 17 25 26
+f 17 26 18
+f 18 26 27
+f 18 27 28
+f 18 28 19
+f 19 28 29
+f 19 29 20
+f 20 29 22
+f 22 29 30
+f 22 30 31
+f 23 32 33
+f 24 34 35
+f 24 35 25
+f 25 35 26
+f 26 35 36
+f 26 36 27
+f 27 36 29
+f 27 29 28
+f 29 36 30
+f 30 36 37
+f 30 37 31
+f 31 37 32
+f 32 37 36
+f 32 36 33
+f 33 36 35
+f 33 35 38
+f 34 39 35
+f 35 39 38
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_211.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_211.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d5acb7b494ea0a6b66b898610448a5c4f679b41
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_211.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.00006934 -0.01573932 0.10278688
+v -0.00006934 -0.01562696 0.10184597
+v 0.00005325 -0.01562211 0.10184597
+v 0.00099432 -0.01569424 0.10278688
+v -0.00006934 -0.00904461 0.10278688
+v -0.00006934 -0.01015496 0.10184597
+v 0.00011657 -0.01561864 0.10184597
+v 0.00229706 -0.01561864 0.10278688
+v 0.00339018 -0.00865415 0.10278688
+v 0.00339018 -0.00985535 0.10184597
+v 0.00236648 -0.01548756 0.10184597
+v 0.00339018 -0.01521986 0.10184597
+v 0.00339018 -0.01533221 0.10278688
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 13
+f 1 13 9
+f 1 9 5
+f 1 5 6
+f 1 6 2
+f 2 6 10
+f 2 10 12
+f 2 12 11
+f 2 11 7
+f 2 7 3
+f 3 7 4
+f 4 7 8
+f 5 9 6
+f 6 9 10
+f 7 11 8
+f 8 11 12
+f 8 12 13
+f 9 13 12
+f 9 12 10
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_212.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_212.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31646b27f61249d10c615600405cdfa1a4bf9bf2
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_212.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.01657359 0.01661853 -0.06169907
+v 0.01657359 0.01237025 -0.06169907
+v 0.01657359 0.01661853 -0.06692686
+v 0.01107946 0.01661853 -0.06169907
+v 0.01537392 0.01318540 -0.06169907
+v 0.01657359 0.01084577 -0.06256807
+v 0.01657359 0.01006653 -0.06692686
+v 0.00811631 0.01661853 -0.06692686
+v 0.00989718 0.01661853 -0.06223593
+v 0.00811631 0.01006653 -0.06687056
+v 0.01657359 0.01006653 -0.06319857
+v 0.00811631 0.01006653 -0.06692686
+v 0.00811631 0.01661853 -0.06335108
+f 1 2 6
+f 1 6 11
+f 1 11 7
+f 1 7 3
+f 1 3 8
+f 1 8 13
+f 1 13 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 12
+f 3 12 8
+f 4 9 5
+f 5 9 10
+f 5 10 6
+f 6 10 11
+f 7 11 10
+f 7 10 12
+f 8 12 10
+f 8 10 13
+f 9 13 10
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_213.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_213.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db0c1c6d3722d7392a60ffb479c7b0b72cf526dc
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_213.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v 0.02979446 0.01602448 -0.02801097
+v 0.03103673 0.01602448 -0.02178083
+v 0.03503598 0.01602448 -0.02801097
+v 0.03146522 0.00905129 -0.02801097
+v 0.03435184 -0.00494642 -0.02801028
+v 0.03629025 0.01602448 -0.02178083
+v 0.03516081 -0.00494642 -0.02409891
+v 0.03584616 -0.00494642 -0.02098590
+v 0.03551849 -0.00005882 -0.02098590
+v 0.03548728 0.01602448 -0.02644175
+v 0.03705962 0.01360018 -0.02364987
+v 0.03754212 0.01049437 -0.02532981
+v 0.03780018 0.00630060 -0.02801097
+v 0.03195372 0.00727361 -0.02801097
+v 0.03406618 -0.00005882 -0.02801097
+v 0.04001825 -0.00494642 -0.02801028
+v 0.03649910 0.01540455 -0.02178083
+v 0.03628665 0.01602448 -0.02195824
+v 0.04058477 -0.00005882 -0.02098590
+v 0.04205509 -0.00401857 -0.02098590
+v 0.04205509 -0.00494642 -0.02098590
+v 0.03623624 0.01602448 -0.02230826
+v 0.03762854 0.01204625 -0.02178083
+v 0.03769576 0.01176707 -0.02197200
+v 0.04203949 -0.00407400 -0.02178358
+v 0.04192786 -0.00449481 -0.02449018
+v 0.03968578 -0.00105440 -0.02801028
+v 0.03942052 -0.00005882 -0.02801097
+v 0.04010347 -0.00274587 -0.02801028
+v 0.04192786 -0.00494642 -0.02449018
+v 0.04203949 -0.00494642 -0.02178358
+f 1 2 6
+f 1 6 18
+f 1 18 22
+f 1 22 10
+f 1 10 3
+f 1 3 13
+f 1 13 28
+f 1 28 15
+f 1 15 14
+f 1 14 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 8
+f 2 8 9
+f 2 9 19
+f 2 19 6
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 4 14 5
+f 5 15 28
+f 5 28 16
+f 5 16 30
+f 5 30 31
+f 5 31 21
+f 5 21 8
+f 5 8 7
+f 5 14 15
+f 6 17 18
+f 6 19 20
+f 6 20 17
+f 8 21 20
+f 8 20 19
+f 8 19 9
+f 10 22 11
+f 11 22 18
+f 11 18 23
+f 11 23 24
+f 11 24 25
+f 11 25 26
+f 11 26 12
+f 12 26 13
+f 13 26 27
+f 13 27 28
+f 16 28 29
+f 16 29 30
+f 17 23 18
+f 17 20 23
+f 20 21 31
+f 20 31 25
+f 20 25 23
+f 23 25 24
+f 25 31 30
+f 25 30 26
+f 26 30 29
+f 26 29 27
+f 27 29 28
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_214.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_214.obj
new file mode 100644
index 0000000000000000000000000000000000000000..040537a740de43c441982fce6c0193ee877bfcc5
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_214.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v 0.00890751 0.00339367 0.08652798
+v 0.00467358 0.00822560 0.09009908
+v 0.00467358 0.00795397 0.08801169
+v 0.00467358 0.00779731 0.08652798
+v 0.00467358 0.00779875 0.08591579
+v 0.00890751 0.00339654 0.08591579
+v 0.00890751 0.00608989 0.09985796
+v 0.00467358 0.01029233 0.10430271
+v 0.00467358 0.01007387 0.10282963
+v 0.00467358 0.01566610 0.08591579
+v 0.00890751 0.01368992 0.08591579
+v 0.00890751 0.00663173 0.10249803
+v 0.00890751 0.00719080 0.10430271
+v 0.00467358 0.01178560 0.10739129
+v 0.00616971 0.01513864 0.08591579
+v 0.00467358 0.01790673 0.10110573
+v 0.00467690 0.01790673 0.10110573
+v 0.00666663 0.01496330 0.08591579
+v 0.00890751 0.01531685 0.09980270
+v 0.00890751 0.00849436 0.10677484
+v 0.00696419 0.01111729 0.10742742
+v 0.00890751 0.01111442 0.10759535
+v 0.00467358 0.01557412 0.10763149
+v 0.00467358 0.01807632 0.10430271
+v 0.00490857 0.01803608 0.10430271
+v 0.00890751 0.01572790 0.10441112
+v 0.00890751 0.01551950 0.10205802
+v 0.00890751 0.01472184 0.10725525
+v 0.00645360 0.01558705 0.10747844
+v 0.00467358 0.01800302 0.10678760
+v 0.00483065 0.01799152 0.10677272
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 11
+f 1 11 19
+f 1 19 27
+f 1 27 26
+f 1 26 28
+f 1 28 22
+f 1 22 20
+f 1 20 13
+f 1 13 12
+f 1 12 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
+f 2 9 8
+f 2 8 14
+f 2 14 23
+f 2 23 30
+f 2 30 24
+f 2 24 16
+f 2 16 10
+f 2 10 5
+f 2 5 4
+f 2 4 3
+f 5 10 15
+f 5 15 18
+f 5 18 11
+f 5 11 6
+f 7 12 8
+f 8 12 13
+f 8 13 14
+f 10 16 17
+f 10 17 15
+f 11 18 17
+f 11 17 19
+f 13 20 14
+f 14 20 21
+f 14 21 22
+f 14 22 23
+f 15 17 18
+f 16 24 17
+f 17 24 25
+f 17 25 26
+f 17 26 27
+f 17 27 19
+f 20 22 21
+f 22 28 29
+f 22 29 23
+f 23 29 30
+f 24 30 31
+f 24 31 25
+f 25 31 26
+f 26 31 28
+f 28 31 29
+f 29 31 30
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_215.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_215.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b424aac45fd4f717efa4079f8afc13ecd83afce
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_215.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v -0.02544597 -0.03248570 -0.02651581
+v -0.02544597 -0.03240646 -0.02902376
+v -0.02487993 -0.03281101 -0.02651581
+v -0.02544597 -0.02453849 -0.02651581
+v -0.02544597 -0.03227091 -0.03011726
+v -0.01051228 -0.04092087 -0.02902376
+v -0.01058327 -0.04096049 -0.02651581
+v -0.02544597 -0.02126869 -0.03921604
+v -0.00685212 -0.03515075 -0.02651581
+v -0.02544597 -0.03178502 -0.03270358
+v -0.01837681 -0.03589522 -0.03241746
+v -0.00977151 -0.04049755 -0.03346617
+v -0.00685212 -0.04244942 -0.02928998
+v -0.00685212 -0.04249321 -0.02902376
+v -0.00685212 -0.04257246 -0.02651581
+v -0.00834458 -0.04193017 -0.02651581
+v -0.02542959 -0.02128328 -0.03922351
+v -0.02544597 -0.02129997 -0.03922351
+v -0.00685212 -0.03248987 -0.03852810
+v -0.00685212 -0.03237517 -0.03922351
+v -0.02544597 -0.03138881 -0.03406081
+v -0.01213033 -0.03746964 -0.03922351
+v -0.00909627 -0.04011385 -0.03609106
+v -0.00685212 -0.04164240 -0.03366770
+v -0.00685212 -0.04169245 -0.03346617
+v -0.02544597 -0.02987903 -0.03922351
+v -0.00685212 -0.04012427 -0.03922351
+v -0.01099460 -0.03811401 -0.03922351
+v -0.00828452 -0.03954664 -0.03922351
+v -0.00812617 -0.03968010 -0.03905432
+v -0.00788228 -0.03972806 -0.03922351
+v -0.00685212 -0.04014304 -0.03915509
+v -0.00805155 -0.03965924 -0.03922351
+f 1 2 3
+f 1 3 7
+f 1 7 16
+f 1 16 15
+f 1 15 9
+f 1 9 4
+f 1 4 8
+f 1 8 18
+f 1 18 26
+f 1 26 21
+f 1 21 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 7
+f 4 9 8
+f 5 10 11
+f 5 11 6
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 6 16 7
+f 6 11 12
+f 8 17 18
+f 8 9 19
+f 8 19 20
+f 8 20 17
+f 9 15 14
+f 9 14 13
+f 9 13 25
+f 9 25 24
+f 9 24 32
+f 9 32 27
+f 9 27 20
+f 9 20 19
+f 10 21 12
+f 10 12 11
+f 12 22 23
+f 12 23 24
+f 12 24 25
+f 12 25 13
+f 12 21 22
+f 17 20 27
+f 17 27 31
+f 17 31 33
+f 17 33 29
+f 17 29 28
+f 17 28 22
+f 17 22 26
+f 17 26 18
+f 21 26 22
+f 22 28 23
+f 23 28 29
+f 23 29 30
+f 23 30 24
+f 24 30 31
+f 24 31 32
+f 27 32 31
+f 29 33 30
+f 30 33 31
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_216.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_216.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c1a4bdc34cc5933827fcc2f135a3391e59d81b2
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_216.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.00815873 -0.00001585 0.10359310
+v -0.00728148 -0.00397946 0.10359310
+v -0.01006828 -0.00001585 0.10213564
+v -0.01603339 -0.00001585 0.10359310
+v -0.00891947 -0.00397946 0.10244825
+v -0.01547654 -0.00397946 0.10359310
+v -0.00949687 -0.00397946 0.10213564
+v -0.01586719 -0.00001585 0.10213564
+v -0.01586462 -0.00005426 0.10213564
+v -0.01584663 -0.00262618 0.10359310
+v -0.01575068 -0.00297886 0.10359310
+v -0.01532234 -0.00397946 0.10223109
+v -0.01531120 -0.00397946 0.10213564
+v -0.01568043 -0.00262618 0.10213564
+v -0.01562989 -0.00281203 0.10213564
+v -0.01548596 -0.00333968 0.10213564
+f 1 2 3
+f 1 3 8
+f 1 8 4
+f 1 4 10
+f 1 10 11
+f 1 11 6
+f 1 6 2
+f 2 5 3
+f 2 6 12
+f 2 12 13
+f 2 13 7
+f 2 7 5
+f 3 5 7
+f 3 7 13
+f 3 13 16
+f 3 16 15
+f 3 15 14
+f 3 14 9
+f 3 9 8
+f 4 8 9
+f 4 9 10
+f 6 11 12
+f 9 14 10
+f 10 14 15
+f 10 15 11
+f 11 15 16
+f 11 16 12
+f 12 16 13
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_217.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_217.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c79950baeaa05e99d03b519c67b7c482f4b63a86
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_217.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.00359054 -0.01678077 0.06632010
+v -0.00465233 -0.01642682 0.06632010
+v -0.00359054 -0.00937520 0.06632010
+v -0.00359054 -0.01604892 0.08632456
+v -0.00666618 -0.01575379 0.06632010
+v -0.00714935 -0.00671573 0.06632010
+v -0.00359054 -0.00897661 0.06915186
+v -0.00359054 -0.00861831 0.08632456
+v -0.00666618 -0.01496531 0.08632456
+v -0.00714935 -0.01547935 0.06632010
+v -0.00668813 -0.01495333 0.08632456
+v -0.00678044 -0.01490106 0.08632456
+v -0.00714935 -0.00651643 0.06903044
+v -0.00714935 -0.00596102 0.07735731
+v -0.00714935 -0.00566044 0.08208279
+v -0.00359054 -0.00862157 0.08208279
+v -0.00714935 -0.00565499 0.08632456
+v -0.00714935 -0.01469087 0.08632456
+f 1 2 5
+f 1 5 10
+f 1 10 6
+f 1 6 3
+f 1 3 7
+f 1 7 16
+f 1 16 8
+f 1 8 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 4 8 17
+f 4 17 18
+f 4 18 12
+f 4 12 11
+f 4 11 9
+f 4 9 5
+f 5 9 11
+f 5 11 12
+f 5 12 10
+f 6 10 18
+f 6 18 17
+f 6 17 15
+f 6 15 14
+f 6 14 13
+f 6 13 7
+f 7 13 14
+f 7 14 15
+f 7 15 16
+f 8 16 17
+f 10 12 18
+f 15 17 16
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_218.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_218.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cfa95eb957fc2a25509902d3f0139cc1efd0ccf2
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_218.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v -0.02603366 -0.02057954 0.00799279
+v -0.02283148 -0.02365642 0.00799279
+v -0.02283148 -0.02392782 0.00644294
+v -0.02656436 -0.02057954 0.00655570
+v -0.03316253 -0.02057954 0.00799279
+v -0.02283148 -0.02975057 0.00799279
+v -0.02283148 -0.02509052 0.00354568
+v -0.02816432 -0.02057954 0.00354568
+v -0.03321098 -0.02057954 0.00784781
+v -0.03248198 -0.02294914 0.00787132
+v -0.03245832 -0.02288438 0.00799279
+v -0.02447764 -0.02885413 0.00799279
+v -0.02283148 -0.03034065 0.00609292
+v -0.02283148 -0.03108083 0.00354568
+v -0.03434110 -0.02057954 0.00354568
+v -0.03344534 -0.02057954 0.00701281
+v -0.03344872 -0.02134234 0.00625835
+v -0.03299239 -0.02395558 0.00476597
+v -0.03027921 -0.02509052 0.00799279
+v -0.02668267 -0.02755984 0.00799279
+v -0.02730124 -0.02777264 0.00616823
+v -0.02497115 -0.02913581 0.00616823
+v -0.02569226 -0.02948431 0.00354568
+v -0.03416194 -0.02129608 0.00354568
+v -0.03423856 -0.02057954 0.00394620
+v -0.03316366 -0.02419511 0.00354568
+v -0.03051132 -0.02642696 0.00354568
+v -0.02918177 -0.02737994 0.00354568
+v -0.02800996 -0.02816843 0.00354568
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 15
+f 1 15 25
+f 1 25 16
+f 1 16 9
+f 1 9 5
+f 1 5 11
+f 1 11 19
+f 1 19 20
+f 1 20 12
+f 1 12 6
+f 1 6 2
+f 2 6 13
+f 2 13 14
+f 2 14 7
+f 2 7 3
+f 3 7 4
+f 4 7 8
+f 5 9 10
+f 5 10 11
+f 6 12 13
+f 7 14 23
+f 7 23 29
+f 7 29 28
+f 7 28 27
+f 7 27 26
+f 7 26 24
+f 7 24 15
+f 7 15 8
+f 9 16 17
+f 9 17 10
+f 10 17 18
+f 10 18 19
+f 10 19 11
+f 12 20 21
+f 12 21 22
+f 12 22 13
+f 13 22 14
+f 14 22 23
+f 15 24 25
+f 16 25 17
+f 17 25 24
+f 17 24 18
+f 18 24 26
+f 18 26 27
+f 18 27 19
+f 19 27 28
+f 19 28 21
+f 19 21 20
+f 21 28 29
+f 21 29 22
+f 22 29 23
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_219.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_219.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d1f7711c1e05792394f5ce73b2eb1846d83647c
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_219.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.00685357 0.03048348 0.01043947
+v 0.01602683 0.02525892 0.01043947
+v 0.00685357 0.03718867 0.01043947
+v 0.00685357 0.03341873 0.00354569
+v 0.01774915 0.02722118 0.00354569
+v 0.02101908 0.02244081 0.01043947
+v 0.00688547 0.03717240 0.01043947
+v 0.00986556 0.03735301 0.00507614
+v 0.00685357 0.03799733 0.00764782
+v 0.00685357 0.03906307 0.00354569
+v 0.01862834 0.02673305 0.00354569
+v 0.02101908 0.02541512 0.00354569
+v 0.02101908 0.02926479 0.01043947
+v 0.00832490 0.03642720 0.01043947
+v 0.01028020 0.03758893 0.00354569
+v 0.01485226 0.03285413 0.01043947
+v 0.00934138 0.03800710 0.00354569
+v 0.00701305 0.03904355 0.00354569
+v 0.02101908 0.03138813 0.00354569
+v 0.02101908 0.03063154 0.00603773
+v 0.01902218 0.03260356 0.00354569
+v 0.01879891 0.03247665 0.00437030
+v 0.02001369 0.03200479 0.00354569
+f 1 2 6
+f 1 6 13
+f 1 13 16
+f 1 16 14
+f 1 14 7
+f 1 7 3
+f 1 3 9
+f 1 9 10
+f 1 10 4
+f 1 4 2
+f 2 5 6
+f 2 4 5
+f 3 7 8
+f 3 8 9
+f 4 10 18
+f 4 18 17
+f 4 17 15
+f 4 15 21
+f 4 21 23
+f 4 23 19
+f 4 19 12
+f 4 12 11
+f 4 11 5
+f 5 11 6
+f 6 11 12
+f 6 12 19
+f 6 19 20
+f 6 20 13
+f 7 14 8
+f 8 15 9
+f 8 14 16
+f 8 16 15
+f 9 15 17
+f 9 17 18
+f 9 18 10
+f 13 20 21
+f 13 21 22
+f 13 22 16
+f 15 16 22
+f 15 22 21
+f 19 23 20
+f 20 23 21
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_22.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b91afe35ad41e5b4b654de0e453a50ef48318a89
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_22.obj
@@ -0,0 +1,168 @@
+# https://github.com/mikedh/trimesh
+v -0.01553477 0.03496068 -0.02801326
+v -0.01553477 0.02990818 -0.02801326
+v -0.01553477 0.03437424 -0.03110194
+v -0.01942079 0.03414183 -0.02801326
+v -0.01553477 0.02828137 -0.03442604
+v -0.02341207 0.02485766 -0.02801326
+v -0.01553617 0.02485766 -0.04101103
+v -0.01951903 0.03412106 -0.02801326
+v -0.01553477 0.03420117 -0.03199345
+v -0.01553477 0.03361769 -0.03442604
+v -0.01553617 0.02485766 -0.05027926
+v -0.02987194 0.02485766 -0.02801326
+v -0.02109786 0.03371066 -0.02801326
+v -0.01580001 0.03355045 -0.03442604
+v -0.01790091 0.03300455 -0.03442604
+v -0.01553617 0.03328442 -0.03582107
+v -0.01553617 0.03361868 -0.03442604
+v -0.01553617 0.02708377 -0.04751972
+v -0.01553617 0.02855630 -0.04566477
+v -0.01553617 0.02928911 -0.04473402
+v -0.01553617 0.03155674 -0.04082793
+v -0.01553617 0.03219956 -0.03935661
+v -0.01553617 0.03272567 -0.03786349
+v -0.01651715 0.02485766 -0.04987820
+v -0.01642874 0.02725584 -0.04696825
+v -0.02818225 0.02785613 -0.02801326
+v -0.02915761 0.02485766 -0.03026928
+v -0.02372644 0.03251701 -0.02955433
+v -0.02405203 0.03271182 -0.02801326
+v -0.02112453 0.03296203 -0.03110412
+v -0.01653399 0.03302136 -0.03583633
+v -0.01940816 0.03257832 -0.03442604
+v -0.01642874 0.02911505 -0.04463811
+v -0.01653399 0.03141335 -0.04040724
+v -0.01997654 0.02842279 -0.04374005
+v -0.01815633 0.03197309 -0.03744280
+v -0.01955271 0.03253184 -0.03442604
+v -0.01959481 0.03254865 -0.03433449
+v -0.02057720 0.02485766 -0.04691157
+v -0.02762650 0.02860080 -0.02801326
+v -0.02454602 0.02908439 -0.03576222
+v -0.02390467 0.02829225 -0.03919966
+v -0.02805734 0.02764450 -0.02875219
+v -0.02889096 0.02485766 -0.03110194
+v -0.02648693 0.03010597 -0.02801326
+v -0.02270055 0.03202847 -0.03265828
+v -0.02135188 0.02922482 -0.04061867
+v -0.02112312 0.03138862 -0.03583633
+v -0.02308087 0.02725486 -0.04230579
+v -0.02280721 0.02485766 -0.04434166
+v -0.02715636 0.02922878 -0.02801326
+v -0.02483793 0.02555190 -0.04061867
+v -0.02520983 0.02485766 -0.04065137
+v -0.02705251 0.02485766 -0.03618509
+v -0.02728968 0.02485766 -0.03559002
+v -0.02766018 0.02696015 -0.03110194
+v -0.02445200 0.02485766 -0.04207692
+f 1 2 5
+f 1 5 10
+f 1 10 9
+f 1 9 3
+f 1 3 4
+f 1 4 8
+f 1 8 13
+f 1 13 29
+f 1 29 45
+f 1 45 51
+f 1 51 40
+f 1 40 26
+f 1 26 12
+f 1 12 6
+f 1 6 2
+f 2 6 7
+f 2 7 5
+f 3 8 4
+f 3 9 8
+f 5 7 11
+f 5 11 10
+f 6 12 27
+f 6 27 44
+f 6 44 55
+f 6 55 54
+f 6 54 53
+f 6 53 57
+f 6 57 50
+f 6 50 39
+f 6 39 24
+f 6 24 11
+f 6 11 7
+f 8 9 14
+f 8 14 15
+f 8 15 13
+f 9 10 16
+f 9 16 17
+f 9 17 14
+f 10 11 18
+f 10 18 19
+f 10 19 20
+f 10 20 21
+f 10 21 22
+f 10 22 23
+f 10 23 16
+f 11 24 25
+f 11 25 18
+f 12 26 27
+f 13 28 29
+f 13 15 30
+f 13 30 28
+f 14 17 16
+f 14 16 15
+f 15 16 31
+f 15 31 32
+f 15 32 30
+f 16 23 31
+f 18 25 33
+f 18 33 19
+f 19 33 20
+f 20 33 21
+f 21 34 22
+f 21 33 35
+f 21 35 34
+f 22 34 36
+f 22 36 23
+f 23 36 37
+f 23 37 38
+f 23 38 32
+f 23 32 31
+f 24 39 35
+f 24 35 25
+f 25 35 33
+f 26 40 41
+f 26 41 42
+f 26 42 43
+f 26 43 44
+f 26 44 27
+f 28 45 29
+f 28 30 46
+f 28 46 42
+f 28 42 41
+f 28 41 45
+f 30 32 38
+f 30 38 46
+f 34 47 48
+f 34 48 36
+f 34 35 47
+f 35 39 49
+f 35 49 47
+f 36 48 46
+f 36 46 37
+f 37 46 38
+f 39 50 49
+f 40 51 41
+f 41 51 45
+f 42 47 49
+f 42 49 52
+f 42 52 53
+f 42 53 54
+f 42 54 55
+f 42 55 56
+f 42 56 43
+f 42 46 47
+f 43 56 44
+f 44 56 55
+f 46 48 47
+f 49 57 53
+f 49 53 52
+f 49 50 57
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_220.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_220.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2618adc9d6ec2120bd4865152b81c285a4645834
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_220.obj
@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
+v -0.03156327 0.00438399 0.02662775
+v -0.03156327 0.00284277 0.02662775
+v -0.03156327 0.00519996 0.02635814
+v -0.03585252 0.00509166 0.01824014
+v -0.03156327 0.00080141 0.02578354
+v -0.03585252 0.00328506 0.01824014
+v -0.03156327 0.00540466 0.02629006
+v -0.03566788 0.00583335 0.01788339
+v -0.03619667 0.00583335 0.01683767
+v -0.03831954 0.00583335 0.01097723
+v -0.04027613 0.00519486 0.00558248
+v -0.03861245 0.00222242 0.01097723
+v -0.03156327 0.00004157 0.02538322
+v -0.03671965 0.00197179 0.01575654
+v -0.03156327 0.00583335 0.02582983
+v -0.03174211 0.00583335 0.02548398
+v -0.03988462 0.00583335 0.00613258
+v -0.04014950 0.00583335 0.00504055
+v -0.04040084 0.00583335 0.00394036
+v -0.04128440 0.00583335 -0.00118752
+v -0.04138687 0.00347615 -0.00118752
+v -0.04143811 0.00217762 -0.00118752
+v -0.04027613 0.00340924 0.00558248
+v -0.03802469 0.00004157 0.01097723
+v -0.03647314 0.00004157 0.01518465
+v -0.03545811 0.00032283 0.01746401
+v -0.03542040 0.00004157 0.01738232
+v -0.03156327 0.00004157 0.00822675
+v -0.03156327 0.00583335 0.00850725
+v -0.03368905 0.00583335 -0.00118752
+v -0.04085519 0.00004157 -0.00118752
+v -0.04032930 0.00004157 0.00119260
+v -0.03906776 0.00004157 0.00670173
+v -0.03553834 0.00004157 0.01713722
+v -0.03293309 0.00004157 0.00208855
+v -0.03271075 0.00583335 0.00240172
+v -0.03245747 0.00583335 0.00355638
+v -0.03347831 0.00583335 -0.00041684
+v -0.03366778 0.00004157 -0.00118752
+f 1 2 5
+f 1 5 13
+f 1 13 28
+f 1 28 29
+f 1 29 15
+f 1 15 7
+f 1 7 3
+f 1 3 4
+f 1 4 6
+f 1 6 2
+f 2 6 5
+f 3 7 4
+f 4 7 8
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 6
+f 5 6 13
+f 6 12 14
+f 6 14 13
+f 7 15 16
+f 7 16 8
+f 8 16 15
+f 8 15 29
+f 8 29 37
+f 8 37 36
+f 8 36 38
+f 8 38 30
+f 8 30 20
+f 8 20 19
+f 8 19 18
+f 8 18 17
+f 8 17 10
+f 8 10 9
+f 10 17 11
+f 11 17 18
+f 11 18 19
+f 11 19 20
+f 11 20 21
+f 11 21 22
+f 11 22 23
+f 11 23 12
+f 12 23 24
+f 12 24 25
+f 12 25 14
+f 13 14 26
+f 13 26 27
+f 13 27 34
+f 13 34 25
+f 13 25 24
+f 13 24 33
+f 13 33 32
+f 13 32 31
+f 13 31 39
+f 13 39 35
+f 13 35 28
+f 14 25 26
+f 20 30 39
+f 20 39 31
+f 20 31 22
+f 20 22 21
+f 22 31 32
+f 22 32 23
+f 23 33 24
+f 23 32 33
+f 25 34 26
+f 26 34 27
+f 28 35 36
+f 28 36 37
+f 28 37 29
+f 30 38 39
+f 35 39 36
+f 36 39 38
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_221.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_221.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20ab5d01e461fb9adeb813714ab7d520425aed95
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_221.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.00638738 0.02961680 -0.04049264
+v -0.00017470 0.02980716 -0.04049264
+v 0.00638738 0.03609586 -0.04049264
+v 0.00638738 0.03373464 -0.02801158
+v -0.00017470 0.03601301 -0.04049264
+v -0.00017470 0.03406406 -0.02801158
+v 0.00220836 0.03671132 -0.04049264
+v 0.00638738 0.03646770 -0.04014201
+v 0.00638738 0.03935363 -0.02801158
+v 0.00155510 0.03653871 -0.04049264
+v -0.00017470 0.03698649 -0.03822514
+v -0.00017470 0.03918004 -0.02801158
+v -0.00017470 0.03700326 -0.03818482
+v 0.00220836 0.03729915 -0.03901803
+v 0.00542067 0.03738201 -0.03924527
+v 0.00638738 0.03710880 -0.03844260
+v 0.00220836 0.03969194 -0.02801158
+v 0.00638738 0.03758617 -0.03676641
+v -0.00017470 0.03904985 -0.02871895
+v -0.00017470 0.03755559 -0.03575971
+v 0.00220836 0.03816119 -0.03575971
+v 0.00417711 0.03768381 -0.03789650
+v 0.00220836 0.03912087 -0.03110130
+v 0.00638738 0.03726463 -0.03789650
+v 0.00220836 0.03823911 -0.03538342
+v 0.00176322 0.03813258 -0.03538342
+v -0.00017470 0.03800634 -0.03374876
+f 1 2 5
+f 1 5 10
+f 1 10 7
+f 1 7 3
+f 1 3 8
+f 1 8 16
+f 1 16 24
+f 1 24 18
+f 1 18 9
+f 1 9 4
+f 1 4 2
+f 2 4 6
+f 2 6 12
+f 2 12 19
+f 2 19 27
+f 2 27 20
+f 2 20 13
+f 2 13 11
+f 2 11 5
+f 3 7 8
+f 4 9 17
+f 4 17 12
+f 4 12 6
+f 5 11 10
+f 7 10 13
+f 7 13 14
+f 7 14 15
+f 7 15 8
+f 8 15 16
+f 9 18 15
+f 9 15 17
+f 10 11 13
+f 12 17 19
+f 13 20 21
+f 13 21 14
+f 14 21 22
+f 14 22 15
+f 15 22 23
+f 15 23 17
+f 15 18 24
+f 15 24 16
+f 17 23 19
+f 19 23 25
+f 19 25 21
+f 19 21 26
+f 19 26 27
+f 20 27 26
+f 20 26 21
+f 21 25 22
+f 22 25 23
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_222.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_222.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0addd51af541e4ec659e44c86700f059cfa87beb
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_222.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.01850712 -0.01424992 0.02674219
+v -0.01850712 -0.01163228 0.02883679
+v -0.01639384 -0.01424992 0.02863521
+v -0.01850712 -0.01424992 0.04350084
+v -0.01850712 -0.00848784 0.03157278
+v -0.01318485 -0.01424992 0.03370954
+v -0.01526374 -0.01424992 0.04546350
+v -0.01850712 -0.01424202 0.04546350
+v -0.01753437 -0.00848784 0.03317260
+v -0.01850712 -0.00848784 0.04546350
+v -0.01575559 -0.00848784 0.03727751
+v -0.01318485 -0.01221661 0.03721337
+v -0.01318485 -0.01424992 0.04546350
+v -0.01320100 -0.00848784 0.04546350
+v -0.01318485 -0.00851096 0.04546350
+f 1 2 3
+f 1 3 6
+f 1 6 13
+f 1 13 7
+f 1 7 4
+f 1 4 8
+f 1 8 10
+f 1 10 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 4 7 8
+f 5 9 6
+f 5 10 14
+f 5 14 11
+f 5 11 9
+f 6 9 11
+f 6 11 12
+f 6 12 15
+f 6 15 13
+f 7 13 15
+f 7 15 14
+f 7 14 10
+f 7 10 8
+f 11 14 15
+f 11 15 12
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_223.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_223.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c581673c6ad2e691b93ec62fbbefd5496cba41ae
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_223.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.00001908 0.04197435 -0.01124958
+v -0.00599639 0.04040400 -0.01124958
+v -0.00001908 0.03497473 -0.01124958
+v -0.00001908 0.04207004 -0.01569115
+v -0.00222422 0.04168280 -0.02457778
+v -0.00222422 0.04160737 -0.02108063
+v -0.01607436 0.03803327 -0.02405678
+v -0.01555254 0.03798936 -0.01569115
+v -0.01555254 0.03789255 -0.01124958
+v -0.01607436 0.03076122 -0.01124958
+v -0.00001908 0.03504227 -0.02904724
+v -0.00001908 0.04226141 -0.02457778
+v -0.00001908 0.04219724 -0.02678376
+v -0.00222422 0.04155334 -0.02902110
+v -0.01607436 0.03791507 -0.02902110
+v -0.01607436 0.03804340 -0.02457778
+v -0.01607436 0.03784077 -0.01517015
+v -0.01607436 0.03775522 -0.01124958
+v -0.01607436 0.03083326 -0.02904724
+v -0.00001908 0.04212745 -0.02904724
+v -0.00001908 0.04213195 -0.02902110
+v -0.00222579 0.04154884 -0.02904724
+v -0.00629030 0.04048167 -0.02904724
+v -0.01607436 0.03791056 -0.02904724
+f 1 2 9
+f 1 9 18
+f 1 18 10
+f 1 10 3
+f 1 3 11
+f 1 11 20
+f 1 20 21
+f 1 21 13
+f 1 13 12
+f 1 12 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 8
+f 2 8 9
+f 3 10 11
+f 4 12 5
+f 5 12 13
+f 5 13 14
+f 5 14 15
+f 5 15 16
+f 5 16 7
+f 5 7 6
+f 7 17 8
+f 7 16 15
+f 7 15 24
+f 7 24 19
+f 7 19 10
+f 7 10 18
+f 7 18 17
+f 8 17 9
+f 9 17 18
+f 10 19 11
+f 11 19 24
+f 11 24 23
+f 11 23 22
+f 11 22 20
+f 13 21 14
+f 14 21 22
+f 14 22 23
+f 14 23 15
+f 15 23 24
+f 20 22 21
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_224.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_224.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c25f23f284a0a5cdb248f783037a31544e47e929
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_224.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.02555053 -0.02881194 -0.02251918
+v -0.02555053 -0.02265782 -0.02251918
+v -0.02555053 -0.02795432 -0.02644244
+v -0.02534751 -0.02894276 -0.02251918
+v -0.02555053 -0.01979426 -0.03116186
+v -0.00868993 -0.03243318 -0.02251918
+v -0.02555053 -0.02768723 -0.02736213
+v -0.02425483 -0.02872654 -0.02644244
+v -0.02500914 -0.02915534 -0.02251918
+v -0.00868993 -0.03034183 -0.03116186
+v -0.02555053 -0.02657342 -0.03116186
+v -0.00868993 -0.03835654 -0.02251918
+v -0.02358635 -0.02834861 -0.02911435
+v -0.01465675 -0.03322720 -0.02997735
+v -0.00960270 -0.03765700 -0.02446093
+v -0.00988825 -0.03782053 -0.02251918
+v -0.00868993 -0.03625974 -0.03116186
+v -0.02108738 -0.02919350 -0.03116186
+v -0.00868993 -0.03821118 -0.02348202
+v -0.01250110 -0.03411389 -0.03116186
+v -0.00868993 -0.03792773 -0.02511917
+f 1 2 5
+f 1 5 11
+f 1 11 7
+f 1 7 3
+f 1 3 4
+f 1 4 9
+f 1 9 16
+f 1 16 12
+f 1 12 6
+f 1 6 2
+f 2 6 5
+f 3 7 8
+f 3 8 9
+f 3 9 4
+f 5 10 17
+f 5 17 20
+f 5 20 18
+f 5 18 11
+f 5 6 10
+f 6 12 19
+f 6 19 21
+f 6 21 17
+f 6 17 10
+f 7 13 8
+f 7 11 13
+f 8 13 14
+f 8 14 15
+f 8 15 9
+f 9 15 16
+f 11 18 13
+f 12 16 15
+f 12 15 19
+f 13 18 14
+f 14 18 20
+f 14 20 15
+f 15 20 17
+f 15 17 21
+f 15 21 19
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_225.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_225.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9b063e11a92915e54430fd3c0276e0fb88002be
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_225.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v -0.03336503 0.02418278 -0.02990820
+v -0.03136831 0.02711117 -0.03211900
+v -0.03265671 0.02418278 -0.03353632
+v -0.02535699 0.02418278 -0.02990820
+v -0.03153304 0.02739171 -0.02990820
+v -0.03235079 0.02470328 -0.03354726
+v -0.03024347 0.02952741 -0.02990820
+v -0.02764786 0.03241878 -0.03346791
+v -0.03000932 0.02871085 -0.03354726
+v -0.02822322 0.02932804 -0.03834554
+v -0.03253081 0.02418278 -0.03396224
+v -0.02256136 0.02418278 -0.03922384
+v -0.02134591 0.02847209 -0.02990820
+v -0.03050821 0.02563683 -0.03791049
+v -0.03096591 0.02418278 -0.03922384
+v -0.03135655 0.02418278 -0.03791049
+v -0.02799261 0.03288675 -0.02990820
+v -0.02556525 0.03511915 -0.02990820
+v -0.02679246 0.03127632 -0.03922384
+v -0.02744548 0.03020787 -0.03922384
+v -0.02809144 0.02910480 -0.03922384
+v -0.03035407 0.02523093 -0.03922384
+v -0.02134591 0.02553177 -0.03922384
+v -0.02134591 0.02722338 -0.03383456
+v -0.02134591 0.03637741 -0.02990820
+v -0.02341793 0.03587243 -0.02990820
+v -0.02293317 0.03574350 -0.03197033
+v -0.02442629 0.03469058 -0.03345788
+v -0.02576528 0.03192932 -0.03922384
+v -0.02134591 0.03401369 -0.03922384
+v -0.02134591 0.03595122 -0.03277202
+v -0.02134591 0.03530061 -0.03516979
+v -0.02467926 0.03261695 -0.03922384
+f 1 2 3
+f 1 3 11
+f 1 11 16
+f 1 16 15
+f 1 15 12
+f 1 12 4
+f 1 4 13
+f 1 13 25
+f 1 25 26
+f 1 26 18
+f 1 18 17
+f 1 17 7
+f 1 7 5
+f 1 5 2
+f 2 6 3
+f 2 5 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 6
+f 3 6 11
+f 4 12 13
+f 6 10 14
+f 6 14 15
+f 6 15 16
+f 6 16 11
+f 7 17 8
+f 8 17 18
+f 8 18 19
+f 8 19 9
+f 9 19 20
+f 9 20 10
+f 10 20 21
+f 10 21 22
+f 10 22 14
+f 12 15 22
+f 12 22 21
+f 12 21 20
+f 12 20 19
+f 12 19 29
+f 12 29 33
+f 12 33 30
+f 12 30 23
+f 12 23 24
+f 12 24 13
+f 13 24 23
+f 13 23 30
+f 13 30 32
+f 13 32 31
+f 13 31 25
+f 14 22 15
+f 18 26 27
+f 18 27 28
+f 18 28 19
+f 19 28 29
+f 25 31 27
+f 25 27 26
+f 27 32 30
+f 27 30 28
+f 27 31 32
+f 28 30 33
+f 28 33 29
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_226.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_226.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4565f31622c371389eabf536e48f7ad5588cd873
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_226.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v 0.03385774 -0.02137495 -0.00461701
+v 0.03758584 -0.01502224 -0.00461701
+v 0.03385774 -0.02127210 -0.00351358
+v 0.03385774 -0.01104477 -0.00461701
+v 0.03754500 -0.01495153 -0.00314843
+v 0.03979623 -0.01087924 -0.00461701
+v 0.03917543 -0.01194472 -0.00314843
+v 0.03385774 -0.02123514 -0.00312765
+v 0.03385774 -0.00778244 0.00354568
+v 0.03455451 -0.00495883 0.00354568
+v 0.03502338 -0.00495883 0.00150980
+v 0.03623641 -0.00495883 -0.00330583
+v 0.03533133 -0.00834491 -0.00461701
+v 0.03729831 -0.01452888 -0.00034310
+v 0.04111953 -0.00835455 -0.00461701
+v 0.04110809 -0.00825813 -0.00314843
+v 0.03385774 -0.01976628 0.00062530
+v 0.03385774 -0.01612629 0.00354568
+v 0.03997512 -0.00495883 0.00354568
+v 0.03725011 -0.00495883 -0.00461701
+v 0.03601014 -0.00711069 -0.00461701
+v 0.03385774 -0.01941916 0.00146826
+v 0.03820583 -0.01206365 0.00133002
+v 0.03794607 -0.01132601 0.00354568
+v 0.04220267 -0.00602592 -0.00461701
+v 0.04216591 -0.00592789 -0.00314843
+v 0.04194455 -0.00533167 -0.00032872
+v 0.03385774 -0.01829261 0.00353769
+v 0.03482897 -0.01655538 0.00354568
+v 0.04194455 -0.00495883 -0.00032872
+v 0.03989344 -0.00715569 0.00354568
+v 0.04220267 -0.00495883 -0.00461701
+v 0.03925466 -0.00860204 0.00354568
+v 0.04216591 -0.00495883 -0.00314843
+v 0.04199274 -0.00495883 -0.00093996
+f 1 2 3
+f 1 3 8
+f 1 8 17
+f 1 17 22
+f 1 22 28
+f 1 28 18
+f 1 18 9
+f 1 9 4
+f 1 4 13
+f 1 13 21
+f 1 21 20
+f 1 20 32
+f 1 32 25
+f 1 25 15
+f 1 15 6
+f 1 6 2
+f 2 5 3
+f 2 6 7
+f 2 7 5
+f 3 5 8
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 5 7 14
+f 5 14 8
+f 6 15 16
+f 6 16 7
+f 7 16 14
+f 8 14 17
+f 9 18 29
+f 9 29 24
+f 9 24 33
+f 9 33 31
+f 9 31 19
+f 9 19 10
+f 10 19 30
+f 10 30 35
+f 10 35 34
+f 10 34 32
+f 10 32 20
+f 10 20 12
+f 10 12 11
+f 12 20 21
+f 12 21 13
+f 14 22 17
+f 14 16 23
+f 14 23 24
+f 14 24 22
+f 15 25 16
+f 16 25 26
+f 16 26 27
+f 16 27 23
+f 18 28 29
+f 19 31 27
+f 19 27 30
+f 22 24 28
+f 23 27 24
+f 24 29 28
+f 24 27 33
+f 25 32 34
+f 25 34 26
+f 26 34 35
+f 26 35 27
+f 27 31 33
+f 27 35 30
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_227.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_227.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79abd5f64430c226b39846d056775aaac73a45d3
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_227.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v 0.01624564 -0.03132268 -0.00315194
+v 0.01150991 -0.03253012 -0.00315194
+v 0.01624564 -0.03646727 -0.00315194
+v 0.01624564 -0.03116578 -0.01145550
+v 0.01617838 -0.03072728 -0.02200287
+v 0.01152263 -0.03159908 -0.02200287
+v 0.00666691 -0.03255817 -0.02199734
+v -0.00232644 -0.03465612 -0.02200287
+v -0.00232644 -0.03612125 -0.00315194
+v 0.01157535 -0.03799059 -0.00315194
+v 0.01393141 -0.03758638 -0.00525182
+v 0.01624564 -0.03651195 -0.00344718
+v 0.01624564 -0.03589680 -0.01145550
+v 0.01617838 -0.03562144 -0.02200287
+v 0.00666328 -0.03255921 -0.02200287
+v -0.00232644 -0.03964795 -0.02200287
+v -0.00232644 -0.04134272 -0.00315194
+v 0.00691415 -0.03923335 -0.00315194
+v 0.01170261 -0.03800514 -0.00347855
+v 0.01393141 -0.03758638 -0.00563747
+v 0.00686871 -0.03924478 -0.00315194
+v 0.01624564 -0.03642051 -0.00747348
+v 0.00634696 -0.03791577 -0.02200287
+v 0.01617838 -0.03564014 -0.02178698
+v 0.00686871 -0.03915230 -0.00780747
+v 0.00639968 -0.03792616 -0.02178145
+v 0.00221114 -0.03874497 -0.02200287
+v -0.00232644 -0.03968224 -0.02178145
+v -0.00232644 -0.04121284 -0.00778348
+v 0.00221114 -0.03877615 -0.02178145
+f 1 2 9
+f 1 9 17
+f 1 17 21
+f 1 21 18
+f 1 18 10
+f 1 10 3
+f 1 3 12
+f 1 12 22
+f 1 22 13
+f 1 13 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 8 9
+f 3 10 11
+f 3 11 12
+f 4 13 14
+f 4 14 5
+f 5 14 23
+f 5 23 27
+f 5 27 16
+f 5 16 8
+f 5 8 15
+f 5 15 6
+f 6 15 7
+f 7 15 8
+f 8 16 28
+f 8 28 29
+f 8 29 17
+f 8 17 9
+f 10 18 19
+f 10 19 11
+f 11 20 12
+f 11 19 18
+f 11 18 21
+f 11 21 20
+f 12 20 22
+f 13 22 14
+f 14 22 24
+f 14 24 25
+f 14 25 26
+f 14 26 23
+f 16 27 28
+f 17 29 25
+f 17 25 20
+f 17 20 21
+f 20 25 24
+f 20 24 22
+f 23 30 27
+f 23 26 29
+f 23 29 30
+f 25 29 26
+f 27 30 28
+f 28 30 29
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_228.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_228.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f12ef73f093fc71ebc6a120430b3eb2f2a414cfa
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_228.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v -0.00503501 -0.03874900 0.00781177
+v -0.00507889 -0.03874550 0.00781177
+v -0.00503501 -0.03160286 0.00781177
+v -0.00503501 -0.03873617 0.00786223
+v -0.00647575 -0.03862074 0.00781177
+v -0.01105086 -0.02835685 0.00781177
+v -0.00503501 -0.02996820 0.01087355
+v -0.00503501 -0.03785937 0.01097711
+v -0.00666641 -0.03771363 0.01097711
+v -0.01090328 -0.03646606 0.00781177
+v -0.00994199 -0.03615242 0.01097711
+v -0.01318485 -0.02725385 0.00781177
+v -0.00503501 -0.02850376 0.01383707
+v -0.00503501 -0.03578514 0.01742463
+v -0.00639917 -0.03624569 0.01517809
+v -0.00919848 -0.03572801 0.01353434
+v -0.01294632 -0.03533275 0.00784895
+v -0.01290643 -0.03536423 0.00781177
+v -0.01318485 -0.03427406 0.01108067
+v -0.01216452 -0.03488735 0.01097711
+v -0.00503501 -0.02786015 0.01531352
+v -0.01318485 -0.03519983 0.00781177
+v -0.01318485 -0.02683761 0.00919793
+v -0.00503501 -0.02684111 0.01827173
+v -0.00503501 -0.03134402 0.02624350
+v -0.01085222 -0.03392194 0.01517809
+v -0.01318485 -0.03250997 0.01533476
+v -0.01318485 -0.03332031 0.01343874
+v -0.00503501 -0.02683761 0.03494021
+v -0.00631062 -0.02683761 0.03358857
+v -0.01300217 -0.03530943 0.00781177
+v -0.01318485 -0.02683761 0.02610275
+v -0.00503501 -0.02683761 0.01831422
+v -0.01318485 -0.03173578 0.01680590
+v -0.01318485 -0.02985626 0.02037487
+v -0.01318485 -0.03102572 0.01815489
+f 1 2 5
+f 1 5 10
+f 1 10 18
+f 1 18 31
+f 1 31 22
+f 1 22 12
+f 1 12 6
+f 1 6 3
+f 1 3 7
+f 1 7 13
+f 1 13 21
+f 1 21 24
+f 1 24 33
+f 1 33 29
+f 1 29 25
+f 1 25 14
+f 1 14 8
+f 1 8 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 4 8 9
+f 4 9 5
+f 5 9 11
+f 5 11 10
+f 6 12 13
+f 6 13 7
+f 8 14 9
+f 9 15 16
+f 9 16 11
+f 9 14 15
+f 10 17 18
+f 10 11 17
+f 11 16 19
+f 11 19 20
+f 11 20 17
+f 12 21 13
+f 12 22 19
+f 12 19 28
+f 12 28 27
+f 12 27 34
+f 12 34 36
+f 12 36 35
+f 12 35 32
+f 12 32 23
+f 12 23 24
+f 12 24 21
+f 14 25 16
+f 14 16 15
+f 16 26 27
+f 16 27 28
+f 16 28 19
+f 16 25 29
+f 16 29 30
+f 16 30 26
+f 17 22 31
+f 17 31 18
+f 17 20 19
+f 17 19 22
+f 23 32 30
+f 23 30 29
+f 23 29 33
+f 23 33 24
+f 26 30 27
+f 27 30 34
+f 30 32 35
+f 30 35 36
+f 30 36 34
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_229.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_229.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a3011b473ab10c49c59a207ce56488e79a43570
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_229.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.02016882 -0.02486875 0.01049193
+v 0.01235355 -0.02832284 0.01049261
+v 0.02016882 -0.03222896 0.01049193
+v 0.02016882 -0.02625211 0.00741491
+v -0.00019873 -0.03430112 0.00354636
+v -0.00019873 -0.03122875 0.01049261
+v 0.01235355 -0.03440301 0.01049261
+v 0.01643264 -0.03337841 0.01049193
+v 0.02016882 -0.03236098 0.01012949
+v 0.02016882 -0.02813629 0.00354704
+v -0.00019873 -0.03952745 0.00354636
+v 0.00484930 -0.03286036 0.00354636
+v -0.00019873 -0.03766767 0.01049261
+v 0.02016882 -0.03332387 0.00714495
+v 0.01911814 -0.03306557 0.00907140
+v -0.00019873 -0.03792310 0.00981737
+v 0.00078615 -0.03780400 0.00935564
+v 0.00610931 -0.03801495 0.00354636
+v 0.02016882 -0.03289193 0.00857500
+v 0.02016882 -0.03426094 0.00354704
+v 0.01235355 -0.03098623 0.00354636
+v 0.00949061 -0.03162912 0.00354636
+v 0.00569263 -0.03262646 0.00354636
+v -0.00019873 -0.03888026 0.00621606
+v 0.00224354 -0.03897641 0.00354636
+v 0.02016882 -0.03360657 0.00610590
+v 0.00228740 -0.03826464 0.00626706
+v 0.01235355 -0.03610063 0.00354636
+f 1 2 7
+f 1 7 3
+f 1 3 9
+f 1 9 19
+f 1 19 14
+f 1 14 26
+f 1 26 20
+f 1 20 10
+f 1 10 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 13
+f 2 13 7
+f 3 8 9
+f 3 7 8
+f 4 10 5
+f 5 11 24
+f 5 24 16
+f 5 16 13
+f 5 13 6
+f 5 10 12
+f 5 12 23
+f 5 23 22
+f 5 22 21
+f 5 21 28
+f 5 28 18
+f 5 18 25
+f 5 25 11
+f 7 13 8
+f 8 14 15
+f 8 15 9
+f 8 13 16
+f 8 16 17
+f 8 17 18
+f 8 18 14
+f 9 15 19
+f 10 20 28
+f 10 28 21
+f 10 21 22
+f 10 22 23
+f 10 23 12
+f 11 25 24
+f 14 19 15
+f 14 18 26
+f 16 24 27
+f 16 27 17
+f 17 27 18
+f 18 20 26
+f 18 27 25
+f 18 28 20
+f 24 25 27
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_23.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d6b9768c27ce4a84941472a72e42efcda7ee103
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_23.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v 0.03165029 -0.00220180 0.00932705
+v 0.02924070 0.00654999 0.00932705
+v 0.03899503 -0.00220180 0.00932705
+v 0.02715346 -0.00220180 0.01871799
+v 0.02849161 0.00931534 0.00932705
+v 0.03899967 -0.00215149 0.00932705
+v 0.03872253 -0.00220180 0.01050472
+v 0.02715346 -0.00220180 0.03525621
+v 0.02715346 0.01291371 0.01051488
+v 0.02757555 0.01291371 0.00932705
+v 0.02803474 0.01104499 0.00932705
+v 0.03580041 0.00981249 0.00932705
+v 0.03577374 0.00969264 0.00958339
+v 0.03860658 -0.00220180 0.01097681
+v 0.03203875 -0.00220180 0.02540080
+v 0.02715346 0.00135958 0.03391356
+v 0.02715346 0.01291371 0.02725868
+v 0.03489130 0.01291371 0.00932705
+v 0.03447501 0.01291371 0.01100980
+v 0.03536673 0.00820713 0.01254789
+v 0.03619118 0.00670239 0.01103011
+v 0.03741453 0.00222366 0.01097681
+v 0.03576910 0.00524647 0.01365704
+v 0.03618307 0.00222366 0.01451999
+v 0.03845931 -0.00220180 0.01136260
+v 0.03493652 -0.00220180 0.01950988
+v 0.02715346 0.00188779 0.03363691
+v 0.03656688 -0.00220180 0.01619513
+v 0.03671879 -0.00197098 0.01575858
+v 0.03143693 0.01291371 0.01832459
+v 0.03279595 0.01291371 0.01548700
+f 1 2 5
+f 1 5 11
+f 1 11 10
+f 1 10 18
+f 1 18 12
+f 1 12 6
+f 1 6 3
+f 1 3 7
+f 1 7 14
+f 1 14 25
+f 1 25 28
+f 1 28 26
+f 1 26 15
+f 1 15 8
+f 1 8 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 4 8 16
+f 4 16 27
+f 4 27 17
+f 4 17 9
+f 4 9 10
+f 4 10 11
+f 4 11 5
+f 6 12 13
+f 6 13 14
+f 6 14 7
+f 8 15 16
+f 9 17 30
+f 9 30 31
+f 9 31 19
+f 9 19 18
+f 9 18 10
+f 12 18 13
+f 13 18 19
+f 13 19 20
+f 13 20 21
+f 13 21 22
+f 13 22 14
+f 14 22 20
+f 14 20 23
+f 14 23 24
+f 14 24 25
+f 15 26 16
+f 16 26 28
+f 16 28 29
+f 16 29 27
+f 17 27 30
+f 19 31 20
+f 20 31 23
+f 20 22 21
+f 23 31 27
+f 23 27 24
+f 24 29 25
+f 24 27 29
+f 25 29 28
+f 27 31 30
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_230.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_230.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60a9dc7edfaa7aad00d3b128fe771f6b1e525f93
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_230.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v -0.02329687 0.02418278 -0.00119024
+v -0.02546779 0.02418278 -0.01127647
+v -0.03150026 0.02418278 -0.00119024
+v -0.03351364 0.00677559 -0.00119024
+v -0.03552126 0.00677559 -0.01127647
+v -0.03335803 0.02418278 -0.01127647
+v -0.03178843 0.02418278 -0.00235833
+v -0.03202281 0.02378236 -0.00235833
+v -0.03187873 0.02353529 -0.00119024
+v -0.04120600 0.00677559 -0.00119024
+v -0.04292160 0.00677559 -0.01127647
+v -0.04114452 0.01085306 -0.01127647
+v -0.03502752 0.02132191 -0.01124586
+v -0.03335610 0.02418278 -0.01124586
+v -0.03187873 0.02418278 -0.00272860
+v -0.03572683 0.01807595 -0.00387200
+v -0.04035876 0.00950867 -0.00235833
+v -0.03833385 0.01248371 -0.00119024
+v -0.04082176 0.00777068 -0.00119024
+v -0.04144806 0.00677559 -0.00224280
+v -0.04291968 0.00677559 -0.01124586
+v -0.04114260 0.01085136 -0.01124586
+v -0.03632623 0.01909830 -0.01124586
+v -0.03605727 0.01863824 -0.00680160
+v -0.03475856 0.02086015 -0.00680160
+v -0.03277783 0.02418278 -0.00659622
+v -0.04087363 0.01039130 -0.00680160
+v -0.04243362 0.00677559 -0.00680160
+v -0.04239904 0.00677559 -0.00663078
+v -0.04021467 0.00926160 -0.00119024
+v -0.04290623 0.00677559 -0.01111552
+f 1 2 6
+f 1 6 14
+f 1 14 26
+f 1 26 15
+f 1 15 7
+f 1 7 3
+f 1 3 9
+f 1 9 18
+f 1 18 30
+f 1 30 19
+f 1 19 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 5 11
+f 2 11 12
+f 2 12 6
+f 3 7 8
+f 3 8 9
+f 4 10 20
+f 4 20 29
+f 4 29 28
+f 4 28 31
+f 4 31 21
+f 4 21 11
+f 4 11 5
+f 6 12 13
+f 6 13 14
+f 7 15 8
+f 8 15 16
+f 8 16 17
+f 8 17 18
+f 8 18 9
+f 10 19 20
+f 11 21 12
+f 12 21 22
+f 12 22 23
+f 12 23 13
+f 13 23 24
+f 13 24 14
+f 14 24 25
+f 14 25 26
+f 15 26 16
+f 16 27 17
+f 16 26 27
+f 17 27 28
+f 17 28 29
+f 17 29 30
+f 17 30 18
+f 19 29 20
+f 19 30 29
+f 21 31 22
+f 22 31 27
+f 22 27 24
+f 22 24 23
+f 24 27 26
+f 24 26 25
+f 27 31 28
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_231.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_231.obj
new file mode 100644
index 0000000000000000000000000000000000000000..faf7511c8a3609fab3d4c9f776bd1a2fba38c4f0
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_231.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.04227966 -0.00319168 -0.00780777
+v 0.04084579 -0.00005971 -0.00463369
+v 0.04220221 -0.00348133 -0.00463369
+v 0.04220684 -0.00495883 -0.00479856
+v 0.04227966 -0.00495883 -0.00780777
+v 0.04224523 -0.00332212 -0.01000546
+v 0.04058497 -0.00005971 -0.02098590
+v 0.04094443 -0.00005971 -0.00909950
+v 0.04098216 -0.00005971 -0.00780777
+v 0.03588551 -0.00005971 -0.00463369
+v 0.04220221 -0.00495883 -0.00463369
+v 0.04224523 -0.00495883 -0.01000546
+v 0.04213005 -0.00374652 -0.01712354
+v 0.04205524 -0.00401891 -0.02098590
+v 0.03551744 -0.00005971 -0.02098590
+v 0.03605233 -0.00072246 -0.00463369
+v 0.03584579 -0.00494637 -0.02098590
+v 0.03629462 -0.00494637 -0.01473217
+v 0.03644290 -0.00494637 -0.01272976
+v 0.03726311 -0.00495883 -0.00463369
+v 0.03742662 -0.00495883 -0.01000546
+v 0.04205524 -0.00494637 -0.02098590
+v 0.04213005 -0.00494637 -0.01712354
+v 0.03654353 -0.00266561 -0.00463369
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
+f 2 9 8
+f 2 8 7
+f 2 7 15
+f 2 15 10
+f 2 10 16
+f 2 16 24
+f 2 24 20
+f 2 20 11
+f 2 11 3
+f 3 11 4
+f 4 11 20
+f 4 20 21
+f 4 21 12
+f 4 12 5
+f 6 12 23
+f 6 23 13
+f 6 13 7
+f 7 13 14
+f 7 14 22
+f 7 22 17
+f 7 17 15
+f 10 15 17
+f 10 17 18
+f 10 18 19
+f 10 19 16
+f 12 21 17
+f 12 17 22
+f 12 22 23
+f 13 23 22
+f 13 22 14
+f 16 19 24
+f 17 21 20
+f 17 20 18
+f 18 20 19
+f 19 20 24
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_232.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_232.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1da5b597e7333b36ec079bfe086367c28b83d8a5
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_232.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v -0.01761509 0.01051933 -0.07242622
+v -0.01891656 0.01051933 -0.07200573
+v -0.01761509 0.01111262 -0.07236191
+v -0.01761509 0.01051933 -0.06123625
+v -0.01872042 0.01111262 -0.07194390
+v -0.02120972 0.01051933 -0.06947785
+v -0.01761509 0.01395164 -0.07157040
+v -0.01761509 0.01198937 -0.05981154
+v -0.01761692 0.02453863 -0.04715728
+v -0.01855911 0.01051933 -0.05980659
+v -0.01799086 0.01369894 -0.07145662
+v -0.03467540 0.01051933 -0.05055582
+v -0.01761509 0.01624570 -0.06983155
+v -0.01761509 0.01675330 -0.05543597
+v -0.01761692 0.03296778 -0.04715728
+v -0.02766027 0.01051933 -0.04715728
+v -0.02116939 0.01051933 -0.05612360
+v -0.01761509 0.01898144 -0.05374660
+v -0.03126224 0.01804975 -0.04924983
+v -0.02658426 0.02652506 -0.04881203
+v -0.03620967 0.01051933 -0.04763960
+v -0.03508967 0.01254971 -0.04771381
+v -0.01761509 0.01753117 -0.06870118
+v -0.02000173 0.03238108 -0.04715728
+v -0.01761509 0.01898144 -0.06702664
+v -0.01761692 0.03177241 -0.05007102
+v -0.02000173 0.03146697 -0.04959859
+v -0.02231506 0.03116373 -0.04911626
+v -0.03633982 0.01051933 -0.04715728
+v -0.03518682 0.01271231 -0.04715728
+v -0.02686289 0.02700409 -0.04715728
+v -0.02542026 0.02881693 -0.04715728
+v -0.02329025 0.02863455 -0.05085511
+v -0.02250753 0.02698211 -0.05384554
+v -0.03627382 0.01075005 -0.04715728
+v -0.03565425 0.01190367 -0.04715728
+v -0.01761509 0.01857493 -0.06751391
+v -0.01819250 0.02261372 -0.06295284
+v -0.01761692 0.02219841 -0.06387544
+v -0.02282098 0.03147137 -0.04715728
+v -0.01761692 0.02268403 -0.06324223
+v -0.01761692 0.02661515 -0.05786739
+v -0.01761692 0.03099893 -0.05126323
+v -0.02536894 0.02886967 -0.04715728
+f 1 2 3
+f 1 3 7
+f 1 7 13
+f 1 13 23
+f 1 23 37
+f 1 37 25
+f 1 25 18
+f 1 18 14
+f 1 14 8
+f 1 8 4
+f 1 4 10
+f 1 10 17
+f 1 17 16
+f 1 16 29
+f 1 29 21
+f 1 21 12
+f 1 12 6
+f 1 6 2
+f 2 5 3
+f 2 6 5
+f 3 5 7
+f 4 8 9
+f 4 9 10
+f 5 11 7
+f 5 6 11
+f 6 12 11
+f 7 11 13
+f 8 14 9
+f 9 15 24
+f 9 24 40
+f 9 40 44
+f 9 44 32
+f 9 32 31
+f 9 31 30
+f 9 30 36
+f 9 36 35
+f 9 35 29
+f 9 29 16
+f 9 16 17
+f 9 17 10
+f 9 14 18
+f 9 18 15
+f 11 12 19
+f 11 19 20
+f 11 20 13
+f 12 21 22
+f 12 22 19
+f 13 20 23
+f 15 18 25
+f 15 25 26
+f 15 26 27
+f 15 27 28
+f 15 28 24
+f 19 22 20
+f 20 22 30
+f 20 30 31
+f 20 31 32
+f 20 32 28
+f 20 28 33
+f 20 33 34
+f 20 34 23
+f 21 29 35
+f 21 35 36
+f 21 36 22
+f 22 36 30
+f 23 34 38
+f 23 38 39
+f 23 39 37
+f 24 28 40
+f 25 37 39
+f 25 39 41
+f 25 41 42
+f 25 42 43
+f 25 43 26
+f 26 43 27
+f 27 43 42
+f 27 42 28
+f 28 42 41
+f 28 41 39
+f 28 39 38
+f 28 38 34
+f 28 34 33
+f 28 32 44
+f 28 44 40
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_233.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_233.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d76c096806fb3383b1cf60db1803e7f87697743a
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_233.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.02657554 0.00241071 0.03648740
+v -0.02657554 0.00511583 0.03620529
+v -0.02686753 0.00481459 0.03591222
+v -0.03138847 0.00498482 0.02708183
+v -0.03138847 0.00307887 0.02708183
+v -0.03156327 0.00284297 0.02662991
+v -0.03156327 0.00241071 0.02644366
+v -0.02657554 0.00241071 0.01982635
+v -0.02657554 0.00583392 0.03533704
+v -0.03115263 0.00583392 0.02663264
+v -0.03156327 0.00583392 0.02583013
+v -0.03156327 0.00540434 0.02629028
+v -0.03156327 0.00519994 0.02635875
+v -0.03156327 0.00438401 0.02662991
+v -0.03156327 0.00241071 0.00964292
+v -0.03156230 0.00241071 0.00961005
+v -0.02773666 0.00583392 0.01604933
+v -0.02657554 0.00583392 0.01881293
+v -0.03156327 0.00583392 0.00850625
+v -0.03012823 0.00583392 0.01124520
+v -0.02804915 0.00583392 0.01541937
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 15
+f 1 15 16
+f 1 16 8
+f 1 8 18
+f 1 18 9
+f 1 9 2
+f 2 9 10
+f 2 10 4
+f 2 4 3
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 6
+f 4 6 5
+f 6 14 13
+f 6 13 12
+f 6 12 11
+f 6 11 19
+f 6 19 15
+f 6 15 7
+f 8 16 17
+f 8 17 18
+f 9 18 17
+f 9 17 21
+f 9 21 20
+f 9 20 19
+f 9 19 11
+f 9 11 10
+f 15 19 16
+f 16 19 20
+f 16 20 21
+f 16 21 17
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_234.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_234.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f31f58db3dfe539f04b00838de931451cec329d
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_234.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v -0.01553575 0.02485766 -0.04101260
+v -0.01911375 0.02485766 -0.03754117
+v -0.02341445 0.01971697 -0.03754117
+v -0.01553575 0.02154258 -0.04488183
+v -0.01553575 0.02485766 -0.05027849
+v -0.02648384 0.02485766 -0.03754117
+v -0.02946460 0.01971697 -0.03754117
+v -0.01553575 0.01971697 -0.04735123
+v -0.01553575 0.02114807 -0.04539410
+v -0.01553575 0.02382157 -0.05168020
+v -0.01651616 0.02485766 -0.04987881
+v -0.02773150 0.02278548 -0.03754117
+v -0.02521027 0.02485766 -0.04065419
+v -0.02912643 0.02034748 -0.03754117
+v -0.02883190 0.01971697 -0.03922059
+v -0.01553575 0.01971697 -0.05670907
+v -0.01652025 0.02474947 -0.05001015
+v -0.01813471 0.02255653 -0.05174587
+v -0.01973554 0.02405204 -0.04864035
+v -0.02057686 0.02485766 -0.04691590
+v -0.02776287 0.02269139 -0.03760122
+v -0.02777650 0.02271000 -0.03754117
+v -0.02445212 0.02485766 -0.04207654
+v -0.02762651 0.01971697 -0.04168436
+v -0.02863010 0.01971697 -0.03969158
+v -0.01558893 0.01971697 -0.05667342
+v -0.01975599 0.01971697 -0.05223750
+v -0.02405669 0.02414765 -0.04357019
+v -0.02280766 0.02485766 -0.04434329
+v -0.02529617 0.01971697 -0.04513327
+v -0.02094093 0.01971697 -0.05073259
+v -0.02480529 0.01971697 -0.04576563
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 8
+f 1 8 16
+f 1 16 10
+f 1 10 5
+f 1 5 11
+f 1 11 20
+f 1 20 29
+f 1 29 23
+f 1 23 13
+f 1 13 6
+f 1 6 2
+f 2 6 12
+f 2 12 22
+f 2 22 14
+f 2 14 7
+f 2 7 3
+f 3 7 15
+f 3 15 25
+f 3 25 24
+f 3 24 30
+f 3 30 32
+f 3 32 31
+f 3 31 27
+f 3 27 26
+f 3 26 16
+f 3 16 8
+f 3 8 9
+f 3 9 4
+f 5 10 11
+f 6 13 12
+f 7 14 15
+f 10 17 11
+f 10 16 17
+f 11 17 18
+f 11 18 19
+f 11 19 20
+f 12 13 21
+f 12 21 22
+f 13 23 24
+f 13 24 25
+f 13 25 15
+f 13 15 21
+f 14 22 15
+f 15 22 21
+f 16 26 18
+f 16 18 17
+f 18 26 27
+f 18 27 28
+f 18 28 19
+f 19 28 20
+f 20 28 29
+f 23 29 28
+f 23 28 24
+f 24 28 30
+f 27 31 28
+f 28 31 32
+f 28 32 30
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_235.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_235.obj
new file mode 100644
index 0000000000000000000000000000000000000000..261a6919150976fb71485e210f309bdc00cef13f
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_235.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v 0.01067070 -0.03753338 -0.00118924
+v 0.01560736 -0.03623563 -0.00118924
+v 0.01675927 -0.03430368 0.00628387
+v 0.01220806 -0.03525639 0.00739854
+v 0.01067070 -0.03592412 0.00618018
+v 0.01067070 -0.03042163 -0.00118924
+v 0.01968140 -0.03514603 -0.00118924
+v 0.01968140 -0.03348648 0.00650606
+v 0.01067070 -0.03545754 0.00828732
+v 0.01968140 -0.02750066 -0.00118924
+v 0.01067070 -0.02326238 0.01983397
+v 0.01968052 -0.02326238 0.01120916
+v 0.01968140 -0.03286066 0.00905388
+v 0.01968052 -0.03246952 0.01066108
+v 0.01968052 -0.03239129 0.01097956
+v 0.01067070 -0.03526337 0.00905759
+v 0.01968140 -0.02418854 0.00905388
+v 0.01067070 -0.02326238 0.03664292
+v 0.01968052 -0.02326238 0.02821067
+v 0.01968052 -0.02408517 0.02700342
+v 0.01968052 -0.02686924 0.02264472
+v 0.01968052 -0.02771299 0.02109307
+v 0.01968052 -0.03143579 0.01394585
+v 0.01968052 -0.03155314 0.01363107
+v 0.01555444 -0.03347531 0.01097956
+v 0.01067070 -0.03480239 0.01083884
+v 0.01067070 -0.03482613 0.01075366
+v 0.01067070 -0.03488201 0.01054258
+v 0.01067070 -0.03312189 0.01539010
+v 0.01092737 -0.02326238 0.03647998
+v 0.01886906 -0.02326238 0.02974010
+v 0.01878615 -0.02714165 0.02308541
+v 0.01775154 -0.02326238 0.03123991
+v 0.01067070 -0.03328253 0.01499015
+v 0.01691539 -0.02642642 0.02604799
+v 0.01552445 -0.02326238 0.03322854
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 16
+f 1 16 28
+f 1 28 27
+f 1 27 26
+f 1 26 34
+f 1 34 29
+f 1 29 18
+f 1 18 11
+f 1 11 6
+f 1 6 10
+f 1 10 7
+f 1 7 2
+f 2 7 8
+f 2 8 3
+f 3 8 4
+f 4 9 5
+f 4 8 9
+f 6 11 12
+f 6 12 10
+f 7 10 17
+f 7 17 13
+f 7 13 8
+f 8 13 15
+f 8 15 14
+f 8 14 9
+f 9 14 15
+f 9 15 16
+f 10 12 17
+f 11 18 30
+f 11 30 36
+f 11 36 33
+f 11 33 31
+f 11 31 19
+f 11 19 12
+f 12 19 17
+f 13 17 19
+f 13 19 20
+f 13 20 21
+f 13 21 22
+f 13 22 23
+f 13 23 24
+f 13 24 15
+f 15 24 25
+f 15 25 26
+f 15 26 27
+f 15 27 28
+f 15 28 16
+f 18 29 23
+f 18 23 30
+f 19 31 20
+f 20 31 21
+f 21 32 22
+f 21 31 33
+f 21 33 32
+f 22 32 23
+f 23 29 34
+f 23 34 24
+f 23 32 35
+f 23 35 30
+f 24 34 26
+f 24 26 25
+f 30 35 36
+f 32 33 36
+f 32 36 35
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_236.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_236.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3c6f7be279f1cac8d10f829626a17e1d38ae3a7
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_236.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v -0.02283045 -0.02524516 0.01047819
+v -0.02283045 -0.02524516 0.01402424
+v -0.02283045 -0.02190602 0.01047819
+v -0.02282894 -0.02898898 0.01047819
+v -0.02282894 -0.02836373 0.01239908
+v -0.02282894 -0.02808947 0.01314397
+v -0.02282894 -0.02777876 0.01398605
+v -0.02282894 -0.02776342 0.01402424
+v -0.02283045 -0.01799725 0.01402424
+v -0.00744332 -0.03090117 0.01047819
+v -0.01508492 -0.03344245 0.01047819
+v -0.01496893 -0.03340217 0.01082773
+v -0.01425794 -0.03299749 0.01342548
+v -0.02047455 -0.02916735 0.01402424
+v -0.02279430 -0.02778643 0.01402424
+v -0.01677652 -0.02164326 0.01402424
+v -0.00744332 -0.03758905 0.01047819
+v -0.00744332 -0.02807796 0.01402424
+v -0.00855801 -0.03701558 0.01047819
+v -0.01339482 -0.03326408 0.01402424
+v -0.00845256 -0.03696571 0.01082773
+v -0.00744332 -0.03748931 0.01082773
+v -0.00744332 -0.03635197 0.01402424
+v -0.01173786 -0.03413866 0.01402424
+v -0.00744332 -0.03684872 0.01263303
+v -0.00744332 -0.03637499 0.01396245
+v -0.00744332 -0.03644211 0.01377710
+f 1 2 9
+f 1 9 3
+f 1 3 10
+f 1 10 17
+f 1 17 19
+f 1 19 11
+f 1 11 4
+f 1 4 2
+f 2 4 5
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 15
+f 2 15 14
+f 2 14 20
+f 2 20 24
+f 2 24 23
+f 2 23 18
+f 2 18 16
+f 2 16 9
+f 3 9 10
+f 4 11 12
+f 4 12 13
+f 4 13 5
+f 5 13 14
+f 5 14 15
+f 5 15 6
+f 6 15 7
+f 7 15 8
+f 9 16 10
+f 10 16 18
+f 10 18 23
+f 10 23 26
+f 10 26 27
+f 10 27 25
+f 10 25 22
+f 10 22 17
+f 11 19 12
+f 12 19 13
+f 13 20 14
+f 13 19 21
+f 13 21 20
+f 17 22 19
+f 19 22 21
+f 20 21 24
+f 21 22 24
+f 22 25 24
+f 23 24 26
+f 24 25 27
+f 24 27 26
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_237.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_237.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec7c33c921990150112f44a9807b404d248131d8
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_237.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.01221687 -0.00013978 -0.06692749
+v 0.01221687 -0.00013978 -0.06691362
+v 0.01221687 0.00627490 -0.06692749
+v 0.01657442 -0.00013978 -0.06692749
+v 0.01657442 -0.00013978 -0.06539755
+v 0.01657442 0.01006616 -0.06319811
+v 0.01221687 0.01006616 -0.06625250
+v 0.01657442 0.00627490 -0.06692749
+v 0.01221687 0.01006616 -0.06692712
+v 0.01657442 0.01006616 -0.06692712
+f 1 2 7
+f 1 7 9
+f 1 9 3
+f 1 3 8
+f 1 8 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 3 9 10
+f 3 10 8
+f 4 8 10
+f 4 10 6
+f 4 6 5
+f 6 10 9
+f 6 9 7
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_238.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_238.obj
new file mode 100644
index 0000000000000000000000000000000000000000..651523c7ee36491774371650897c5c7efa94382f
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_238.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v -0.02555053 -0.03089489 -0.00781348
+v -0.02555053 -0.02506950 -0.00781348
+v -0.02555053 -0.02970314 -0.01715751
+v -0.02056910 -0.03394183 -0.00781348
+v -0.02555053 -0.02430560 -0.01246750
+v -0.00868993 -0.03475597 -0.00781348
+v -0.02555053 -0.02930300 -0.01982929
+v -0.01935428 -0.03324895 -0.01712440
+v -0.01122026 -0.03858067 -0.01246750
+v -0.01226342 -0.03867074 -0.00781348
+v -0.02555053 -0.02265654 -0.02251834
+v -0.00868993 -0.04035271 -0.00781348
+v -0.00868993 -0.03243309 -0.02251834
+v -0.02555053 -0.02905876 -0.02133792
+v -0.02515109 -0.02923717 -0.02178274
+v -0.01895154 -0.03301857 -0.02019493
+v -0.01061120 -0.03823423 -0.01712440
+v -0.00868993 -0.04010327 -0.00978276
+v -0.00868993 -0.04034925 -0.00784227
+v -0.01213632 -0.03872964 -0.00789841
+v -0.01204389 -0.03877467 -0.00781348
+v -0.02555053 -0.02881279 -0.02251834
+v -0.00868993 -0.03835548 -0.02251834
+v -0.02555053 -0.02898254 -0.02178274
+v -0.02534751 -0.02894270 -0.02251834
+v -0.02500914 -0.02915749 -0.02251834
+v -0.00988825 -0.03782023 -0.02251834
+v -0.00999553 -0.03788259 -0.02178274
+v -0.00868993 -0.03846634 -0.02178274
+v -0.00943104 -0.03802463 -0.02251834
+f 1 2 5
+f 1 5 11
+f 1 11 22
+f 1 22 24
+f 1 24 14
+f 1 14 7
+f 1 7 3
+f 1 3 4
+f 1 4 10
+f 1 10 21
+f 1 21 12
+f 1 12 6
+f 1 6 2
+f 2 6 5
+f 3 7 8
+f 3 8 4
+f 4 8 9
+f 4 9 10
+f 5 6 11
+f 6 12 19
+f 6 19 18
+f 6 18 29
+f 6 29 23
+f 6 23 13
+f 6 13 11
+f 7 14 15
+f 7 15 16
+f 7 16 8
+f 8 16 17
+f 8 17 9
+f 9 17 18
+f 9 18 19
+f 9 19 20
+f 9 20 10
+f 10 20 21
+f 11 13 23
+f 11 23 30
+f 11 30 27
+f 11 27 26
+f 11 26 25
+f 11 25 22
+f 12 21 20
+f 12 20 19
+f 14 24 15
+f 15 24 25
+f 15 25 26
+f 15 26 27
+f 15 27 28
+f 15 28 16
+f 16 28 17
+f 17 28 18
+f 18 28 29
+f 22 25 24
+f 23 29 30
+f 27 30 29
+f 27 29 28
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_239.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_239.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67c896be298c9439830c9dfcd36ed8f9f210fe61
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_239.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v -0.01553401 0.00670092 -0.05905184
+v -0.01553401 0.00883436 -0.05688207
+v -0.01553401 0.00721187 -0.06215652
+v -0.01368199 0.00834262 -0.06185367
+v -0.01368199 0.00834262 -0.06061296
+v -0.01171865 0.01183347 -0.05930642
+v -0.01171865 0.01588137 -0.05414901
+v -0.01171865 0.01960017 -0.04985336
+v -0.01553401 0.01176944 -0.05411390
+v -0.01553401 0.01119062 -0.06220774
+v -0.01198498 0.01171181 -0.06220481
+v -0.01171865 0.01180401 -0.05947321
+v -0.01171865 0.01187188 -0.06214775
+v -0.01171865 0.01973207 -0.04977143
+v -0.01171940 0.01978329 -0.04970705
+v -0.01553401 0.01978329 -0.04726222
+v -0.01553401 0.01671119 -0.04971437
+v -0.01553401 0.01332662 -0.06214190
+v -0.01176833 0.01625786 -0.06208484
+v -0.01171865 0.01625274 -0.06208484
+v -0.01171865 0.01978329 -0.04981386
+v -0.01553401 0.01978329 -0.05660554
+v -0.01491207 0.01487100 -0.06209654
+v -0.01553401 0.01535633 -0.06096264
+v -0.01171865 0.01633085 -0.06207021
+v -0.01171865 0.01978329 -0.05906940
+v -0.01176833 0.01978329 -0.05904891
+v -0.01332115 0.01797639 -0.06103434
+v -0.01553401 0.01965651 -0.05680160
+v -0.01553401 0.01671503 -0.05972487
+v -0.01171865 0.01957840 -0.05938396
+v -0.01176833 0.01961169 -0.05930934
+v -0.01506074 0.01912891 -0.05792818
+v -0.01553401 0.01817232 -0.05831298
+f 1 2 9
+f 1 9 17
+f 1 17 16
+f 1 16 22
+f 1 22 29
+f 1 29 34
+f 1 34 30
+f 1 30 24
+f 1 24 18
+f 1 18 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 8 9
+f 3 10 11
+f 3 11 4
+f 4 12 5
+f 4 11 13
+f 4 13 12
+f 5 12 6
+f 6 12 13
+f 6 13 20
+f 6 20 25
+f 6 25 31
+f 6 31 26
+f 6 26 21
+f 6 21 14
+f 6 14 8
+f 6 8 7
+f 8 14 15
+f 8 15 16
+f 8 16 17
+f 8 17 9
+f 10 18 19
+f 10 19 11
+f 11 19 20
+f 11 20 13
+f 14 21 15
+f 15 21 26
+f 15 26 27
+f 15 27 22
+f 15 22 16
+f 18 23 19
+f 18 24 23
+f 19 23 25
+f 19 25 20
+f 22 27 28
+f 22 28 29
+f 23 24 30
+f 23 30 28
+f 23 28 25
+f 25 28 31
+f 26 31 27
+f 27 31 32
+f 27 32 28
+f 28 30 33
+f 28 33 29
+f 28 32 31
+f 29 33 34
+f 30 34 33
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_24.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d12a8045715b2cfcb334d9ae67afe629d418ac6
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_24.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v -0.02051265 -0.02914325 0.01402424
+v -0.02047487 -0.02916581 0.01402424
+v -0.02001156 -0.02896280 0.01548602
+v -0.02051265 -0.02864496 0.01548602
+v -0.02051265 -0.02018629 0.01402424
+v -0.01339204 -0.03326493 0.01402424
+v -0.01910086 -0.02844195 0.01799454
+v -0.01172175 -0.03378168 0.01518182
+v -0.02051265 -0.02635241 0.01838681
+v -0.02051265 -0.01659571 0.01495658
+v -0.00019873 -0.01659571 0.01501327
+v -0.01677637 -0.02164426 0.01402424
+v -0.00548798 -0.03748299 0.01402424
+v -0.01014293 -0.03329774 0.01814031
+v -0.02051265 -0.02588897 0.01851082
+v -0.02051265 -0.01659571 0.01919464
+v -0.00019873 -0.02870648 0.01402424
+v -0.00019873 -0.01659571 0.01919464
+v -0.00473635 -0.03754451 0.01402424
+v -0.00711055 -0.03391292 0.01840402
+v -0.00689580 -0.03616036 0.01537568
+v -0.01642640 -0.02591973 0.01898458
+v -0.02051265 -0.02126285 0.01919464
+v -0.01172175 -0.03063198 0.01856194
+v -0.00019873 -0.03652536 0.01402424
+v -0.00019873 -0.02832507 0.01919464
+v -0.00374213 -0.03754451 0.01402424
+v -0.00245163 -0.03651921 0.01537568
+v -0.00245163 -0.03412413 0.01850475
+v -0.00711055 -0.03057661 0.01909391
+v -0.01176748 -0.02591973 0.01919464
+v -0.00019873 -0.03597171 0.01542933
+v -0.00245163 -0.03057661 0.01919464
+v -0.00019873 -0.03057661 0.01916174
+v -0.00019873 -0.03516583 0.01685568
+v -0.00019873 -0.03392727 0.01847185
+v -0.00019873 -0.03240984 0.01880540
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 15
+f 1 15 23
+f 1 23 16
+f 1 16 10
+f 1 10 5
+f 1 5 12
+f 1 12 17
+f 1 17 25
+f 1 25 27
+f 1 27 19
+f 1 19 13
+f 1 13 6
+f 1 6 2
+f 2 6 3
+f 3 7 4
+f 3 6 8
+f 3 8 7
+f 4 7 9
+f 5 10 11
+f 5 11 12
+f 6 13 8
+f 7 8 14
+f 7 14 9
+f 8 13 14
+f 9 14 15
+f 10 16 18
+f 10 18 11
+f 11 17 12
+f 11 18 26
+f 11 26 34
+f 11 34 37
+f 11 37 36
+f 11 36 35
+f 11 35 32
+f 11 32 25
+f 11 25 17
+f 13 19 20
+f 13 20 21
+f 13 21 14
+f 14 21 20
+f 14 20 15
+f 15 22 23
+f 15 20 24
+f 15 24 22
+f 16 23 31
+f 16 31 33
+f 16 33 26
+f 16 26 18
+f 19 27 28
+f 19 28 29
+f 19 29 20
+f 20 29 30
+f 20 30 24
+f 22 24 30
+f 22 30 23
+f 23 30 31
+f 25 32 27
+f 26 33 34
+f 27 32 28
+f 28 32 35
+f 28 35 29
+f 29 36 37
+f 29 37 33
+f 29 33 30
+f 29 35 36
+f 30 33 31
+f 33 37 34
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_240.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_240.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b4d0046ac4d3e692c670e29758e19274f8ce33a
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_240.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v -0.03462341 -0.01424992 0.00891942
+v -0.03577402 -0.00969238 0.00958472
+v -0.03584301 -0.01000293 0.00891942
+v -0.02736142 -0.01424992 0.00891942
+v -0.03411042 -0.01424992 0.01099257
+v -0.03852035 0.00004101 0.00891942
+v -0.03536674 -0.00820677 0.01254744
+v -0.03619131 -0.00670298 0.01102995
+v -0.03741425 -0.00222238 0.01097762
+v -0.03802405 0.00004101 0.01097762
+v -0.02715333 -0.01424992 0.00961711
+v -0.02816596 -0.01105348 0.00891942
+v -0.02715333 0.00004101 0.01804678
+v -0.03362747 -0.01424992 0.01228082
+v -0.03138189 0.00004101 0.00891942
+v -0.03240564 -0.01424992 0.01553507
+v -0.03576957 -0.00524535 0.01365627
+v -0.03618352 -0.00222238 0.01452092
+v -0.03647284 0.00004101 0.01518871
+v -0.02715333 -0.01424992 0.02649388
+v -0.02872903 -0.00892439 0.00891942
+v -0.02715333 0.00004101 0.03437536
+v -0.02938000 -0.00652252 0.00891942
+v -0.02828726 0.00004101 0.01554753
+v -0.03047609 -0.00278193 0.00891942
+v -0.03027022 0.00004101 0.01127414
+v -0.03332146 -0.01110944 0.01542045
+v -0.03141972 -0.01424992 0.01759577
+v -0.02715333 -0.00188665 0.03363779
+v -0.03553811 0.00004101 0.01713977
+v -0.02759288 -0.01424992 0.02557940
+v -0.03107031 0.00004101 0.02645900
+v -0.02715333 -0.00135927 0.03391189
+f 1 2 3
+f 1 3 6
+f 1 6 15
+f 1 15 25
+f 1 25 23
+f 1 23 21
+f 1 21 12
+f 1 12 4
+f 1 4 11
+f 1 11 20
+f 1 20 31
+f 1 31 28
+f 1 28 16
+f 1 16 14
+f 1 14 5
+f 1 5 2
+f 2 6 3
+f 2 5 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 6
+f 4 12 13
+f 4 13 11
+f 5 14 7
+f 6 10 19
+f 6 19 30
+f 6 30 32
+f 6 32 22
+f 6 22 13
+f 6 13 24
+f 6 24 26
+f 6 26 15
+f 7 10 9
+f 7 9 8
+f 7 14 16
+f 7 16 17
+f 7 17 10
+f 10 17 18
+f 10 18 19
+f 11 13 22
+f 11 22 33
+f 11 33 29
+f 11 29 20
+f 12 21 13
+f 13 21 23
+f 13 23 24
+f 15 26 25
+f 16 27 17
+f 16 28 29
+f 16 29 27
+f 17 27 29
+f 17 29 18
+f 18 29 19
+f 19 29 30
+f 20 29 31
+f 22 32 33
+f 23 25 24
+f 24 25 26
+f 28 31 29
+f 29 33 30
+f 30 33 32
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_241.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_241.obj
new file mode 100644
index 0000000000000000000000000000000000000000..758ce2cfcb464a324029f521cbc72b3a160e62be
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_241.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v -0.01318485 -0.02101108 0.03771831
+v -0.01318485 -0.02100839 0.03626148
+v -0.01319242 -0.02100839 0.03772110
+v -0.01318485 -0.03250880 0.01533469
+v -0.01318485 -0.02100839 0.02077560
+v -0.02016499 -0.02100839 0.02963619
+v -0.02724926 -0.02268438 0.01852083
+v -0.02455148 -0.02359979 0.01994709
+v -0.02463478 -0.02580618 0.01566554
+v -0.02328305 -0.02727082 0.01434771
+v -0.01772279 -0.03107781 0.01310217
+v -0.01318485 -0.03332055 0.01343857
+v -0.01318485 -0.02677946 0.00931828
+v -0.01556268 -0.02525290 0.00931828
+v -0.02268292 -0.02100839 0.00931828
+v -0.02543181 -0.02100839 0.02312211
+v -0.02610767 -0.02171110 0.02148456
+v -0.03118517 -0.02233034 0.01336073
+v -0.02879409 -0.02331036 0.01507335
+v -0.02624587 -0.02642676 0.01243491
+v -0.01318485 -0.03427365 0.01108094
+v -0.01318485 -0.03475962 0.00931828
+v -0.03252554 -0.02100839 0.00931828
+v -0.02699557 -0.02100839 0.02079784
+v -0.03066454 -0.02100839 0.01502886
+v -0.03138016 -0.02100839 0.01376664
+v -0.03219044 -0.02100839 0.01097529
+v -0.03152973 -0.02281227 0.01097529
+v -0.02912350 -0.02543463 0.00931828
+v -0.02866157 -0.02521790 0.01096139
+v -0.02702965 -0.02687504 0.00947119
+v -0.01850846 -0.03152475 0.01014122
+v -0.02706372 -0.02689389 0.00931828
+v -0.03173608 -0.02309901 0.00931828
+f 1 2 3
+f 1 3 4
+f 1 4 12
+f 1 12 21
+f 1 21 22
+f 1 22 13
+f 1 13 5
+f 1 5 2
+f 2 5 15
+f 2 15 23
+f 2 23 27
+f 2 27 26
+f 2 26 25
+f 2 25 24
+f 2 24 16
+f 2 16 6
+f 2 6 3
+f 3 6 7
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 4 11 12
+f 5 13 14
+f 5 14 15
+f 6 16 17
+f 6 17 7
+f 7 17 18
+f 7 18 19
+f 7 19 20
+f 7 20 9
+f 7 9 8
+f 9 20 10
+f 10 20 11
+f 11 20 21
+f 11 21 12
+f 13 22 33
+f 13 33 29
+f 13 29 34
+f 13 34 23
+f 13 23 15
+f 13 15 14
+f 16 24 17
+f 17 24 18
+f 18 24 25
+f 18 25 26
+f 18 26 27
+f 18 27 28
+f 18 28 29
+f 18 29 30
+f 18 30 20
+f 18 20 19
+f 20 30 31
+f 20 31 21
+f 21 31 32
+f 21 32 22
+f 22 31 33
+f 22 32 31
+f 23 34 28
+f 23 28 27
+f 28 34 29
+f 29 33 31
+f 29 31 30
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_242.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_242.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9b3457a6e1cd3754790b65bf9fd4901656a6104
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_242.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v -0.02418626 0.02397019 -0.02800667
+v -0.02419135 0.02396346 -0.02801045
+v -0.02419983 0.02397019 -0.02801045
+v -0.02569252 0.02397019 -0.02158906
+v -0.02569761 0.02396514 -0.02157835
+v -0.03441964 0.00678604 -0.02652583
+v -0.03410414 0.00678604 -0.02801045
+v -0.03038091 0.02397019 -0.02801045
+v -0.03118153 0.02397019 -0.02157835
+v -0.03567825 0.00678604 -0.02157835
+v -0.03997481 0.00678604 -0.02801045
+v -0.03323737 0.01920653 -0.02801045
+v -0.03349859 0.01966069 -0.02644209
+v -0.03082532 0.02397019 -0.02667819
+v -0.03173789 0.02397019 -0.02157835
+v -0.04151499 0.00678604 -0.02157835
+v -0.04059902 0.00678604 -0.02620284
+v -0.03814627 0.01069688 -0.02801045
+v -0.03837865 0.01140167 -0.02621417
+v -0.03752036 0.01390461 -0.02451045
+v -0.03138677 0.02397019 -0.02367747
+v -0.03172432 0.02397019 -0.02178361
+v -0.03394978 0.02043445 -0.02178361
+v -0.03394469 0.02045968 -0.02157835
+v -0.04131822 0.00723684 -0.02157835
+v -0.04126903 0.00732935 -0.02178361
+v -0.04150481 0.00678604 -0.02178361
+v -0.04097219 0.00678604 -0.02443679
+v -0.03919624 0.01135121 -0.02178361
+v -0.03764588 0.01411823 -0.02178361
+v -0.03764927 0.01412496 -0.02157835
+v -0.04127073 0.00733944 -0.02157835
+v -0.03920132 0.01135121 -0.02157835
+v -0.03913178 0.01148073 -0.02157835
+f 1 2 3
+f 1 3 8
+f 1 8 14
+f 1 14 21
+f 1 21 22
+f 1 22 15
+f 1 15 9
+f 1 9 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 11
+f 2 11 18
+f 2 18 12
+f 2 12 8
+f 2 8 3
+f 4 9 5
+f 5 9 15
+f 5 15 24
+f 5 24 31
+f 5 31 34
+f 5 34 33
+f 5 33 32
+f 5 32 25
+f 5 25 16
+f 5 16 10
+f 5 10 6
+f 6 10 16
+f 6 16 27
+f 6 27 28
+f 6 28 17
+f 6 17 11
+f 6 11 7
+f 8 12 13
+f 8 13 14
+f 11 17 18
+f 12 18 19
+f 12 19 20
+f 12 20 13
+f 13 20 14
+f 14 20 21
+f 15 22 23
+f 15 23 24
+f 16 25 26
+f 16 26 27
+f 17 28 19
+f 17 19 18
+f 19 28 26
+f 19 26 20
+f 20 26 29
+f 20 29 30
+f 20 30 23
+f 20 23 21
+f 21 23 22
+f 23 30 24
+f 24 30 31
+f 25 32 26
+f 26 28 27
+f 26 32 29
+f 29 32 33
+f 29 33 34
+f 29 34 30
+f 30 34 31
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_243.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_243.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9abd82ad3fbbfbe6e223936ca3dbf947ecbe4fc8
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_243.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.01301750 0.00835458 0.04546090
+v -0.00814474 0.01576813 0.03752285
+v -0.01301607 0.00835601 0.04546090
+v -0.01301750 0.01933665 0.04546090
+v -0.01301750 0.01023411 0.04171737
+v -0.00814474 0.02298827 0.02184488
+v -0.00814474 0.01709898 0.03416254
+v -0.00814474 0.01483409 0.04050255
+v -0.00814474 0.01385135 0.04395410
+v -0.00814474 0.01343304 0.04546090
+v -0.01105504 0.02016611 0.04546090
+v -0.01301750 0.02298827 0.03558070
+v -0.01301750 0.01106643 0.04017147
+v -0.01301750 0.01597155 0.03111767
+v -0.01301750 0.02298827 0.01883390
+v -0.00814474 0.02298827 0.03907396
+v -0.00814474 0.02093253 0.04546090
+v -0.01183687 0.02298827 0.03645141
+v -0.01088951 0.02298827 0.03715006
+f 1 2 3
+f 1 3 10
+f 1 10 17
+f 1 17 11
+f 1 11 4
+f 1 4 12
+f 1 12 15
+f 1 15 14
+f 1 14 13
+f 1 13 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 8 3
+f 2 7 6
+f 2 6 16
+f 2 16 17
+f 2 17 10
+f 2 10 9
+f 2 9 8
+f 3 9 10
+f 3 8 9
+f 4 11 12
+f 5 13 6
+f 6 13 14
+f 6 14 15
+f 6 15 12
+f 6 12 18
+f 6 18 19
+f 6 19 16
+f 11 17 12
+f 12 17 18
+f 16 19 17
+f 17 19 18
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_244.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_244.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f63955ea786c6f64af7409d601f38b5c935c9a1d
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_244.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v -0.00017470 0.03406363 -0.02800915
+v -0.00017470 0.03918023 -0.02800915
+v 0.00449609 0.03410541 -0.02800915
+v -0.00017470 0.03516748 -0.00315105
+v -0.00017470 0.03946968 -0.02643955
+v 0.00220713 0.03969227 -0.02800915
+v 0.00449609 0.03947956 -0.02800915
+v 0.00454553 0.03563698 -0.01000619
+v 0.00454553 0.03538855 -0.00315105
+v -0.00017470 0.04022179 -0.00315105
+v 0.00220713 0.03998172 -0.02643955
+v -0.00017470 0.04004250 -0.02161150
+v 0.00449609 0.04162800 -0.01960874
+v 0.00454553 0.04178906 -0.01000619
+v 0.00454553 0.04100352 -0.00315105
+v 0.00261558 0.04102631 -0.00315105
+v 0.00393933 0.04178374 -0.00428019
+v -0.00017470 0.04031067 -0.00586683
+v 0.00406917 0.04175031 -0.01246888
+v 0.00435748 0.04167586 -0.01712415
+v 0.00449609 0.04164091 -0.01930699
+v -0.00017470 0.04036157 -0.00780875
+v 0.00378316 0.04182400 -0.00780875
+v 0.00391762 0.04178906 -0.01000863
+v 0.00454553 0.04182400 -0.00780875
+v 0.00449609 0.04169713 -0.01581006
+v 0.00449609 0.04175031 -0.01246888
+v 0.00280409 0.04102631 -0.00315105
+v 0.00454553 0.04163787 -0.00406361
+v 0.00454553 0.04178374 -0.00428019
+f 1 2 6
+f 1 6 7
+f 1 7 3
+f 1 3 4
+f 1 4 10
+f 1 10 18
+f 1 18 22
+f 1 22 12
+f 1 12 5
+f 1 5 2
+f 2 5 11
+f 2 11 6
+f 3 7 14
+f 3 14 8
+f 3 8 9
+f 3 9 4
+f 4 9 15
+f 4 15 28
+f 4 28 16
+f 4 16 10
+f 5 12 13
+f 5 13 11
+f 6 11 13
+f 6 13 7
+f 7 13 14
+f 8 14 25
+f 8 25 30
+f 8 30 29
+f 8 29 15
+f 8 15 9
+f 10 16 17
+f 10 17 18
+f 12 19 20
+f 12 20 21
+f 12 21 13
+f 12 22 23
+f 12 23 24
+f 12 24 19
+f 13 21 14
+f 14 21 26
+f 14 26 27
+f 14 27 25
+f 15 29 28
+f 16 28 30
+f 16 30 17
+f 17 30 25
+f 17 25 23
+f 17 23 18
+f 18 23 22
+f 19 27 26
+f 19 26 20
+f 19 24 23
+f 19 23 25
+f 19 25 27
+f 20 26 21
+f 28 29 30
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_245.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_245.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55863c2ab0d852bbbe56bf3955e2fbf3fa779dbd
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_245.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.01848432 0.02768007 0.00720388
+v -0.01848432 0.02818698 0.00720388
+v -0.01680368 0.02818698 0.00720388
+v -0.01659072 0.02818698 0.00726038
+v -0.01848432 0.02592662 0.00904498
+v -0.01848432 0.02818698 0.01399335
+v -0.00035398 0.02818698 0.01399335
+v -0.01848432 0.02275871 0.01399335
+v -0.00725579 0.02576296 0.01399335
+v -0.01188421 0.02427093 0.01399335
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 8
+f 1 8 6
+f 1 6 2
+f 2 6 7
+f 2 7 4
+f 2 4 3
+f 4 7 5
+f 5 7 9
+f 5 9 10
+f 5 10 8
+f 6 8 10
+f 6 10 9
+f 6 9 7
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_246.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_246.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d449324a14c5cc4a78fae2c9b83db945c91874ee
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_246.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.04321440 -0.00676474 -0.02457645
+v 0.04114197 -0.01135339 -0.02457645
+v 0.04100091 -0.01144516 -0.02875314
+v 0.04309597 -0.00676474 -0.02901689
+v 0.03700757 -0.00676474 -0.02457645
+v 0.04105664 -0.01154015 -0.02457645
+v 0.03988458 -0.01315021 -0.03005546
+v 0.04085636 -0.01058378 -0.03220881
+v 0.04002216 -0.01337723 -0.02709367
+v 0.03410617 -0.02321304 -0.02902212
+v 0.04253171 -0.00676474 -0.03220881
+v 0.03585990 -0.00676474 -0.02457869
+v 0.03516328 -0.00816548 -0.02457645
+v 0.04092080 -0.01178971 -0.02457645
+v 0.03964425 -0.01273481 -0.03220881
+v 0.03382056 -0.02321304 -0.03049854
+v 0.03348619 -0.02321304 -0.03220881
+v 0.04002216 -0.01337723 -0.02575399
+v 0.03425072 -0.02321304 -0.02457869
+v 0.03490031 -0.00676474 -0.03220881
+v 0.02542462 -0.02321304 -0.03220881
+v 0.02644168 -0.02321304 -0.02457645
+v 0.03425072 -0.02321304 -0.02457645
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 20
+f 1 20 12
+f 1 12 5
+f 1 5 13
+f 1 13 22
+f 1 22 23
+f 1 23 14
+f 1 14 6
+f 1 6 2
+f 2 6 3
+f 3 7 8
+f 3 8 4
+f 3 6 9
+f 3 9 10
+f 3 10 7
+f 4 8 11
+f 5 12 13
+f 6 14 9
+f 7 15 8
+f 7 10 16
+f 7 16 17
+f 7 17 15
+f 8 15 17
+f 8 17 21
+f 8 21 20
+f 8 20 11
+f 9 14 18
+f 9 18 23
+f 9 23 19
+f 9 19 10
+f 10 19 23
+f 10 23 22
+f 10 22 21
+f 10 21 17
+f 10 17 16
+f 12 20 21
+f 12 21 22
+f 12 22 13
+f 14 23 18
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_247.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_247.obj
new file mode 100644
index 0000000000000000000000000000000000000000..edfd6149c3eb5ed0e5b8b8013accc8ba2834f954
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_247.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v -0.00744150 -0.03816143 0.00851184
+v -0.00683037 -0.03848007 0.00851184
+v -0.00744150 -0.03748946 0.01082720
+v -0.00744150 -0.03188438 0.00851184
+v -0.00245111 -0.03882184 0.00851184
+v -0.00611999 -0.03817615 0.01082720
+v -0.00744150 -0.03685008 0.01263319
+v -0.00519976 -0.03775131 0.01374905
+v -0.00744150 -0.02807861 0.01402424
+v -0.00019873 -0.03193381 0.00894999
+v -0.00019873 -0.03251009 0.00851184
+v -0.00019873 -0.03826765 0.00851184
+v -0.00019873 -0.03792377 0.00981926
+v -0.00245111 -0.03819719 0.01087684
+v -0.00400373 -0.03775236 0.01374905
+v -0.00416396 -0.03775236 0.01374905
+v -0.00744150 -0.03644311 0.01377711
+v -0.00416396 -0.03754414 0.01402424
+v -0.00473538 -0.03754309 0.01402424
+v -0.00548689 -0.03748314 0.01402424
+v -0.00744150 -0.03635372 0.01402424
+v -0.00019873 -0.02870852 0.01402424
+v -0.00019873 -0.03687216 0.01314256
+v -0.00089919 -0.03730332 0.01246214
+v -0.00019873 -0.03652408 0.01402424
+v -0.00374213 -0.03754414 0.01402424
+f 1 2 3
+f 1 3 7
+f 1 7 17
+f 1 17 21
+f 1 21 9
+f 1 9 4
+f 1 4 11
+f 1 11 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 8
+f 3 8 7
+f 4 9 10
+f 4 10 11
+f 5 12 13
+f 5 13 14
+f 5 14 15
+f 5 15 16
+f 5 16 8
+f 5 8 6
+f 7 8 17
+f 8 16 18
+f 8 18 19
+f 8 19 20
+f 8 20 21
+f 8 21 17
+f 9 22 10
+f 9 21 20
+f 9 20 19
+f 9 19 18
+f 9 18 26
+f 9 26 25
+f 9 25 22
+f 10 22 25
+f 10 25 23
+f 10 23 13
+f 10 13 12
+f 10 12 11
+f 13 15 14
+f 13 23 24
+f 13 24 15
+f 15 24 23
+f 15 23 25
+f 15 25 26
+f 15 26 18
+f 15 18 16
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_248.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_248.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af564d04ddc2c8eef5dff6dbb2b7eaf5d86aaf07
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_248.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.00319718 0.01845566 0.05869760
+v 0.00515081 0.01816902 0.05869760
+v 0.00522419 0.02265458 0.04559175
+v 0.00319718 0.02228545 0.04753230
+v 0.00319718 0.01065487 0.05869760
+v 0.00662785 0.01733847 0.05869760
+v 0.00527412 0.02267136 0.04546350
+v 0.00319718 0.02279301 0.04599463
+v 0.00319718 0.02278602 0.04603220
+v 0.00319718 0.01169237 0.05509631
+v 0.00706094 0.00859527 0.05869760
+v 0.00706094 0.01709098 0.05869760
+v 0.00706094 0.02133744 0.04640139
+v 0.00706094 0.02149684 0.04593893
+v 0.00706094 0.02166043 0.04546350
+v 0.00319718 0.02287970 0.04546350
+v 0.00319718 0.01504256 0.04546350
+v 0.00706094 0.00983411 0.05536446
+v 0.00706094 0.01352127 0.04546350
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 8
+f 1 8 16
+f 1 16 17
+f 1 17 10
+f 1 10 5
+f 1 5 11
+f 1 11 12
+f 1 12 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 3 8 9
+f 3 9 4
+f 5 10 11
+f 6 12 13
+f 6 13 7
+f 7 13 14
+f 7 14 15
+f 7 15 19
+f 7 19 17
+f 7 17 16
+f 7 16 8
+f 10 17 11
+f 11 17 18
+f 11 18 19
+f 11 19 15
+f 11 15 14
+f 11 14 13
+f 11 13 12
+f 17 19 18
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_249.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_249.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5651f43d08ec4d2d43a91e970b2166913d14065
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_249.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v -0.00001593 0.03119916 -0.04468353
+v -0.00001593 0.03832537 -0.04468353
+v 0.00546522 0.03142223 -0.04468353
+v 0.00546522 0.03244531 -0.03967415
+v -0.00001593 0.03438746 -0.03233414
+v 0.00214251 0.03888731 -0.04468353
+v -0.00001593 0.03897096 -0.04243511
+v 0.00343393 0.04025893 -0.04113320
+v 0.00546522 0.03864495 -0.04468353
+v 0.00546522 0.03283996 -0.03818849
+v 0.00546522 0.03443893 -0.03324318
+v 0.00545932 0.03505450 -0.03233414
+v -0.00001593 0.04156299 -0.03233414
+v 0.00515994 0.04025893 -0.04113320
+v -0.00001593 0.04040585 -0.03714406
+v 0.00206096 0.04070506 -0.03807366
+v 0.00222245 0.04195978 -0.03346802
+v 0.00546522 0.04005624 -0.04141486
+v 0.00546522 0.03504056 -0.03238974
+v 0.00546522 0.03814198 -0.03233414
+v 0.00108931 0.04185576 -0.03233414
+v -0.00001593 0.04135172 -0.03354659
+v 0.00546522 0.04182144 -0.03346802
+v 0.00546522 0.04033186 -0.04043329
+v 0.00546522 0.04019995 -0.04091924
+v 0.00222245 0.04215389 -0.03233414
+v 0.00463843 0.04205094 -0.03233414
+v 0.00546522 0.04201555 -0.03233414
+f 1 2 6
+f 1 6 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 13
+f 1 13 22
+f 1 22 15
+f 1 15 7
+f 1 7 2
+f 2 7 8
+f 2 8 6
+f 3 9 18
+f 3 18 25
+f 3 25 24
+f 3 24 23
+f 3 23 28
+f 3 28 20
+f 3 20 19
+f 3 19 11
+f 3 11 10
+f 3 10 4
+f 4 10 5
+f 5 10 11
+f 5 11 12
+f 5 12 20
+f 5 20 28
+f 5 28 27
+f 5 27 26
+f 5 26 21
+f 5 21 13
+f 6 8 14
+f 6 14 9
+f 7 15 8
+f 8 15 16
+f 8 16 17
+f 8 17 14
+f 9 14 18
+f 11 19 12
+f 12 19 20
+f 13 21 17
+f 13 17 22
+f 14 17 23
+f 14 23 24
+f 14 24 25
+f 14 25 18
+f 15 22 17
+f 15 17 16
+f 17 21 26
+f 17 26 27
+f 17 27 23
+f 23 27 28
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_25.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9410b8596138a63f0d7a9e4539cab832b9cf405f
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_25.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.00662635 -0.02683700 0.01443998
+v -0.00005540 -0.02683700 0.01799906
+v -0.00005540 -0.02573185 0.02002458
+v -0.00005540 -0.02479682 0.02193470
+v -0.00005540 -0.02139441 0.02903464
+v 0.00662635 -0.02599397 0.01624382
+v 0.00662635 -0.02683700 0.03091136
+v -0.00005540 -0.02683700 0.03434290
+v -0.00005540 -0.02047828 0.03100246
+v 0.00662635 -0.02013678 0.02880081
+v 0.00662635 -0.02170693 0.02543305
+v 0.00662635 -0.02133266 0.04546350
+v 0.00651713 -0.02136165 0.04546350
+v 0.00296368 -0.02229416 0.04546350
+v 0.00222265 -0.02248822 0.04546350
+v 0.00366155 -0.02683700 0.03258461
+v 0.00222265 -0.02683700 0.03338328
+v -0.00005540 -0.02280326 0.04546350
+v -0.00005540 -0.01938699 0.03338935
+v 0.00662635 -0.01844944 0.03250262
+v 0.00662635 -0.01396456 0.04546350
+v -0.00005540 -0.01527763 0.04546350
+v -0.00005540 -0.01858553 0.03537236
+v 0.00662635 -0.01746400 0.03472553
+v 0.00662635 -0.01843179 0.03254210
+v 0.00662635 -0.01646344 0.03764081
+v -0.00005540 -0.01687803 0.04022813
+v -0.00005540 -0.01561157 0.04436116
+v -0.00005540 -0.01745392 0.03850933
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 11
+f 1 11 10
+f 1 10 20
+f 1 20 25
+f 1 25 24
+f 1 24 26
+f 1 26 21
+f 1 21 12
+f 1 12 7
+f 1 7 16
+f 1 16 17
+f 1 17 8
+f 1 8 2
+f 2 8 18
+f 2 18 22
+f 2 22 28
+f 2 28 27
+f 2 27 29
+f 2 29 23
+f 2 23 19
+f 2 19 9
+f 2 9 5
+f 2 5 4
+f 2 4 3
+f 5 9 10
+f 5 10 11
+f 5 11 6
+f 7 12 13
+f 7 13 14
+f 7 14 15
+f 7 15 16
+f 8 17 15
+f 8 15 18
+f 9 19 10
+f 10 19 20
+f 12 21 22
+f 12 22 18
+f 12 18 15
+f 12 15 14
+f 12 14 13
+f 15 17 16
+f 19 23 24
+f 19 24 25
+f 19 25 20
+f 21 26 27
+f 21 27 28
+f 21 28 22
+f 23 29 24
+f 24 29 26
+f 26 29 27
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_250.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_250.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4760879c514982dbd38d565ca2049386b3559858
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_250.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v -0.03853473 -0.00006204 0.00877343
+v -0.03834352 -0.00006204 0.00951407
+v -0.03314706 -0.00006204 0.00877343
+v -0.03835091 -0.00080963 0.00877343
+v -0.03798645 -0.00218669 0.00877343
+v -0.03778679 -0.00174817 0.00991241
+v -0.03805406 -0.00006204 0.01055694
+v -0.03109763 -0.00006204 0.01097172
+v -0.03182760 -0.00318186 0.00877343
+v -0.03399218 -0.01659162 0.00877343
+v -0.03344602 -0.01659162 0.01089359
+v -0.03340904 -0.01659162 0.01102723
+v -0.03737268 -0.00006204 0.01292689
+v -0.03297064 -0.01514336 0.01391939
+v -0.02870064 -0.00006204 0.01402424
+v -0.02841330 -0.01659162 0.00877343
+v -0.03230404 -0.01659162 0.01401910
+v -0.03728922 -0.00006204 0.01315150
+v -0.03732197 -0.00015104 0.01301787
+v -0.03288718 -0.01524369 0.01402424
+v -0.03294528 -0.01508025 0.01402424
+v -0.03299705 -0.01492005 0.01402424
+v -0.03678532 -0.00006204 0.01402424
+v -0.02774248 -0.00729525 0.01402424
+v -0.02839851 -0.01659162 0.00880221
+v -0.03218995 -0.01659162 0.01402424
+v -0.02839851 -0.01659162 0.01402424
+f 1 2 7
+f 1 7 13
+f 1 13 18
+f 1 18 23
+f 1 23 15
+f 1 15 8
+f 1 8 3
+f 1 3 9
+f 1 9 16
+f 1 16 10
+f 1 10 5
+f 1 5 4
+f 1 4 2
+f 2 4 5
+f 2 5 6
+f 2 6 7
+f 3 8 9
+f 5 10 11
+f 5 11 12
+f 5 12 6
+f 6 13 7
+f 6 12 14
+f 6 14 13
+f 8 15 9
+f 9 15 16
+f 10 16 25
+f 10 25 27
+f 10 27 26
+f 10 26 17
+f 10 17 12
+f 10 12 11
+f 12 17 14
+f 13 14 19
+f 13 19 18
+f 14 17 20
+f 14 20 21
+f 14 21 22
+f 14 22 19
+f 15 23 22
+f 15 22 21
+f 15 21 20
+f 15 20 26
+f 15 26 27
+f 15 27 24
+f 15 24 25
+f 15 25 16
+f 17 26 20
+f 18 19 22
+f 18 22 23
+f 24 27 25
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_251.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_251.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c4319f6b17df84688e70eaec0d55731cc7e84e7
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_251.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v 0.00500255 0.04276034 -0.02457291
+v 0.00500255 0.03601725 -0.02457291
+v 0.00500255 0.04272600 -0.02291277
+v 0.00666102 0.04271054 -0.02457291
+v 0.00500255 0.03586786 -0.01097360
+v 0.02408058 0.02557035 -0.02457291
+v 0.02408058 0.02522006 -0.01124785
+v 0.00500255 0.04262812 -0.01846754
+v 0.00666662 0.04261095 -0.02013433
+v 0.00674133 0.04267792 -0.02457291
+v 0.02408058 0.02522006 -0.01124652
+v 0.00500441 0.03586786 -0.01097227
+v 0.00500255 0.03730852 -0.01097227
+v 0.02408058 0.03332825 -0.02457291
+v 0.00500255 0.04252853 -0.01402496
+v 0.00500255 0.04246500 -0.01124785
+v 0.00666662 0.04240662 -0.01124785
+v 0.00674133 0.04237742 -0.01124652
+v 0.01035709 0.04083374 -0.01124785
+v 0.01064098 0.04099000 -0.02457291
+v 0.02408058 0.03300887 -0.01124652
+v 0.00673946 0.03494920 -0.01097227
+v 0.00500255 0.04243581 -0.01097227
+v 0.02408058 0.03331795 -0.02409631
+v 0.00500255 0.04245469 -0.01114401
+v 0.00639394 0.04238773 -0.01097227
+v 0.00666662 0.04237571 -0.01097227
+v 0.00673946 0.04234652 -0.01097227
+v 0.01035709 0.04083203 -0.01124652
+v 0.01276636 0.03967298 -0.02013300
+f 1 2 5
+f 1 5 13
+f 1 13 23
+f 1 23 25
+f 1 25 16
+f 1 16 15
+f 1 15 8
+f 1 8 3
+f 1 3 4
+f 1 4 10
+f 1 10 20
+f 1 20 14
+f 1 14 6
+f 1 6 2
+f 2 6 7
+f 2 7 5
+f 3 8 4
+f 4 8 9
+f 4 9 10
+f 5 11 12
+f 5 12 13
+f 5 7 11
+f 6 14 24
+f 6 24 21
+f 6 21 11
+f 6 11 7
+f 8 15 9
+f 9 15 16
+f 9 16 17
+f 9 17 18
+f 9 18 19
+f 9 19 10
+f 10 19 20
+f 11 21 28
+f 11 28 22
+f 11 22 12
+f 12 22 28
+f 12 28 27
+f 12 27 26
+f 12 26 23
+f 12 23 13
+f 14 20 24
+f 16 25 17
+f 17 25 26
+f 17 26 27
+f 17 27 18
+f 18 27 28
+f 18 28 19
+f 19 28 29
+f 19 29 21
+f 19 21 24
+f 19 24 30
+f 19 30 20
+f 20 30 24
+f 21 29 28
+f 23 26 25
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_252.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_252.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec1080a872d6ce2b38b5c5d52e4c513caa77e6ad
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_252.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v 0.02722967 0.02068693 0.00354569
+v 0.02987631 0.01600619 0.00354569
+v 0.02722967 0.02787144 0.00354569
+v 0.02722967 0.02284922 -0.00321868
+v 0.03146870 0.01600752 -0.00487659
+v 0.03134310 0.01600619 -0.00314861
+v 0.03508525 0.01600619 0.00354569
+v 0.02776780 0.02757531 0.00354569
+v 0.02857637 0.02807953 0.00055716
+v 0.02722967 0.02859976 0.00122000
+v 0.02722967 0.02375895 -0.00487659
+v 0.03450862 0.01600619 -0.00487659
+v 0.03560138 0.01600619 0.00151019
+v 0.03443895 0.01863135 0.00354569
+v 0.02893940 0.02678563 0.00354569
+v 0.02924651 0.02846104 -0.00314861
+v 0.02722967 0.02953885 -0.00314861
+v 0.03014125 0.02653352 0.00186964
+v 0.03157595 0.02699239 -0.00314861
+v 0.02722967 0.02963222 -0.00487659
+v 0.03659421 0.01600619 -0.00487659
+v 0.03646312 0.01600619 -0.00271249
+v 0.03445362 0.02066825 0.00150937
+v 0.03391915 0.02070160 0.00354569
+v 0.03026959 0.02583321 0.00354569
+v 0.03165938 0.02705241 -0.00487659
+v 0.02932993 0.02850906 -0.00487659
+v 0.02752945 0.02947215 -0.00487659
+v 0.03291990 0.02360022 0.00354569
+v 0.03320593 0.02399906 0.00150937
+v 0.03367713 0.02466336 -0.00314861
+v 0.03523193 0.02066825 -0.00487659
+v 0.03518426 0.02066825 -0.00314861
+v 0.03372022 0.02472338 -0.00487659
+v 0.03466813 0.02221027 -0.00487659
+f 1 2 7
+f 1 7 14
+f 1 14 24
+f 1 24 29
+f 1 29 25
+f 1 25 15
+f 1 15 8
+f 1 8 3
+f 1 3 10
+f 1 10 17
+f 1 17 20
+f 1 20 11
+f 1 11 4
+f 1 4 2
+f 2 5 6
+f 2 6 12
+f 2 12 21
+f 2 21 22
+f 2 22 13
+f 2 13 7
+f 2 4 5
+f 3 8 9
+f 3 9 10
+f 4 11 5
+f 5 12 6
+f 5 11 20
+f 5 20 28
+f 5 28 27
+f 5 27 26
+f 5 26 34
+f 5 34 35
+f 5 35 32
+f 5 32 21
+f 5 21 12
+f 7 13 14
+f 8 15 9
+f 9 16 17
+f 9 17 10
+f 9 15 18
+f 9 18 19
+f 9 19 16
+f 13 22 23
+f 13 23 14
+f 14 23 24
+f 15 25 18
+f 16 19 26
+f 16 26 27
+f 16 27 28
+f 16 28 17
+f 17 28 20
+f 18 25 29
+f 18 29 19
+f 19 29 30
+f 19 30 31
+f 19 31 26
+f 21 32 33
+f 21 33 22
+f 22 33 23
+f 23 33 30
+f 23 30 29
+f 23 29 24
+f 26 31 34
+f 30 33 31
+f 31 33 34
+f 32 35 33
+f 33 35 34
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_253.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_253.obj
new file mode 100644
index 0000000000000000000000000000000000000000..225c91a04dac887e677013a1bd1e27548b6331f4
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_253.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.02139529 0.02852910 -0.01124311
+v -0.01607593 0.03076059 -0.01124311
+v -0.02139529 0.03635608 -0.01124311
+v -0.02139529 0.02884296 -0.02453356
+v -0.01607593 0.03775588 -0.01124311
+v -0.01608270 0.03110239 -0.02453356
+v -0.01607593 0.03103440 -0.02151276
+v -0.02000141 0.03672489 -0.01124311
+v -0.02139529 0.03635701 -0.01124701
+v -0.02139529 0.03664386 -0.02453356
+v -0.01607593 0.03775681 -0.01124701
+v -0.01607593 0.03170404 -0.02453356
+v -0.01999881 0.03672582 -0.01124701
+v -0.02139529 0.03651068 -0.01836188
+v -0.01999881 0.03701267 -0.02453356
+v -0.01607593 0.03784157 -0.01516936
+v -0.01607593 0.03804367 -0.02453356
+v -0.01607593 0.03793749 -0.01961208
+f 1 2 5
+f 1 5 8
+f 1 8 3
+f 1 3 9
+f 1 9 14
+f 1 14 10
+f 1 10 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
+f 2 7 12
+f 2 12 17
+f 2 17 18
+f 2 18 16
+f 2 16 11
+f 2 11 5
+f 3 8 9
+f 4 10 15
+f 4 15 17
+f 4 17 12
+f 4 12 6
+f 5 11 8
+f 6 12 7
+f 8 11 13
+f 8 13 9
+f 9 13 14
+f 10 14 15
+f 11 16 13
+f 13 16 18
+f 13 18 15
+f 13 15 14
+f 15 18 17
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_254.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_254.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8fea4373643d2f77ca7c2f1b1db8f04235e857a
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_254.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.02774103 -0.00729494 0.01402424
+v -0.02839812 -0.00729494 0.01380238
+v -0.02839812 -0.00729494 0.01402424
+v -0.02564621 -0.01166524 0.01402424
+v -0.02839812 -0.01659162 0.00880188
+v -0.02839812 -0.01206751 0.01121880
+v -0.02839812 -0.01659162 0.01402424
+v -0.02407563 -0.01659162 0.01402424
+v -0.02669976 -0.01659162 0.01084205
+f 1 2 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 5
+f 2 5 7
+f 2 7 3
+f 4 8 9
+f 4 9 5
+f 5 9 8
+f 5 8 7
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_255.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_255.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e0e355c79a1c25f6d7df42591bad632b31dac04
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_255.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.00010833 0.01523164 0.09985418
+v -0.00010833 0.01520286 0.09959657
+v -0.00245058 0.01513667 0.09985418
+v -0.00010833 0.00979565 0.09985418
+v -0.00010833 0.01517408 0.09934178
+v -0.00245058 0.01507912 0.09934178
+v -0.00276350 0.01500358 0.09936929
+v -0.00276350 0.01505466 0.09985418
+v -0.00276350 0.00978558 0.09985418
+v -0.00276350 0.00956760 0.09949091
+v -0.00276350 0.00788270 0.09666070
+v -0.00010833 0.00910788 0.09666070
+v -0.00010833 0.01453883 0.09666070
+v -0.00106607 0.01451365 0.09666070
+v -0.00230088 0.01448056 0.09666070
+v -0.00276350 0.01435897 0.09666070
+f 1 2 3
+f 1 3 8
+f 1 8 9
+f 1 9 4
+f 1 4 12
+f 1 12 13
+f 1 13 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 7
+f 3 7 8
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 5 13 14
+f 5 14 15
+f 5 15 6
+f 6 15 7
+f 7 15 16
+f 7 16 11
+f 7 11 10
+f 7 10 9
+f 7 9 8
+f 11 16 15
+f 11 15 14
+f 11 14 13
+f 11 13 12
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_256.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_256.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9051a13d5c0f5fe50214d6ce7d95ff8e5a15ac45
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_256.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.00214274 0.03888775 -0.04468353
+v -0.00001593 0.03832519 -0.04468353
+v 0.00487062 0.03867371 -0.04468353
+v 0.00222214 0.03829868 -0.04680012
+v -0.00001593 0.03773044 -0.04680012
+v -0.00001593 0.03119766 -0.04468353
+v 0.00487062 0.03807517 -0.04680012
+v 0.00487062 0.03154429 -0.04468353
+v 0.00487062 0.03715464 -0.04886480
+v 0.00487062 0.03646328 -0.05040535
+v 0.00222214 0.03658640 -0.05061299
+v -0.00001593 0.03630039 -0.05018766
+v 0.00487062 0.02982633 -0.04696422
+v -0.00001593 0.02185024 -0.05916140
+v 0.00487062 0.01959435 -0.06169996
+v 0.00487062 0.03157459 -0.05817678
+v 0.00222214 0.03512794 -0.05283507
+v -0.00001593 0.03484761 -0.05240975
+v -0.00001593 0.02015312 -0.06179038
+v 0.00487062 0.01953753 -0.06179038
+v 0.00487062 0.03143632 -0.05837772
+v 0.00222214 0.02905543 -0.06179038
+v -0.00001593 0.03115599 -0.05798086
+v 0.00012182 0.02862736 -0.06179038
+v -0.00001593 0.02859895 -0.06179038
+v 0.00487062 0.02860842 -0.06179038
+v 0.00370638 0.02884708 -0.06179038
+f 1 2 6
+f 1 6 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 12
+f 2 12 18
+f 2 18 23
+f 2 23 25
+f 2 25 19
+f 2 19 14
+f 2 14 6
+f 3 7 4
+f 3 8 13
+f 3 13 15
+f 3 15 20
+f 3 20 26
+f 3 26 21
+f 3 21 16
+f 3 16 10
+f 3 10 9
+f 3 9 7
+f 4 7 9
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 5
+f 6 13 8
+f 6 14 15
+f 6 15 13
+f 10 16 11
+f 11 16 17
+f 11 17 18
+f 11 18 12
+f 14 19 15
+f 15 19 20
+f 16 21 22
+f 16 22 17
+f 17 23 18
+f 17 22 24
+f 17 24 25
+f 17 25 23
+f 19 25 24
+f 19 24 22
+f 19 22 27
+f 19 27 26
+f 19 26 20
+f 21 26 27
+f 21 27 22
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_257.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_257.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5780aee690d6cc512db2d31521f2c4eb4adb818d
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_257.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.01624564 -0.03005533 0.00354568
+v 0.01624564 -0.03517738 0.00354568
+v 0.01624564 -0.03132092 -0.00314669
+v 0.00948836 -0.03162820 0.00354568
+v 0.01027189 -0.03784894 0.00020081
+v 0.01624564 -0.03564382 0.00150939
+v 0.00610881 -0.03801584 0.00354568
+v 0.01624564 -0.03132203 -0.00315194
+v 0.01150991 -0.03253014 -0.00315194
+v -0.00232644 -0.03612022 -0.00315194
+v 0.00569250 -0.03262630 0.00354568
+v 0.01157717 -0.03799152 -0.00315194
+v 0.01624564 -0.03644518 -0.00300640
+v 0.00699414 -0.03830654 0.00165624
+v 0.00220932 -0.03950802 0.00150939
+v 0.00686689 -0.03924495 -0.00314866
+v 0.00691234 -0.03923390 -0.00315194
+v 0.00224205 -0.03897636 0.00354568
+v 0.01624564 -0.03646729 -0.00315194
+v -0.00232644 -0.04134174 -0.00315194
+v -0.00232644 -0.03477504 0.00354568
+v -0.00232644 -0.04003968 0.00354568
+v -0.00232644 -0.04053154 0.00150939
+v -0.00232644 -0.04129642 -0.00264712
+v -0.00232644 -0.04134727 -0.00299197
+v 0.00686689 -0.03924495 -0.00315194
+f 1 2 6
+f 1 6 13
+f 1 13 19
+f 1 19 8
+f 1 8 3
+f 1 3 4
+f 1 4 11
+f 1 11 21
+f 1 21 22
+f 1 22 18
+f 1 18 7
+f 1 7 2
+f 2 5 6
+f 2 7 5
+f 3 8 4
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 5 12 13
+f 5 13 6
+f 5 7 14
+f 5 14 15
+f 5 15 16
+f 5 16 17
+f 5 17 12
+f 7 18 14
+f 8 19 12
+f 8 12 17
+f 8 17 26
+f 8 26 20
+f 8 20 10
+f 8 10 9
+f 10 20 25
+f 10 25 24
+f 10 24 23
+f 10 23 22
+f 10 22 21
+f 10 21 11
+f 12 19 13
+f 14 18 15
+f 15 22 23
+f 15 23 24
+f 15 24 16
+f 15 18 22
+f 16 24 25
+f 16 25 26
+f 16 26 17
+f 20 26 25
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_258.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_258.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e155a573ea4a8a5445654c0b54b057c89f42abea
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_258.obj
@@ -0,0 +1,132 @@
+# https://github.com/mikedh/trimesh
+v -0.02304640 0.00471725 0.04546350
+v -0.01471357 0.00471725 0.04546350
+v -0.02296628 0.00471725 0.04579753
+v -0.02281477 0.00558362 0.04546350
+v -0.01116920 0.00471725 0.05529067
+v -0.00816676 0.01342383 0.04546350
+v -0.00816676 0.01169267 0.04868870
+v -0.02237628 0.00471725 0.04815959
+v -0.02265744 0.00520914 0.04653015
+v -0.02240104 0.00629767 0.04546350
+v -0.01050490 0.00471725 0.05745624
+v -0.00816676 0.02092606 0.04546350
+v -0.00816676 0.00706725 0.05980146
+v -0.02219127 0.00471725 0.04868870
+v -0.02155756 0.00775273 0.04546350
+v -0.00984935 0.00471725 0.05980146
+v -0.00997609 0.02045003 0.04546350
+v -0.00816676 0.02067377 0.04627752
+v -0.00816676 0.01615307 0.05980146
+v -0.02206016 0.00471725 0.04906343
+v -0.01703132 0.00688953 0.05980146
+v -0.01952971 0.01122616 0.04546350
+v -0.01796075 0.00471725 0.05980146
+v -0.01105557 0.02016600 0.04546350
+v -0.01111093 0.01981850 0.04653015
+v -0.00816676 0.01811273 0.05447806
+v -0.00816676 0.01741614 0.05660573
+v -0.01249634 0.01738440 0.05247108
+v -0.01132362 0.01469166 0.05980146
+v -0.01829436 0.00471725 0.05925270
+v -0.01824920 0.00525675 0.05901270
+v -0.01743776 0.00618818 0.05980146
+v -0.01448048 0.01125790 0.05980146
+v -0.01827542 0.01337147 0.04546350
+v -0.01346364 0.01914730 0.04546350
+v -0.01363991 0.01802704 0.04950833
+v -0.01105411 0.01842532 0.05098339
+v -0.00953323 0.01796039 0.05378895
+v -0.01355833 0.01365074 0.05827868
+v -0.01447757 0.01126266 0.05980006
+v -0.01779322 0.01416644 0.04546350
+v -0.01442512 0.01866968 0.04546350
+v -0.01422117 0.01850307 0.04653015
+v -0.01495831 0.01814763 0.04546350
+v -0.01676181 0.01583254 0.04546350
+f 1 2 5
+f 1 5 11
+f 1 11 16
+f 1 16 23
+f 1 23 30
+f 1 30 20
+f 1 20 14
+f 1 14 8
+f 1 8 3
+f 1 3 4
+f 1 4 10
+f 1 10 15
+f 1 15 22
+f 1 22 34
+f 1 34 41
+f 1 41 45
+f 1 45 44
+f 1 44 42
+f 1 42 35
+f 1 35 24
+f 1 24 17
+f 1 17 12
+f 1 12 6
+f 1 6 2
+f 2 6 7
+f 2 7 5
+f 3 8 9
+f 3 9 4
+f 4 9 8
+f 4 8 10
+f 5 7 11
+f 6 12 18
+f 6 18 26
+f 6 26 27
+f 6 27 19
+f 6 19 13
+f 6 13 7
+f 7 13 11
+f 8 14 15
+f 8 15 10
+f 11 13 16
+f 12 17 18
+f 13 19 29
+f 13 29 33
+f 13 33 21
+f 13 21 32
+f 13 32 23
+f 13 23 16
+f 14 20 15
+f 15 20 21
+f 15 21 22
+f 17 24 18
+f 18 24 25
+f 18 25 26
+f 19 27 28
+f 19 28 29
+f 20 30 31
+f 20 31 32
+f 20 32 21
+f 21 33 22
+f 22 33 34
+f 23 32 31
+f 23 31 30
+f 24 35 36
+f 24 36 25
+f 25 36 37
+f 25 37 38
+f 25 38 26
+f 26 38 27
+f 27 38 28
+f 28 38 37
+f 28 37 36
+f 28 36 29
+f 29 39 40
+f 29 40 33
+f 29 36 39
+f 33 40 39
+f 33 39 41
+f 33 41 34
+f 35 42 43
+f 35 43 36
+f 36 43 44
+f 36 44 45
+f 36 45 39
+f 39 45 41
+f 42 44 43
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_259.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_259.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8bbb9e798c5117d6aaa8d8b1b0c4a78bee2a482
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_259.obj
@@ -0,0 +1,141 @@
+# https://github.com/mikedh/trimesh
+v -0.01553439 0.01971697 -0.04735193
+v -0.01748474 0.01971697 -0.04500989
+v -0.02912418 0.00676781 -0.04012631
+v -0.01553439 0.01671134 -0.04971348
+v -0.01553439 0.01971697 -0.05670706
+v -0.02173987 0.01971697 -0.04012631
+v -0.02649238 0.01136435 -0.04012631
+v -0.03553723 0.00676781 -0.04012631
+v -0.01776280 0.00676781 -0.05539075
+v -0.01770993 0.00676781 -0.05546449
+v -0.01553439 0.01177000 -0.05411347
+v -0.01553439 0.01965612 -0.05680031
+v -0.01558922 0.01971697 -0.05667237
+v -0.02841140 0.01971697 -0.04012631
+v -0.03333036 0.01094982 -0.04012631
+v -0.03287214 0.00928158 -0.04293675
+v -0.03352814 0.00676781 -0.04386056
+v -0.01553439 0.00676781 -0.05900790
+v -0.01553439 0.00883410 -0.05688272
+v -0.01553439 0.01817169 -0.05831179
+v -0.01939201 0.01945076 -0.05289909
+v -0.01975623 0.01971697 -0.05223768
+v -0.02762617 0.01971697 -0.04168550
+v -0.02800802 0.01826676 -0.04267653
+v -0.02863464 0.01934935 -0.04012631
+v -0.03319133 0.01120462 -0.04012631
+v -0.03200859 0.01238735 -0.04123227
+v -0.01892596 0.00930693 -0.06157113
+v -0.02224313 0.00676781 -0.05899489
+v -0.01553439 0.00676781 -0.05923343
+v -0.01553439 0.01671514 -0.05972352
+v -0.01654090 0.01614089 -0.05912934
+v -0.01801932 0.01241270 -0.06033072
+v -0.02094093 0.01971697 -0.05073270
+v -0.02529789 0.01971697 -0.04513350
+v -0.03038917 0.01598624 -0.04040172
+v -0.02985654 0.01717150 -0.04012631
+v -0.03227098 0.01285638 -0.04012631
+v -0.01553439 0.01535748 -0.06096177
+v -0.01553439 0.01332669 -0.06214146
+v -0.01966615 0.00676781 -0.06213279
+v -0.02071574 0.00676781 -0.06085551
+v -0.01626283 0.00676781 -0.06227590
+v -0.01553439 0.00721149 -0.06215663
+v -0.02480834 0.01971697 -0.04576671
+v -0.01553439 0.01119068 -0.06220652
+v -0.01645082 0.01105631 -0.06220652
+v -0.01629025 0.00676781 -0.06228025
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 19
+f 1 19 18
+f 1 18 30
+f 1 30 44
+f 1 44 46
+f 1 46 40
+f 1 40 39
+f 1 39 31
+f 1 31 20
+f 1 20 12
+f 1 12 5
+f 1 5 13
+f 1 13 22
+f 1 22 34
+f 1 34 45
+f 1 45 35
+f 1 35 23
+f 1 23 14
+f 1 14 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 6
+f 3 6 14
+f 3 14 25
+f 3 25 37
+f 3 37 38
+f 3 38 26
+f 3 26 15
+f 3 15 8
+f 3 8 17
+f 3 17 29
+f 3 29 42
+f 3 42 41
+f 3 41 48
+f 3 48 43
+f 3 43 30
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+f 3 18 10
+f 3 10 9
+f 3 9 4
+f 4 9 10
+f 4 10 11
+f 5 12 13
+f 8 15 16
+f 8 16 17
+f 10 18 19
+f 10 19 11
+f 12 20 21
+f 12 21 22
+f 12 22 13
+f 14 23 24
+f 14 24 25
+f 15 26 27
+f 15 27 16
+f 16 27 24
+f 16 24 28
+f 16 28 29
+f 16 29 17
+f 20 31 21
+f 21 31 32
+f 21 32 22
+f 22 32 33
+f 22 33 34
+f 23 35 24
+f 24 27 25
+f 24 35 28
+f 25 27 36
+f 25 36 37
+f 26 38 27
+f 27 38 36
+f 28 33 39
+f 28 39 40
+f 28 40 41
+f 28 41 42
+f 28 42 29
+f 28 35 33
+f 30 43 44
+f 31 39 32
+f 32 39 33
+f 33 35 45
+f 33 45 34
+f 36 38 37
+f 40 46 47
+f 40 47 41
+f 41 47 48
+f 43 48 46
+f 43 46 44
+f 46 48 47
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_26.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00174dd2f1a75d2aefec67f4c3697a9ee173e7a1
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_26.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v 0.00319961 0.01845547 0.05869760
+v 0.00512225 0.01815994 0.05877147
+v 0.00515230 0.01816796 0.05869760
+v 0.00319961 0.01065672 0.05869760
+v 0.00319961 0.01827628 0.05961311
+v 0.00319961 0.01690963 0.06632009
+v 0.00465447 0.01642555 0.06632009
+v 0.00666723 0.01575426 0.06632009
+v 0.00662861 0.01733888 0.05869760
+v 0.00319961 0.01031038 0.05986231
+v 0.00893034 0.00679345 0.05869760
+v 0.01015202 0.00479562 0.05888189
+v 0.00319961 0.00951071 0.06632009
+v 0.00990310 0.01391288 0.06632009
+v 0.01110619 0.01478476 0.05869760
+v 0.00319961 0.00959629 0.06430479
+v 0.00986591 0.00479562 0.05986231
+v 0.01731471 0.00679345 0.05869760
+v 0.01781254 0.00479562 0.05888189
+v 0.00919213 0.00479562 0.06631562
+v 0.00920357 0.00479562 0.06632009
+v 0.00926938 0.00479562 0.06430479
+v 0.01212330 0.01247536 0.06632009
+v 0.01344368 0.01340072 0.05869760
+v 0.01277276 0.01380858 0.05869760
+v 0.01722029 0.00713444 0.05869760
+v 0.01591708 0.00666775 0.06632009
+v 0.01641204 0.00479562 0.06632009
+v 0.01432918 0.01025555 0.06632009
+v 0.01398013 0.01274682 0.05869760
+v 0.01694420 0.00769742 0.05869760
+v 0.01517034 0.01126249 0.05869760
+v 0.01687267 0.00784318 0.05869760
+f 1 2 3
+f 1 3 9
+f 1 9 15
+f 1 15 25
+f 1 25 24
+f 1 24 30
+f 1 30 32
+f 1 32 33
+f 1 33 31
+f 1 31 26
+f 1 26 18
+f 1 18 11
+f 1 11 4
+f 1 4 10
+f 1 10 16
+f 1 16 13
+f 1 13 6
+f 1 6 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 3 8 9
+f 4 11 12
+f 4 12 10
+f 6 13 21
+f 6 21 28
+f 6 28 27
+f 6 27 29
+f 6 29 23
+f 6 23 14
+f 6 14 8
+f 6 8 7
+f 8 14 9
+f 9 14 15
+f 10 12 17
+f 10 17 16
+f 11 18 19
+f 11 19 12
+f 12 19 28
+f 12 28 21
+f 12 21 20
+f 12 20 22
+f 12 22 17
+f 13 20 21
+f 13 16 22
+f 13 22 20
+f 14 23 24
+f 14 24 25
+f 14 25 15
+f 16 17 22
+f 18 26 27
+f 18 27 19
+f 19 27 28
+f 23 29 24
+f 24 29 30
+f 26 31 29
+f 26 29 27
+f 29 32 30
+f 29 31 33
+f 29 33 32
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_260.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_260.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a1d5e7c2fbbb83223d9b0ab37d36f44e3d0fb45
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_260.obj
@@ -0,0 +1,147 @@
+# https://github.com/mikedh/trimesh
+v 0.00998159 0.00221638 0.08652456
+v 0.01640224 0.00221638 0.08652456
+v 0.00930375 0.00221638 0.08652663
+v 0.00890751 0.00339368 0.08652456
+v 0.01641508 0.00222300 0.08652456
+v 0.01641508 0.00221638 0.08652872
+v 0.00890751 0.00339368 0.08652872
+v 0.00959452 0.00221638 0.09079757
+v 0.00890751 0.01369436 0.08652456
+v 0.01522909 0.00666762 0.08652456
+v 0.01792485 0.00221638 0.09985979
+v 0.00890751 0.00608956 0.09985979
+v 0.01084562 0.00221638 0.09985979
+v 0.00890751 0.00663191 0.10249894
+v 0.00921570 0.01351843 0.08652456
+v 0.00890751 0.01531744 0.09980151
+v 0.01064750 0.01433460 0.09985979
+v 0.01397707 0.00977225 0.08652456
+v 0.01668108 0.00666762 0.09985979
+v 0.01802574 0.00221638 0.10078183
+v 0.01146751 0.00221638 0.10430347
+v 0.00890751 0.00719145 0.10430347
+v 0.01143816 0.01199456 0.08652872
+v 0.01143724 0.01199456 0.08652456
+v 0.01320109 0.01323932 0.10326488
+v 0.01286996 0.01300650 0.09985979
+v 0.00890751 0.01551851 0.10205770
+v 0.01472186 0.01078551 0.09985979
+v 0.01718097 0.00628665 0.10445541
+v 0.01769004 0.00423498 0.10307756
+v 0.01822111 0.00221638 0.10314000
+v 0.01257737 0.00221638 0.10731935
+v 0.00890751 0.00849442 0.10677404
+v 0.00890751 0.01572752 0.10441171
+v 0.01336160 0.01335176 0.10622664
+v 0.01458336 0.01149851 0.10456989
+v 0.01780469 0.00455113 0.10656383
+v 0.01780469 0.00455113 0.10603933
+v 0.01824496 0.00254179 0.10445541
+v 0.01827798 0.00221638 0.10444501
+v 0.01555471 0.00221638 0.10769817
+v 0.00890751 0.01111357 0.10759618
+v 0.00890751 0.01472086 0.10725484
+v 0.01336160 0.01335176 0.10654926
+v 0.01413208 0.01110960 0.10715285
+v 0.01573266 0.00628665 0.10744007
+v 0.01810096 0.00222300 0.10690308
+v 0.01810096 0.00221638 0.10690308
+v 0.01111071 0.01110960 0.10778558
+v 0.01111071 0.01394305 0.10705503
+f 1 2 6
+f 1 6 11
+f 1 11 20
+f 1 20 31
+f 1 31 40
+f 1 40 48
+f 1 48 41
+f 1 41 32
+f 1 32 21
+f 1 21 13
+f 1 13 8
+f 1 8 3
+f 1 3 4
+f 1 4 9
+f 1 9 15
+f 1 15 24
+f 1 24 18
+f 1 18 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 3 7 4
+f 3 8 7
+f 4 7 12
+f 4 12 14
+f 4 14 22
+f 4 22 33
+f 4 33 42
+f 4 42 43
+f 4 43 34
+f 4 34 27
+f 4 27 16
+f 4 16 9
+f 5 10 11
+f 5 11 6
+f 7 8 12
+f 8 13 14
+f 8 14 12
+f 9 16 17
+f 9 17 15
+f 10 18 19
+f 10 19 20
+f 10 20 11
+f 13 21 14
+f 14 21 22
+f 15 23 24
+f 15 17 25
+f 15 25 26
+f 15 26 23
+f 16 27 25
+f 16 25 17
+f 18 24 23
+f 18 23 26
+f 18 26 25
+f 18 25 28
+f 18 28 19
+f 19 28 29
+f 19 29 30
+f 19 30 20
+f 20 30 31
+f 21 32 33
+f 21 33 22
+f 25 27 34
+f 25 34 35
+f 25 35 28
+f 28 35 36
+f 28 36 29
+f 29 36 37
+f 29 37 38
+f 29 38 30
+f 30 38 39
+f 30 39 31
+f 31 39 40
+f 32 41 42
+f 32 42 33
+f 34 43 44
+f 34 44 35
+f 35 44 36
+f 36 44 37
+f 37 39 38
+f 37 44 45
+f 37 45 46
+f 37 46 47
+f 37 47 39
+f 39 47 40
+f 40 47 48
+f 41 46 49
+f 41 49 42
+f 41 48 47
+f 41 47 46
+f 42 49 43
+f 43 49 50
+f 43 50 44
+f 44 50 45
+f 45 50 49
+f 45 49 46
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_261.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_261.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12661c77adf1c5d2a82eca1a171ad9d68160af68
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_261.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.01015060 0.00479543 0.05888115
+v 0.01120908 -0.00000861 0.05888115
+v 0.01088640 -0.00000861 0.05986199
+v 0.00986429 0.00479543 0.05986199
+v 0.01781269 0.00479543 0.05888115
+v 0.01871823 -0.00000861 0.05888115
+v 0.01014220 -0.00000861 0.06430526
+v 0.00926931 0.00479543 0.06430526
+v 0.01641288 0.00479543 0.06632009
+v 0.01784160 0.00469291 0.05888115
+v 0.01856622 0.00208869 0.05888115
+v 0.01790595 0.00046210 0.06328510
+v 0.01790595 -0.00000861 0.06328510
+v 0.01005641 -0.00000861 0.06615480
+v 0.00919097 0.00479543 0.06631572
+v 0.01004895 -0.00000861 0.06632009
+v 0.01714123 0.00212490 0.06632009
+v 0.01832561 0.00296664 0.05888115
+v 0.00920309 0.00479543 0.06632009
+v 0.01729138 0.00027212 0.06632009
+v 0.01731096 -0.00000861 0.06632009
+v 0.00919657 0.00479025 0.06632009
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 15
+f 1 15 19
+f 1 19 9
+f 1 9 5
+f 1 5 10
+f 1 10 18
+f 1 18 11
+f 1 11 6
+f 1 6 2
+f 2 6 13
+f 2 13 21
+f 2 21 16
+f 2 16 14
+f 2 14 7
+f 2 7 3
+f 3 7 4
+f 4 7 8
+f 5 9 10
+f 6 11 12
+f 6 12 13
+f 7 14 8
+f 8 14 16
+f 8 16 15
+f 9 17 11
+f 9 11 18
+f 9 18 10
+f 9 19 22
+f 9 22 16
+f 9 16 21
+f 9 21 20
+f 9 20 17
+f 11 17 12
+f 12 17 20
+f 12 20 21
+f 12 21 13
+f 15 22 19
+f 15 16 22
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_262.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_262.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2c064ad54591560cad6f7e8d1c08991bd333820
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_262.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.00019873 -0.03250942 0.00851184
+v -0.00212022 -0.03274628 0.00851184
+v -0.00019873 -0.03826863 0.00851184
+v -0.00019873 -0.03430284 0.00354617
+v -0.00435496 -0.03460260 0.00354617
+v -0.00435496 -0.03385430 0.00633696
+v -0.00435496 -0.03343833 0.00851184
+v -0.00245097 -0.03882153 0.00851184
+v -0.00019873 -0.03888149 0.00621495
+v -0.00019873 -0.03952691 0.00354617
+v -0.00435496 -0.03994806 0.00354617
+v -0.00435496 -0.03858764 0.00851184
+v -0.00435496 -0.03977560 0.00426465
+v -0.00245057 -0.03943883 0.00616828
+v -0.00245057 -0.04006945 0.00354617
+f 1 2 7
+f 1 7 12
+f 1 12 8
+f 1 8 3
+f 1 3 9
+f 1 9 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 6 7
+f 2 5 6
+f 3 8 9
+f 4 10 15
+f 4 15 11
+f 4 11 5
+f 5 11 13
+f 5 13 12
+f 5 12 7
+f 5 7 6
+f 8 13 14
+f 8 14 9
+f 8 12 13
+f 9 14 10
+f 10 14 15
+f 11 15 13
+f 13 15 14
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_263.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_263.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c0d0b127a569f74815fdd9d62ab9aa7b50de6205
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_263.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.01967326 0.01291475 0.04436540
+v 0.01967326 0.01534587 0.04049237
+v 0.01939988 0.01291475 0.04546350
+v 0.01354923 0.01291371 0.04546350
+v 0.01967326 0.01291475 0.02577558
+v 0.01872381 0.01440667 0.04546350
+v 0.01967326 0.01889594 0.03427103
+v 0.00817145 0.01291371 0.04546350
+v 0.01354923 0.01291371 0.03844456
+v 0.01238427 0.01291371 0.03720919
+v 0.01747141 0.01291475 0.02873230
+v 0.00709270 0.02352754 0.02250354
+v 0.01967326 0.02352754 0.00756417
+v 0.01967326 0.02352754 0.02536751
+v 0.01570920 0.01670169 0.04546350
+v 0.00709270 0.01350383 0.04546350
+v 0.00969477 0.01291371 0.04228791
+v 0.00709270 0.01456667 0.04228791
+v 0.00709270 0.01623209 0.03750969
+v 0.00709270 0.02005644 0.02918118
+v 0.00709270 0.02038786 0.02852826
+v 0.00709270 0.02270158 0.02408021
+v 0.00709270 0.01739051 0.03464201
+v 0.00709270 0.01819050 0.03289840
+v 0.00709270 0.02352754 0.04019188
+v 0.00709270 0.02164290 0.04546350
+v 0.00725402 0.02155251 0.04546350
+v 0.01354923 0.01796505 0.04546350
+v 0.01360464 0.01793284 0.04546350
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 5
+f 1 5 13
+f 1 13 14
+f 1 14 7
+f 1 7 2
+f 2 6 3
+f 2 7 6
+f 3 6 15
+f 3 15 29
+f 3 29 28
+f 3 28 27
+f 3 27 26
+f 3 26 16
+f 3 16 8
+f 3 8 4
+f 4 8 17
+f 4 17 10
+f 4 10 9
+f 5 10 11
+f 5 11 12
+f 5 12 13
+f 5 9 10
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+f 8 16 17
+f 10 17 18
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+f 10 19 11
+f 11 20 21
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+f 11 23 24
+f 11 24 20
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+f 12 22 21
+f 12 21 20
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+f 12 18 16
+f 12 16 26
+f 12 26 25
+f 14 25 26
+f 14 26 27
+f 14 27 28
+f 14 28 29
+f 14 29 15
+f 16 18 17
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_264.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_264.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad6583828ae6409448472d3d6ea082079d9aecca
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_264.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.00629448 0.00669170 0.10233107
+v 0.00665888 0.00669170 0.09992964
+v 0.00674101 0.00658749 0.09985449
+v 0.00650818 0.00637820 0.10233107
+v 0.00984970 0.00669170 0.10233107
+v 0.00667036 0.00669170 0.09985449
+v 0.00985005 0.00276224 0.09985449
+v 0.00985005 0.00232829 0.10233107
+v 0.00984970 0.00669170 0.09985449
+v 0.00985005 0.00465735 0.10233107
+v 0.00985005 0.00465735 0.09985449
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 10
+f 1 10 5
+f 1 5 9
+f 1 9 6
+f 1 6 2
+f 2 6 3
+f 3 6 9
+f 3 9 11
+f 3 11 7
+f 3 7 4
+f 4 7 8
+f 5 10 11
+f 5 11 9
+f 7 11 10
+f 7 10 8
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_265.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_265.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4ee7fe75d319a3bbc415fae6264fef18405dcad
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_265.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.04253031 -0.00676474 -0.03220980
+v 0.04085577 -0.01058378 -0.03220980
+v 0.04080412 -0.01026982 -0.03346732
+v 0.04231181 -0.00676474 -0.03346732
+v 0.03490051 -0.00676474 -0.03220980
+v 0.03964406 -0.01273481 -0.03220980
+v 0.03596324 -0.01403735 -0.04234836
+v 0.04031348 -0.00943260 -0.03675652
+v 0.03468797 -0.02074000 -0.03346732
+v 0.03286643 -0.02321304 -0.03473774
+v 0.03169047 -0.02321304 -0.03869987
+v 0.03060589 -0.02321304 -0.04234836
+v 0.04184302 -0.00676474 -0.03516651
+v 0.03987249 -0.00859698 -0.03971918
+v 0.03208179 -0.00676474 -0.04217765
+v 0.02223913 -0.02321304 -0.04234836
+v 0.02542335 -0.02321304 -0.03220980
+v 0.03348420 -0.02321304 -0.03220980
+v 0.03322795 -0.02321304 -0.03351695
+v 0.03766559 -0.01111832 -0.04234836
+v 0.04089152 -0.00676474 -0.03859268
+v 0.03947919 -0.00767120 -0.04234836
+v 0.03984270 -0.00676474 -0.04234836
+v 0.03206988 -0.00676474 -0.04222231
+v 0.03204207 -0.00676474 -0.04234836
+f 1 2 3
+f 1 3 4
+f 1 4 13
+f 1 13 21
+f 1 21 23
+f 1 23 25
+f 1 25 24
+f 1 24 15
+f 1 15 5
+f 1 5 17
+f 1 17 18
+f 1 18 6
+f 1 6 2
+f 2 6 3
+f 3 7 8
+f 3 8 4
+f 3 6 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 7
+f 4 8 14
+f 4 14 13
+f 5 15 16
+f 5 16 17
+f 6 18 19
+f 6 19 9
+f 7 20 8
+f 7 12 16
+f 7 16 25
+f 7 25 23
+f 7 23 22
+f 7 22 20
+f 8 20 14
+f 9 19 10
+f 10 19 18
+f 10 18 17
+f 10 17 16
+f 10 16 12
+f 10 12 11
+f 13 14 21
+f 14 20 22
+f 14 22 23
+f 14 23 21
+f 15 24 16
+f 16 24 25
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_266.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_266.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c9120e9481158fa34e96648cd4f0b3125c72597
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_266.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.01617913 -0.02994555 -0.02800752
+v 0.01617913 -0.03072732 -0.02200346
+v 0.01617913 -0.03492493 -0.02801046
+v 0.01307434 -0.03040530 -0.02801046
+v 0.00686657 -0.03151193 -0.02801046
+v -0.00020525 -0.03277625 -0.02801046
+v -0.00232644 -0.03316096 -0.02801046
+v 0.01152375 -0.03159838 -0.02200346
+v 0.01617913 -0.03562026 -0.02200346
+v 0.01617913 -0.03524315 -0.02644682
+v 0.00561125 -0.03777179 -0.02501961
+v 0.00142503 -0.03789717 -0.02801046
+v -0.00232644 -0.03860485 -0.02801046
+v -0.00232644 -0.03465516 -0.02200346
+v 0.00666188 -0.03255873 -0.02200346
+v 0.00634669 -0.03791617 -0.02200346
+v 0.00220938 -0.03874544 -0.02200346
+v -0.00232644 -0.03964879 -0.02200346
+v -0.00232644 -0.03896581 -0.02644388
+v 0.00221663 -0.03808335 -0.02652032
+f 1 2 9
+f 1 9 10
+f 1 10 3
+f 1 3 4
+f 1 4 2
+f 2 4 5
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 15
+f 2 15 14
+f 2 14 18
+f 2 18 17
+f 2 17 16
+f 2 16 9
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 7
+f 3 7 6
+f 3 6 5
+f 3 5 4
+f 7 13 19
+f 7 19 18
+f 7 18 14
+f 7 14 15
+f 7 15 8
+f 9 16 10
+f 10 16 11
+f 11 16 17
+f 11 17 18
+f 11 18 19
+f 11 19 20
+f 11 20 12
+f 12 20 19
+f 12 19 13
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_267.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_267.obj
new file mode 100644
index 0000000000000000000000000000000000000000..706fc1507a7a494fdc65518bd95af12ba229090e
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_267.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v -0.01745146 0.01352903 0.02763467
+v -0.01745146 0.02057701 0.01813862
+v -0.01301750 0.02270622 0.01946848
+v -0.01649140 0.01352903 0.02928603
+v -0.01745146 0.01352903 0.04546350
+v -0.01745146 0.02270622 0.01560751
+v -0.01571147 0.02270622 0.01710689
+v -0.01301750 0.01597269 0.03111275
+v -0.01301750 0.02270622 0.03624804
+v -0.01583820 0.01352903 0.03044636
+v -0.01301750 0.01352903 0.04546350
+v -0.01745146 0.01472211 0.04546350
+v -0.01745146 0.02270622 0.03244261
+v -0.01301750 0.01489461 0.03315868
+v -0.01449621 0.02270622 0.03519877
+v -0.01301750 0.01933631 0.04546350
+v -0.01442893 0.01352903 0.03316161
+v -0.01301750 0.01352903 0.03593238
+v -0.01676267 0.01583344 0.04546350
+v -0.01495757 0.01814862 0.04546350
+v -0.01442503 0.01867059 0.04546350
+v -0.01346280 0.01914765 0.04546350
+v -0.01602961 0.02270622 0.03383384
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 17
+f 1 17 18
+f 1 18 11
+f 1 11 5
+f 1 5 12
+f 1 12 13
+f 1 13 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 8 4
+f 3 7 6
+f 3 6 13
+f 3 13 23
+f 3 23 15
+f 3 15 9
+f 3 9 16
+f 3 16 11
+f 3 11 18
+f 3 18 14
+f 3 14 8
+f 4 8 10
+f 5 11 16
+f 5 16 22
+f 5 22 21
+f 5 21 20
+f 5 20 19
+f 5 19 12
+f 8 14 10
+f 9 15 16
+f 10 14 17
+f 12 19 13
+f 13 19 20
+f 13 20 21
+f 13 21 22
+f 13 22 16
+f 13 16 23
+f 14 18 17
+f 15 23 16
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_268.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_268.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b949a90ededa4d3fa1f551bc7a005674fb6e35ee
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_268.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v 0.01174873 -0.03556385 -0.02801047
+v 0.01174873 -0.03510094 -0.03087785
+v 0.01461555 -0.03519232 -0.02801047
+v 0.01174873 -0.03068175 -0.02801047
+v 0.01174873 -0.03508588 -0.03095321
+v 0.01927320 -0.03441110 -0.02801047
+v 0.02009427 -0.02829391 -0.02801047
+v 0.02009427 -0.02663207 -0.03131061
+v 0.02008774 -0.02530561 -0.03563295
+v 0.01174873 -0.02908216 -0.03563295
+v 0.01174873 -0.03505576 -0.03110169
+v 0.01640802 -0.03430366 -0.03087711
+v 0.01640802 -0.03425044 -0.03110094
+v 0.02009427 -0.03424642 -0.02801047
+v 0.02009427 -0.02658688 -0.03172620
+v 0.02009427 -0.03174211 -0.03563295
+v 0.01174873 -0.03409179 -0.03563295
+v 0.01618335 -0.03429462 -0.03110169
+v 0.01174873 -0.03411589 -0.03553521
+v 0.01186066 -0.03406970 -0.03563295
+v 0.02009427 -0.03351140 -0.03108528
+v 0.02009427 -0.03209356 -0.03563295
+v 0.01465068 -0.03350537 -0.03563295
+v 0.01640802 -0.03326739 -0.03515393
+v 0.02009427 -0.03336982 -0.03166651
+v 0.01909265 -0.03302540 -0.03391386
+v 0.02009427 -0.03234560 -0.03493905
+v 0.01913840 -0.03238476 -0.03563295
+v 0.01587698 -0.03326940 -0.03558296
+v 0.01584512 -0.03326338 -0.03563295
+v 0.01640802 -0.03322924 -0.03530764
+v 0.02009427 -0.03324631 -0.03217314
+v 0.01805916 -0.03271311 -0.03563295
+f 1 2 3
+f 1 3 6
+f 1 6 14
+f 1 14 7
+f 1 7 4
+f 1 4 10
+f 1 10 17
+f 1 17 19
+f 1 19 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 4 7 8
+f 4 8 9
+f 4 9 10
+f 5 11 6
+f 6 11 12
+f 6 12 13
+f 6 13 14
+f 7 14 21
+f 7 21 25
+f 7 25 32
+f 7 32 27
+f 7 27 22
+f 7 22 16
+f 7 16 15
+f 7 15 8
+f 8 15 9
+f 9 15 16
+f 9 16 22
+f 9 22 28
+f 9 28 33
+f 9 33 30
+f 9 30 23
+f 9 23 20
+f 9 20 17
+f 9 17 10
+f 11 18 12
+f 11 19 18
+f 12 18 13
+f 13 19 20
+f 13 20 21
+f 13 21 14
+f 13 18 19
+f 17 20 19
+f 20 23 24
+f 20 24 21
+f 21 24 26
+f 21 26 25
+f 22 27 26
+f 22 26 28
+f 23 29 24
+f 23 30 29
+f 24 31 26
+f 24 29 31
+f 25 26 32
+f 26 33 28
+f 26 27 32
+f 26 31 30
+f 26 30 33
+f 29 30 31
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_269.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_269.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18ec4683c79037008884ae4d7eceaa8e41950dfa
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_269.obj
@@ -0,0 +1,126 @@
+# https://github.com/mikedh/trimesh
+v 0.04010387 -0.00274691 -0.02801273
+v 0.04007639 -0.00263370 -0.02801499
+v 0.03968518 -0.00105664 -0.02801499
+v 0.04007530 -0.00263442 -0.02801273
+v 0.03999947 -0.00539732 -0.02801273
+v 0.03723680 -0.00516087 -0.03832579
+v 0.03723680 -0.00459124 -0.03832579
+v 0.03770603 -0.00287445 -0.03568746
+v 0.03911484 -0.00005996 -0.02903723
+v 0.03768296 -0.00263442 -0.03557413
+v 0.03942144 -0.00005996 -0.02801499
+v 0.03464226 -0.00263442 -0.02801273
+v 0.03980057 -0.00723519 -0.02801273
+v 0.03768296 -0.00614250 -0.03576226
+v 0.03705108 -0.00737993 -0.03576226
+v 0.03580711 -0.00737993 -0.03885844
+v 0.03530820 -0.00737993 -0.04008014
+v 0.03553348 -0.00694214 -0.04009148
+v 0.03330598 -0.00728392 -0.04388351
+v 0.03366313 -0.00263442 -0.04442976
+v 0.03366423 -0.00262654 -0.04442976
+v 0.03742252 -0.00005996 -0.03435016
+v 0.03336422 -0.00005996 -0.04401951
+v 0.03431259 -0.00005996 -0.04214956
+v 0.03512029 -0.00005996 -0.04027507
+v 0.03844231 -0.00005996 -0.03115424
+v 0.03406643 -0.00005996 -0.02801499
+v 0.03395214 -0.00737993 -0.02801273
+v 0.03973024 -0.00737993 -0.02801273
+v 0.03797417 -0.00673076 -0.03406230
+v 0.03829286 -0.00737993 -0.03219008
+v 0.03328070 -0.00737993 -0.04384724
+v 0.02887735 -0.00674151 -0.05017335
+v 0.02887735 -0.00262654 -0.05116612
+v 0.02887735 -0.00133895 -0.05095306
+v 0.02887735 -0.00132892 -0.05095080
+v 0.02887735 -0.00005996 -0.05057227
+v 0.03386533 -0.00737993 -0.02801953
+v 0.02887735 -0.00005996 -0.04099359
+v 0.02887735 -0.00737850 -0.04011641
+v 0.02913670 -0.00737993 -0.04934377
+v 0.02887735 -0.00737993 -0.04968149
+v 0.02887735 -0.00737993 -0.04013001
+f 1 2 3
+f 1 3 4
+f 1 4 12
+f 1 12 28
+f 1 28 29
+f 1 29 13
+f 1 13 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 9 3
+f 2 8 10
+f 2 10 9
+f 3 11 4
+f 3 9 11
+f 4 11 27
+f 4 27 12
+f 5 13 6
+f 6 14 15
+f 6 15 16
+f 6 16 17
+f 6 17 18
+f 6 18 19
+f 6 19 20
+f 6 20 21
+f 6 21 7
+f 6 13 14
+f 7 22 10
+f 7 10 8
+f 7 21 23
+f 7 23 24
+f 7 24 25
+f 7 25 22
+f 9 10 26
+f 9 26 22
+f 9 22 25
+f 9 25 24
+f 9 24 23
+f 9 23 37
+f 9 37 39
+f 9 39 27
+f 9 27 11
+f 10 22 26
+f 12 27 28
+f 13 29 14
+f 14 30 15
+f 14 29 30
+f 15 30 31
+f 15 31 29
+f 15 29 28
+f 15 28 38
+f 15 38 43
+f 15 43 42
+f 15 42 41
+f 15 41 32
+f 15 32 17
+f 15 17 16
+f 17 32 18
+f 18 32 19
+f 19 32 33
+f 19 33 34
+f 19 34 20
+f 20 34 21
+f 21 34 35
+f 21 35 36
+f 21 36 37
+f 21 37 23
+f 27 38 28
+f 27 39 40
+f 27 40 38
+f 29 31 30
+f 32 41 33
+f 33 41 42
+f 33 42 43
+f 33 43 40
+f 33 40 39
+f 33 39 37
+f 33 37 36
+f 33 36 35
+f 33 35 34
+f 38 40 43
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_27.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9821da67bc0a6da63a81d0f8826f399b9a0a6f1
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_27.obj
@@ -0,0 +1,159 @@
+# https://github.com/mikedh/trimesh
+v -0.01622593 0.00203389 0.10400248
+v -0.01609419 0.00203389 0.10291909
+v -0.01602357 0.00095117 0.10291909
+v -0.01601406 0.00081813 0.10291909
+v -0.01595430 -0.00001532 0.10291909
+v -0.01607789 -0.00001532 0.10400248
+v -0.01560526 -0.00001532 0.10661209
+v -0.01537981 0.00203389 0.10865837
+v -0.01462198 0.00527897 0.10865837
+v -0.01471705 0.00543801 0.10752040
+v -0.01516251 0.00543801 0.10400248
+v -0.01493978 0.00581115 0.10291909
+v -0.00911205 -0.00001532 0.10291909
+v -0.01519918 -0.00001532 0.10883345
+v -0.01429603 -0.00001532 0.11111969
+v -0.01430553 0.00203389 0.11112690
+v -0.01418330 0.00453116 0.11104657
+v -0.01456765 0.00543801 0.10841019
+v -0.00948825 0.01371283 0.10652558
+v -0.01500769 0.00592891 0.10400248
+v -0.01461654 0.00635251 0.10291909
+v -0.00235265 -0.00001532 0.10604774
+v -0.00235129 0.00894613 0.10291909
+v -0.00832162 -0.00001532 0.11343991
+v -0.00834878 0.00106740 0.11343991
+v -0.00832841 0.00236574 0.11343991
+v -0.00705720 0.00434001 0.11343991
+v -0.00976531 0.00955019 0.11111351
+v -0.01038733 0.01120026 0.10830926
+v -0.01357622 0.00825644 0.10400248
+v -0.00795493 0.01265458 0.10962952
+v -0.00484753 0.01369142 0.11099920
+v -0.00668508 0.01397433 0.10830926
+v -0.00245179 0.01481083 0.10865837
+v -0.00245179 0.01560146 0.10400248
+v -0.00711017 0.01438264 0.10400248
+v -0.00950455 0.01372506 0.10400248
+v -0.01131358 0.01134860 0.10400248
+v -0.01351510 0.00813868 0.10291909
+v -0.00235265 -0.00001532 0.11343991
+v -0.00235129 0.00543801 0.10486239
+v -0.00235129 0.01548371 0.10291909
+v -0.00483938 0.00666295 0.11343991
+v -0.00949233 0.01371589 0.10291909
+v -0.00245179 0.01383823 0.11109291
+v -0.00277638 0.00803011 0.11343991
+v -0.00235129 0.01386422 0.11104039
+v -0.00235129 0.01481389 0.10865837
+v -0.00235129 0.01483224 0.10855745
+v -0.00235129 0.01560758 0.10400248
+v -0.00245179 0.01548065 0.10291909
+v -0.00235129 0.00543801 0.11343991
+v -0.00235129 0.01383976 0.11109394
+v -0.00235129 0.00803317 0.11343991
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 11
+f 1 11 12
+f 1 12 2
+f 2 12 21
+f 2 21 39
+f 2 39 44
+f 2 44 51
+f 2 51 42
+f 2 42 23
+f 2 23 13
+f 2 13 5
+f 2 5 4
+f 2 4 3
+f 5 13 22
+f 5 22 40
+f 5 40 24
+f 5 24 15
+f 5 15 14
+f 5 14 7
+f 5 7 6
+f 7 14 8
+f 8 14 15
+f 8 15 16
+f 8 16 17
+f 8 17 9
+f 9 18 10
+f 9 17 19
+f 9 19 18
+f 10 18 20
+f 10 20 11
+f 11 20 12
+f 12 20 21
+f 13 23 22
+f 15 24 25
+f 15 25 16
+f 16 25 26
+f 16 26 17
+f 17 26 27
+f 17 27 28
+f 17 28 29
+f 17 29 19
+f 18 19 30
+f 18 30 20
+f 19 29 28
+f 19 28 31
+f 19 31 32
+f 19 32 33
+f 19 33 34
+f 19 34 35
+f 19 35 36
+f 19 36 37
+f 19 37 38
+f 19 38 30
+f 20 30 21
+f 21 30 39
+f 22 23 41
+f 22 41 52
+f 22 52 40
+f 23 42 50
+f 23 50 49
+f 23 49 48
+f 23 48 47
+f 23 47 53
+f 23 53 54
+f 23 54 52
+f 23 52 41
+f 24 40 52
+f 24 52 54
+f 24 54 46
+f 24 46 43
+f 24 43 27
+f 24 27 26
+f 24 26 25
+f 27 43 28
+f 28 43 32
+f 28 32 31
+f 30 38 44
+f 30 44 39
+f 32 45 34
+f 32 34 33
+f 32 43 46
+f 32 46 45
+f 34 45 47
+f 34 47 48
+f 34 48 49
+f 34 49 50
+f 34 50 35
+f 35 50 51
+f 35 51 44
+f 35 44 36
+f 36 44 37
+f 37 44 38
+f 42 51 50
+f 45 46 53
+f 45 53 47
+f 46 54 53
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_270.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_270.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6e74458e59fd92796b2ff81ed565fffc0b8aef3
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_270.obj
@@ -0,0 +1,141 @@
+# https://github.com/mikedh/trimesh
+v 0.01763408 -0.00598478 0.10430231
+v 0.01753300 -0.00598478 0.10575265
+v 0.01339421 -0.01341984 0.10660116
+v 0.01339421 -0.01341984 0.10555913
+v 0.01328990 -0.01327592 0.10259466
+v 0.01744483 -0.00598478 0.10220337
+v 0.01647922 -0.00598478 0.10728804
+v 0.00666719 -0.01687085 0.10430231
+v 0.01152965 -0.01456698 0.10416621
+v 0.01402433 -0.01111064 0.10711154
+v 0.01111136 -0.01414267 0.10718384
+v 0.01442756 -0.01076416 0.09985774
+v 0.01665019 -0.00696027 0.09985774
+v 0.01721794 -0.00598478 0.09985774
+v 0.01084577 -0.01466293 0.09985774
+v 0.00975865 -0.01392625 0.08607530
+v 0.01198127 -0.01156267 0.08607530
+v 0.01359636 -0.00934196 0.08607530
+v 0.01375443 -0.00907224 0.08607530
+v 0.01596630 -0.00598478 0.10747093
+v 0.01562651 -0.00653382 0.10752197
+v 0.00664998 -0.01687618 0.10430231
+v 0.00666719 -0.01654035 0.09985774
+v 0.01111136 -0.01111064 0.10780055
+v 0.00666719 -0.01514375 0.10764956
+v 0.01514908 -0.00666709 0.08607530
+v 0.01530823 -0.00621612 0.08607530
+v 0.01538887 -0.00598478 0.08607530
+v 0.00666503 -0.01510750 0.08607530
+v 0.01561683 -0.00598478 0.10756663
+v 0.00664998 -0.01515974 0.10762618
+v 0.00664998 -0.01654568 0.09985774
+v 0.01209526 -0.00598478 0.10749858
+v 0.00664998 -0.01122898 0.10748370
+v 0.00664998 -0.01514694 0.10764744
+v 0.00685106 -0.00598478 0.08607530
+v 0.00664998 -0.01511176 0.08607530
+v 0.01145761 -0.00598478 0.10737099
+v 0.00664998 -0.00957011 0.10486373
+v 0.00664998 -0.00621825 0.08607530
+v 0.00664998 -0.00621719 0.08652827
+v 0.00685106 -0.00598478 0.08652827
+v 0.00987800 -0.00598478 0.10430231
+v 0.00664998 -0.00935582 0.10430231
+v 0.00664998 -0.00672359 0.09087927
+v 0.00717902 -0.00598478 0.09088991
+v 0.00894573 -0.00598478 0.09985774
+v 0.00664998 -0.00836434 0.09985774
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 14
+f 1 14 28
+f 1 28 36
+f 1 36 42
+f 1 42 46
+f 1 46 47
+f 1 47 43
+f 1 43 38
+f 1 38 33
+f 1 33 30
+f 1 30 20
+f 1 20 7
+f 1 7 2
+f 2 7 3
+f 3 8 9
+f 3 9 4
+f 3 7 10
+f 3 10 11
+f 3 11 8
+f 4 9 5
+f 5 12 13
+f 5 13 14
+f 5 14 6
+f 5 9 15
+f 5 15 16
+f 5 16 17
+f 5 17 18
+f 5 18 19
+f 5 19 12
+f 7 20 21
+f 7 21 10
+f 8 11 22
+f 8 22 32
+f 8 32 23
+f 8 23 15
+f 8 15 9
+f 10 21 24
+f 10 24 11
+f 11 24 25
+f 11 25 22
+f 12 19 13
+f 13 19 14
+f 14 19 26
+f 14 26 27
+f 14 27 28
+f 15 23 16
+f 16 29 37
+f 16 37 40
+f 16 40 36
+f 16 36 28
+f 16 28 27
+f 16 27 26
+f 16 26 19
+f 16 19 18
+f 16 18 17
+f 16 23 29
+f 20 30 21
+f 21 30 24
+f 22 25 31
+f 22 31 35
+f 22 35 34
+f 22 34 39
+f 22 39 44
+f 22 44 48
+f 22 48 45
+f 22 45 41
+f 22 41 40
+f 22 40 37
+f 22 37 32
+f 23 32 29
+f 24 30 33
+f 24 33 34
+f 24 34 25
+f 25 35 31
+f 25 34 35
+f 29 32 37
+f 33 38 34
+f 34 38 39
+f 36 40 41
+f 36 41 42
+f 38 43 39
+f 39 43 44
+f 41 45 46
+f 41 46 42
+f 43 47 48
+f 43 48 44
+f 45 48 46
+f 46 48 47
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_271.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_271.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d74daf7ec60c25464268c7239d0a11ce9d146b0c
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_271.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.04320915 -0.00677635 -0.02457570
+v 0.04320747 -0.00677635 -0.02446582
+v 0.04125207 -0.01103676 -0.02013327
+v 0.04105905 -0.01154518 -0.02439387
+v 0.04105737 -0.01154035 -0.02457570
+v 0.03585416 -0.00677635 -0.02457570
+v 0.04292046 -0.00677635 -0.01124708
+v 0.04114297 -0.01085173 -0.01124708
+v 0.04119836 -0.01094505 -0.01569083
+v 0.04092142 -0.01178973 -0.02457570
+v 0.03551511 -0.00677635 -0.01121307
+v 0.02644138 -0.02321304 -0.02457570
+v 0.02606373 -0.02321304 -0.01121307
+v 0.04291542 -0.00677635 -0.01121307
+v 0.04290367 -0.00680531 -0.01121307
+v 0.04114130 -0.01084852 -0.01121307
+v 0.03392562 -0.02321304 -0.01124708
+v 0.03425124 -0.02321304 -0.02457570
+v 0.03392058 -0.02321304 -0.01121307
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 18
+f 1 18 12
+f 1 12 6
+f 1 6 11
+f 1 11 14
+f 1 14 7
+f 1 7 2
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 3 9 10
+f 3 10 4
+f 4 10 5
+f 6 12 13
+f 6 13 11
+f 7 14 15
+f 7 15 16
+f 7 16 8
+f 8 16 17
+f 8 17 9
+f 9 17 18
+f 9 18 10
+f 11 13 19
+f 11 19 16
+f 11 16 15
+f 11 15 14
+f 12 18 17
+f 12 17 19
+f 12 19 13
+f 16 19 17
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_272.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_272.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fafc06cf5dafdf911d4bf80cf01165aacc034008
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_272.obj
@@ -0,0 +1,120 @@
+# https://github.com/mikedh/trimesh
+v 0.00684491 0.03606510 -0.04049264
+v 0.00969358 0.03447873 -0.04049264
+v 0.00684491 0.03603554 -0.04056716
+v 0.00684491 0.02939447 -0.04049264
+v 0.01172624 0.03334561 -0.04049264
+v 0.01220933 0.03289237 -0.04095249
+v 0.00693155 0.03595425 -0.04064806
+v 0.00684491 0.03549854 -0.04144426
+v 0.00684491 0.02938462 -0.04049903
+v 0.01183651 0.02650502 -0.04049264
+v 0.01220933 0.03306480 -0.04049264
+v 0.01220933 0.03223713 -0.04239375
+v 0.01011891 0.03285541 -0.04337517
+v 0.00684491 0.03340473 -0.04481856
+v 0.00684491 0.02111039 -0.05017698
+v 0.01220933 0.02629318 -0.04049264
+v 0.01220933 0.03004232 -0.04518685
+v 0.01220933 0.01761003 -0.06032754
+v 0.00934544 0.01842539 -0.06148140
+v 0.00686696 0.01912989 -0.06205407
+v 0.00684491 0.01914467 -0.06204555
+v 0.00684491 0.01749672 -0.05475410
+v 0.00915377 0.01831454 -0.05203550
+v 0.01220933 0.01742529 -0.05104557
+v 0.01220933 0.01557288 -0.06214348
+v 0.00684491 0.01913482 -0.06205620
+v 0.00684491 0.01497184 -0.05897995
+v 0.01220933 0.01090000 -0.05969526
+v 0.01220933 0.01129659 -0.05907362
+v 0.01220933 0.01142468 -0.05889692
+v 0.01220933 0.01409736 -0.05522458
+v 0.01220933 0.01507529 -0.06215414
+v 0.01114863 0.01599657 -0.06217330
+v 0.00684491 0.01585370 -0.06224142
+v 0.00838555 0.01320318 -0.06191570
+v 0.00838555 0.01320318 -0.06048508
+v 0.01220933 0.01090000 -0.05978255
+v 0.01220933 0.01152321 -0.06219671
+v 0.01190057 0.01153060 -0.06220523
+v 0.01220933 0.01119067 -0.06219671
+v 0.01220933 0.01104287 -0.06209026
+f 1 2 3
+f 1 3 8
+f 1 8 14
+f 1 14 21
+f 1 21 26
+f 1 26 34
+f 1 34 27
+f 1 27 22
+f 1 22 15
+f 1 15 9
+f 1 9 4
+f 1 4 10
+f 1 10 16
+f 1 16 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 7
+f 3 7 8
+f 4 9 10
+f 5 11 6
+f 6 11 16
+f 6 16 24
+f 6 24 31
+f 6 31 30
+f 6 30 29
+f 6 29 28
+f 6 28 37
+f 6 37 41
+f 6 41 40
+f 6 40 38
+f 6 38 32
+f 6 32 25
+f 6 25 18
+f 6 18 17
+f 6 17 12
+f 6 12 7
+f 7 12 13
+f 7 13 8
+f 8 13 14
+f 9 15 10
+f 10 15 16
+f 12 17 13
+f 13 17 18
+f 13 18 19
+f 13 19 14
+f 14 19 20
+f 14 20 21
+f 15 22 23
+f 15 23 24
+f 15 24 16
+f 18 25 19
+f 19 25 20
+f 20 25 26
+f 20 26 21
+f 22 27 28
+f 22 28 29
+f 22 29 30
+f 22 30 31
+f 22 31 23
+f 23 31 24
+f 25 32 33
+f 25 33 26
+f 26 33 34
+f 27 35 36
+f 27 36 28
+f 27 34 35
+f 28 36 35
+f 28 35 37
+f 32 38 33
+f 33 38 39
+f 33 39 34
+f 34 39 40
+f 34 40 35
+f 35 40 41
+f 35 41 37
+f 38 40 39
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_273.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_273.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e0c232832abe651810cdb058711166865c5d28d
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_273.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v 0.01872263 -0.00222166 0.10430222
+v 0.01827781 0.00221506 0.10444645
+v 0.01810080 0.00221506 0.10690251
+v 0.01830098 -0.00222166 0.10711781
+v 0.01830005 -0.00222862 0.10711781
+v 0.01872078 -0.00222862 0.10430222
+v 0.01832970 -0.00222862 0.09986878
+v 0.01832970 -0.00222166 0.09985833
+v 0.01794141 0.00060088 0.09631116
+v 0.01816104 0.00140384 0.09985833
+v 0.01822128 0.00221506 0.10314004
+v 0.01555418 0.00221506 0.10769681
+v 0.01555418 -0.00222166 0.10787657
+v 0.01555418 -0.00222862 0.10787657
+v 0.01832878 -0.00222862 0.09985833
+v 0.01671536 -0.00222166 0.08652873
+v 0.01641510 0.00221506 0.08652873
+v 0.01792473 0.00221506 0.09985833
+v 0.01802574 0.00221506 0.10078013
+v 0.01257756 0.00221506 0.10731847
+v 0.01258497 -0.00222862 0.10728502
+v 0.01671258 -0.00222862 0.08652873
+v 0.01671258 -0.00222818 0.08652456
+v 0.01671443 -0.00221905 0.08652456
+v 0.01640213 0.00221506 0.08652456
+v 0.01146828 0.00221506 0.10430222
+v 0.01145067 -0.00222862 0.10430222
+v 0.00925620 -0.00222862 0.08652456
+v 0.00998182 0.00221506 0.08652456
+v 0.01084552 0.00221506 0.09985833
+v 0.01078992 -0.00222862 0.09985833
+v 0.00930439 0.00221506 0.08652664
+v 0.00945359 0.00176704 0.08652456
+v 0.00925620 -0.00222862 0.08652873
+v 0.00959445 0.00221506 0.09079705
+v 0.00956109 -0.00222862 0.09093501
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 11
+f 1 11 2
+f 2 11 19
+f 2 19 18
+f 2 18 17
+f 2 17 25
+f 2 25 29
+f 2 29 32
+f 2 32 35
+f 2 35 30
+f 2 30 26
+f 2 26 20
+f 2 20 12
+f 2 12 3
+f 3 12 4
+f 4 12 13
+f 4 13 14
+f 4 14 5
+f 5 14 21
+f 5 21 27
+f 5 27 31
+f 5 31 36
+f 5 36 34
+f 5 34 28
+f 5 28 22
+f 5 22 15
+f 5 15 7
+f 5 7 6
+f 7 15 8
+f 8 15 16
+f 8 16 9
+f 9 16 17
+f 9 17 10
+f 10 17 18
+f 10 18 19
+f 10 19 11
+f 12 20 13
+f 13 20 14
+f 14 20 21
+f 15 22 23
+f 15 23 16
+f 16 23 24
+f 16 24 17
+f 17 24 25
+f 20 26 27
+f 20 27 21
+f 22 28 23
+f 23 28 33
+f 23 33 29
+f 23 29 25
+f 23 25 24
+f 26 30 31
+f 26 31 27
+f 28 32 33
+f 28 34 32
+f 29 33 32
+f 30 35 31
+f 31 35 36
+f 32 34 35
+f 34 36 35
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_274.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_274.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25aa24efbd7e7a974acf2fec458f80b5eef090ff
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_274.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.03566145 0.00678604 -0.02179415
+v -0.03598429 0.00443906 -0.02178835
+v -0.03571091 0.00669184 -0.02179415
+v -0.04150395 0.00678604 -0.02179415
+v -0.03627638 0.00678604 -0.00995232
+v -0.03860710 0.00443906 -0.02179415
+v -0.03667408 0.00443906 -0.01272874
+v -0.04227796 0.00500748 -0.02179415
+v -0.04150596 0.00678604 -0.02178255
+v -0.04189764 0.00678604 -0.00995232
+v -0.03635592 0.00663945 -0.00995232
+v -0.04228331 0.00443906 -0.02179415
+v -0.03707779 0.00542587 -0.00995232
+v -0.03767200 0.00443906 -0.00995232
+v -0.04228331 0.00499485 -0.02179415
+v -0.04228331 0.00499944 -0.02178255
+v -0.04237287 0.00523885 -0.01712465
+v -0.04155609 0.00678604 -0.02057345
+v -0.04197785 0.00662130 -0.00995232
+v -0.04233143 0.00443906 -0.01928551
+v -0.04248917 0.00443906 -0.00995232
+v -0.04248917 0.00554902 -0.00995232
+v -0.04244840 0.00544035 -0.01246675
+v -0.04237287 0.00443906 -0.01712465
+f 1 2 3
+f 1 3 6
+f 1 6 12
+f 1 12 15
+f 1 15 8
+f 1 8 4
+f 1 4 9
+f 1 9 18
+f 1 18 10
+f 1 10 5
+f 1 5 2
+f 2 6 3
+f 2 5 7
+f 2 7 14
+f 2 14 21
+f 2 21 24
+f 2 24 20
+f 2 20 12
+f 2 12 6
+f 4 8 9
+f 5 10 19
+f 5 19 22
+f 5 22 21
+f 5 21 14
+f 5 14 13
+f 5 13 11
+f 5 11 7
+f 7 11 13
+f 7 13 14
+f 8 15 16
+f 8 16 9
+f 9 16 17
+f 9 17 18
+f 10 18 19
+f 12 20 15
+f 15 20 17
+f 15 17 16
+f 17 22 23
+f 17 23 18
+f 17 20 24
+f 17 24 21
+f 17 21 22
+f 18 23 22
+f 18 22 19
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_275.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_275.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4bc885487b3296bebc9b431f1a683b5ce39bd0d8
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_275.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v -0.00316496 -0.01833411 0.10430320
+v -0.00316496 -0.01811815 0.10692585
+v -0.00483071 -0.01799155 0.10677269
+v -0.00490910 -0.01803624 0.10430320
+v -0.00316496 -0.01826957 0.10307581
+v -0.00316496 -0.01556140 0.10775881
+v -0.00645356 -0.01558747 0.10747766
+v -0.00714896 -0.01671815 0.10430320
+v -0.00714896 -0.01534172 0.10741472
+v -0.00467744 -0.01790716 0.10110567
+v -0.00316496 -0.01801514 0.10021816
+v -0.00714896 -0.01111812 0.10744199
+v -0.00316496 -0.01222646 0.10736646
+v -0.00714896 -0.01630981 0.09974399
+v -0.00385450 -0.01769740 0.09814312
+v -0.00316496 -0.01786744 0.09884599
+v -0.00714896 -0.01469136 0.08632861
+v -0.00678040 -0.01490112 0.08632861
+v -0.00666612 -0.01496566 0.08632861
+v -0.00316496 -0.01619935 0.08632861
+v -0.00696448 -0.01111812 0.10742730
+v -0.00714896 -0.01085003 0.10734547
+v -0.00316496 -0.01090464 0.10430320
+v -0.00714896 -0.00888407 0.10430320
+v -0.00316496 -0.01773836 0.09784729
+v -0.00714896 -0.00565586 0.08632861
+v -0.00316496 -0.00877112 0.08632861
+v -0.00714896 -0.00787378 0.09985938
+v -0.00714896 -0.00805374 0.10075948
+v -0.00316496 -0.01041563 0.10100076
+v -0.00714896 -0.00614115 0.09057520
+v -0.00714896 -0.00565462 0.08652793
+v -0.00316496 -0.00876988 0.08652793
+v -0.00316496 -0.01025801 0.09985938
+v -0.00714896 -0.00605178 0.08992898
+v -0.00316496 -0.00912112 0.09053744
+v -0.00316496 -0.00987698 0.09680242
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 16
+f 1 16 25
+f 1 25 20
+f 1 20 27
+f 1 27 33
+f 1 33 36
+f 1 36 37
+f 1 37 34
+f 1 34 30
+f 1 30 23
+f 1 23 13
+f 1 13 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 8 4
+f 3 7 9
+f 3 9 8
+f 4 8 10
+f 4 10 5
+f 5 10 11
+f 6 12 7
+f 6 13 12
+f 7 12 9
+f 8 9 12
+f 8 12 22
+f 8 22 24
+f 8 24 29
+f 8 29 28
+f 8 28 31
+f 8 31 35
+f 8 35 32
+f 8 32 26
+f 8 26 17
+f 8 17 14
+f 8 14 10
+f 10 15 16
+f 10 16 11
+f 10 14 17
+f 10 17 18
+f 10 18 19
+f 10 19 20
+f 10 20 15
+f 12 21 22
+f 12 13 21
+f 13 22 21
+f 13 23 24
+f 13 24 22
+f 15 25 16
+f 15 20 25
+f 17 26 27
+f 17 27 20
+f 17 20 19
+f 17 19 18
+f 23 28 29
+f 23 29 24
+f 23 30 31
+f 23 31 28
+f 26 32 33
+f 26 33 27
+f 30 34 35
+f 30 35 31
+f 32 35 36
+f 32 36 33
+f 34 37 35
+f 35 37 36
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_276.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_276.obj
new file mode 100644
index 0000000000000000000000000000000000000000..063e6504df27526075564139c8772166bf62faa8
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_276.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v -0.00662231 0.01524454 -0.05930633
+v -0.00017470 0.01657023 -0.05905223
+v -0.00662231 0.01544132 -0.05888807
+v -0.00662231 0.01601717 -0.06210823
+v -0.00017470 0.01693066 -0.06255348
+v -0.00017470 0.01797671 -0.05618512
+v -0.00662231 0.01736772 -0.05523616
+v -0.00662231 0.01876591 -0.06211723
+v -0.00245118 0.01693894 -0.06249951
+v -0.00017470 0.01969390 -0.06255348
+v -0.00017470 0.01957169 -0.05385544
+v -0.00662231 0.01752722 -0.05499330
+v -0.00662231 0.01904141 -0.06211723
+v -0.00245118 0.01956961 -0.06249951
+v -0.00017470 0.02202422 -0.05987751
+v -0.00017470 0.02189994 -0.05064428
+v -0.00662231 0.01921126 -0.05256244
+v -0.00662231 0.01896891 -0.05290649
+v -0.00245118 0.02189994 -0.05964814
+v -0.00662231 0.03283898 -0.04341915
+v -0.00245118 0.03343140 -0.04415673
+v -0.00017470 0.03356604 -0.04469867
+v -0.00662231 0.02146909 -0.04947944
+v -0.00017470 0.03029323 -0.03958059
+v -0.00250483 0.02966767 -0.03958059
+v -0.00662231 0.03418746 -0.04037889
+v -0.00017470 0.03597093 -0.04059476
+v -0.00662231 0.02884325 -0.03958059
+v -0.00017470 0.03640592 -0.03958059
+v -0.00662231 0.03441531 -0.03958059
+v -0.00162251 0.03596472 -0.03958059
+f 1 2 3
+f 1 3 7
+f 1 7 12
+f 1 12 18
+f 1 18 17
+f 1 17 23
+f 1 23 28
+f 1 28 30
+f 1 30 26
+f 1 26 20
+f 1 20 13
+f 1 13 8
+f 1 8 4
+f 1 4 5
+f 1 5 2
+f 2 6 3
+f 2 5 10
+f 2 10 15
+f 2 15 22
+f 2 22 27
+f 2 27 29
+f 2 29 24
+f 2 24 16
+f 2 16 11
+f 2 11 6
+f 3 6 7
+f 4 8 9
+f 4 9 5
+f 5 9 14
+f 5 14 10
+f 6 11 12
+f 6 12 7
+f 8 13 14
+f 8 14 9
+f 10 14 15
+f 11 16 17
+f 11 17 18
+f 11 18 12
+f 13 19 14
+f 13 20 21
+f 13 21 19
+f 14 19 15
+f 15 19 22
+f 16 23 17
+f 16 24 25
+f 16 25 23
+f 19 21 22
+f 20 26 27
+f 20 27 21
+f 21 27 22
+f 23 25 28
+f 24 29 31
+f 24 31 30
+f 24 30 28
+f 24 28 25
+f 26 30 31
+f 26 31 29
+f 26 29 27
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_277.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_277.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ecd3e2b4fbbf082cd22b7fd36dc3a2a75e0f86a4
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_277.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v -0.00001750 0.04212932 -0.02904898
+v -0.00001750 0.03504224 -0.02904898
+v -0.00001750 0.04175497 -0.03122936
+v -0.00545520 0.04026295 -0.03225530
+v -0.00222465 0.04154968 -0.02904898
+v -0.00001750 0.03265125 -0.03922475
+v -0.01607436 0.03083319 -0.02904898
+v -0.01607436 0.02842208 -0.03922475
+v -0.00001750 0.04135111 -0.03354620
+v -0.00628996 0.04048166 -0.02904898
+v -0.00238500 0.04070841 -0.03362887
+v -0.00101104 0.04026295 -0.03669874
+v -0.01607436 0.03715548 -0.03346652
+v -0.01607436 0.03791088 -0.02904898
+v -0.00001750 0.03982286 -0.03922475
+v -0.01607436 0.03562724 -0.03922475
+v -0.00001750 0.04040652 -0.03714397
+v -0.01110670 0.03694751 -0.03922475
+v -0.01607436 0.03606062 -0.03763404
+v -0.00001750 0.03997448 -0.03868688
+v -0.00979562 0.03729100 -0.03922475
+v -0.01487804 0.03595596 -0.03922475
+v -0.01422092 0.03612905 -0.03922475
+f 1 2 6
+f 1 6 15
+f 1 15 20
+f 1 20 17
+f 1 17 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 14
+f 1 14 7
+f 1 7 2
+f 2 7 8
+f 2 8 6
+f 3 9 4
+f 4 10 5
+f 4 9 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 10
+f 6 8 16
+f 6 16 22
+f 6 22 23
+f 6 23 18
+f 6 18 21
+f 6 21 15
+f 7 14 13
+f 7 13 19
+f 7 19 16
+f 7 16 8
+f 9 17 12
+f 9 12 11
+f 12 17 18
+f 12 18 19
+f 12 19 13
+f 15 21 20
+f 16 19 22
+f 17 20 21
+f 17 21 18
+f 18 23 19
+f 19 23 22
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_278.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_278.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ea085ac3bbe99a8cc6e8f7813f0f1c7be59ea65
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_278.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v 0.02101908 0.03138822 0.00354623
+v 0.02101908 0.02541354 0.00354623
+v 0.02101908 0.03063103 0.00603853
+v 0.02379103 0.02800682 0.00963882
+v 0.02472943 0.02854131 0.00616950
+v 0.02545027 0.02888774 0.00354623
+v 0.02102039 0.01994242 0.01331178
+v 0.02101908 0.02438415 0.00676031
+v 0.02880938 0.01874971 0.00354623
+v 0.02101908 0.02968082 0.00908817
+v 0.02102039 0.02907828 0.01103745
+v 0.02295093 0.02745872 0.01274392
+v 0.02540702 0.02660873 0.01104606
+v 0.02607019 0.02683762 0.00908912
+v 0.02705840 0.02717910 0.00616950
+v 0.02102039 0.02891991 0.01153744
+v 0.02776613 0.02757502 0.00354623
+v 0.02370453 0.01874971 0.01331178
+v 0.02102039 0.02831365 0.01331178
+v 0.02101908 0.02827901 0.00908817
+v 0.02722353 0.01874971 0.00652131
+v 0.03440833 0.01874971 0.00354623
+v 0.02277399 0.02733870 0.01331178
+v 0.02565866 0.02565975 0.01331178
+v 0.02879758 0.02376058 0.01331178
+v 0.02893782 0.02678442 0.00354623
+v 0.03139261 0.01874971 0.01331178
+v 0.03391685 0.02070209 0.00354623
+v 0.03319602 0.01874971 0.00823733
+v 0.03058133 0.02092480 0.01331178
+v 0.03223795 0.02235506 0.00787214
+v 0.03274778 0.02336342 0.00476609
+v 0.02931921 0.02416639 0.01082713
+v 0.03026679 0.02583297 0.00354623
+v 0.03202301 0.01874971 0.01192653
+v 0.03320388 0.02074787 0.00625936
+v 0.03291947 0.02360221 0.00354623
+v 0.03295748 0.01874971 0.00908912
+v 0.03165735 0.02074911 0.01089405
+v 0.03200466 0.02170798 0.00908912
+v 0.03257609 0.01874971 0.01036061
+v 0.03273730 0.01924956 0.00938548
+v 0.03278186 0.01939185 0.00908912
+v 0.03280676 0.01874971 0.00962257
+f 1 2 8
+f 1 8 20
+f 1 20 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 17
+f 1 17 26
+f 1 26 34
+f 1 34 37
+f 1 37 28
+f 1 28 22
+f 1 22 9
+f 1 9 2
+f 2 7 8
+f 2 9 7
+f 3 10 11
+f 3 11 4
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 4 15 5
+f 4 11 16
+f 4 16 12
+f 5 15 17
+f 5 17 6
+f 7 18 27
+f 7 27 30
+f 7 30 25
+f 7 25 24
+f 7 24 23
+f 7 23 19
+f 7 19 10
+f 7 10 20
+f 7 20 8
+f 7 9 21
+f 7 21 18
+f 9 22 29
+f 9 29 38
+f 9 38 44
+f 9 44 41
+f 9 41 35
+f 9 35 27
+f 9 27 18
+f 9 18 21
+f 10 19 16
+f 10 16 11
+f 12 23 24
+f 12 24 13
+f 12 16 19
+f 12 19 23
+f 13 24 25
+f 13 25 14
+f 14 25 15
+f 15 25 17
+f 17 25 26
+f 22 28 29
+f 25 30 31
+f 25 31 32
+f 25 32 33
+f 25 33 34
+f 25 34 26
+f 27 35 30
+f 28 36 29
+f 28 37 32
+f 28 32 36
+f 29 36 38
+f 30 35 39
+f 30 39 40
+f 30 40 31
+f 31 35 41
+f 31 41 42
+f 31 42 43
+f 31 43 36
+f 31 36 32
+f 31 40 35
+f 32 37 34
+f 32 34 33
+f 35 40 39
+f 36 43 38
+f 38 43 42
+f 38 42 44
+f 41 44 42
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_279.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_279.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3329d31b57e351c81939f95310e4daa070d64e7
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_279.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v -0.04196579 0.00678604 -0.00780772
+v -0.04191642 0.00678604 -0.00694697
+v -0.04137972 0.00791472 -0.00694697
+v -0.04138769 0.00797191 -0.00780772
+v -0.04127143 0.00733944 -0.02157835
+v -0.04188616 0.00678604 -0.01031408
+v -0.03629461 0.00678604 -0.00694697
+v -0.04102299 0.00859596 -0.00694697
+v -0.04129691 0.00756821 -0.01712420
+v -0.03791745 0.01458249 -0.00780772
+v -0.03920107 0.01135121 -0.02157835
+v -0.04131761 0.00723684 -0.02157835
+v -0.04155650 0.00678604 -0.02057295
+v -0.03567828 0.00678604 -0.02157835
+v -0.03628028 0.00680959 -0.00694697
+v -0.03789356 0.01454044 -0.00694697
+v -0.03774704 0.01429149 -0.01712420
+v -0.03913259 0.01148073 -0.02157835
+v -0.03286419 0.02321998 -0.00694697
+v -0.03242623 0.02397019 -0.00694697
+v -0.03286896 0.02322671 -0.00780772
+v -0.03226538 0.02397019 -0.01246668
+v -0.04151350 0.00678604 -0.02157835
+v -0.02569597 0.02396514 -0.02157835
+v -0.02753222 0.02207112 -0.00694697
+v -0.03764990 0.01412496 -0.02157835
+v -0.03379744 0.02107869 -0.01674610
+v -0.03638698 0.01661949 -0.01712420
+v -0.03243419 0.02397019 -0.00780772
+v -0.02648749 0.02397019 -0.00694697
+v -0.03237686 0.02397019 -0.00939174
+v -0.03210930 0.02397019 -0.01587676
+v -0.03273837 0.02300467 -0.01494009
+v -0.03118242 0.02397019 -0.02157835
+v -0.02585205 0.02397019 -0.01956181
+v -0.02670726 0.02356986 -0.00694697
+v -0.03394396 0.02045968 -0.02157835
+v -0.03173823 0.02397019 -0.02157835
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 13
+f 1 13 23
+f 1 23 14
+f 1 14 7
+f 1 7 2
+f 2 7 15
+f 2 15 25
+f 2 25 36
+f 2 36 30
+f 2 30 20
+f 2 20 19
+f 2 19 16
+f 2 16 8
+f 2 8 3
+f 3 8 4
+f 4 9 5
+f 4 8 10
+f 4 10 11
+f 4 11 9
+f 5 12 13
+f 5 13 6
+f 5 9 11
+f 5 11 18
+f 5 18 26
+f 5 26 37
+f 5 37 38
+f 5 38 34
+f 5 34 24
+f 5 24 14
+f 5 14 23
+f 5 23 12
+f 7 14 15
+f 8 16 10
+f 10 17 18
+f 10 18 11
+f 10 16 19
+f 10 19 20
+f 10 20 21
+f 10 21 22
+f 10 22 17
+f 12 23 13
+f 14 24 15
+f 15 24 25
+f 17 26 18
+f 17 22 27
+f 17 27 28
+f 17 28 26
+f 20 29 21
+f 20 30 35
+f 20 35 34
+f 20 34 38
+f 20 38 32
+f 20 32 22
+f 20 22 31
+f 20 31 29
+f 21 29 31
+f 21 31 22
+f 22 32 33
+f 22 33 27
+f 24 34 35
+f 24 35 30
+f 24 30 36
+f 24 36 25
+f 26 28 27
+f 26 27 37
+f 27 33 37
+f 32 38 37
+f 32 37 33
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_28.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..409e2ce510d80113645c3bdf35c0677e0f9a1453
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_28.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v 0.00641527 -0.01414927 0.09985416
+v 0.00641527 -0.01411950 0.09961573
+v 0.00734368 -0.01376760 0.09985416
+v 0.00641527 -0.00717635 0.09985416
+v 0.00641527 -0.01381362 0.09854989
+v 0.00708209 -0.01371617 0.09899080
+v 0.01027521 -0.01090643 0.09654487
+v 0.01065384 -0.01136795 0.09934165
+v 0.01067956 -0.01140314 0.09985416
+v 0.00994712 -0.00032253 0.09985416
+v 0.00764517 -0.00297527 0.09654487
+v 0.00641527 -0.00545207 0.09654487
+v 0.00641527 -0.01373106 0.09829395
+v 0.00695972 -0.01296637 0.09654487
+v 0.01264810 -0.00743892 0.09654487
+v 0.01298240 -0.00817790 0.09934165
+v 0.01300812 -0.00823339 0.09985416
+v 0.01541382 -0.00032253 0.09985416
+v 0.00908344 -0.00032253 0.09654487
+v 0.00641527 -0.01316262 0.09654487
+v 0.01402342 -0.00524634 0.09654487
+v 0.01316773 -0.00797759 0.09985416
+v 0.01437368 -0.00584998 0.09934165
+v 0.01440649 -0.00590547 0.09985416
+v 0.01547323 -0.00262744 0.09985416
+v 0.01535175 -0.00032253 0.09934165
+v 0.01470798 -0.00032253 0.09654487
+v 0.01473902 -0.00250563 0.09654487
+v 0.01541116 -0.00262744 0.09934165
+v 0.01482591 -0.00032253 0.09703859
+v 0.01472039 -0.00119008 0.09654487
+f 1 2 3
+f 1 3 9
+f 1 9 17
+f 1 17 22
+f 1 22 24
+f 1 24 25
+f 1 25 18
+f 1 18 10
+f 1 10 4
+f 1 4 12
+f 1 12 20
+f 1 20 13
+f 1 13 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 7
+f 3 7 8
+f 3 8 9
+f 4 10 11
+f 4 11 12
+f 5 13 6
+f 6 13 14
+f 6 14 7
+f 7 14 20
+f 7 20 12
+f 7 12 11
+f 7 11 19
+f 7 19 27
+f 7 27 31
+f 7 31 28
+f 7 28 21
+f 7 21 15
+f 7 15 16
+f 7 16 8
+f 8 16 17
+f 8 17 9
+f 10 18 26
+f 10 26 30
+f 10 30 27
+f 10 27 19
+f 10 19 11
+f 13 20 14
+f 15 21 16
+f 16 22 17
+f 16 21 23
+f 16 23 24
+f 16 24 22
+f 18 25 29
+f 18 29 26
+f 21 28 29
+f 21 29 23
+f 23 29 25
+f 23 25 24
+f 26 29 30
+f 27 30 29
+f 27 29 31
+f 28 31 29
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_280.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_280.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d854bdc7061ba716e979811c9c926f3cff150090
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_280.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.02546825 0.02418278 -0.01127745
+v -0.02574614 0.02418278 -0.02651368
+v -0.03335856 0.02418278 -0.01127745
+v -0.03552088 0.00677559 -0.01127745
+v -0.03574493 0.00677559 -0.02651368
+v -0.03362081 0.02418278 -0.02651368
+v -0.03346797 0.02418278 -0.01569096
+v -0.03337071 0.02416233 -0.01127745
+v -0.04292141 0.00677559 -0.01127745
+v -0.04315761 0.00677559 -0.02651368
+v -0.04002268 0.01337826 -0.02651368
+v -0.03368507 0.02418278 -0.02457764
+v -0.04119850 0.01094507 -0.01569096
+v -0.04113423 0.01086839 -0.01127745
+v -0.04115681 0.01082239 -0.01127745
+v -0.04320798 0.00677559 -0.02446727
+v -0.04320972 0.00677559 -0.02457317
+v -0.04103176 0.01149714 -0.02651368
+v -0.04105955 0.01154485 -0.02439418
+v -0.04002268 0.01337826 -0.02575299
+v -0.04125234 0.01103708 -0.02013430
+v -0.04114292 0.01085306 -0.01127745
+f 1 2 6
+f 1 6 12
+f 1 12 7
+f 1 7 3
+f 1 3 8
+f 1 8 14
+f 1 14 22
+f 1 22 15
+f 1 15 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 10
+f 2 10 18
+f 2 18 11
+f 2 11 6
+f 3 7 8
+f 4 9 16
+f 4 16 17
+f 4 17 10
+f 4 10 5
+f 6 11 12
+f 7 12 13
+f 7 13 14
+f 7 14 8
+f 9 15 16
+f 10 17 18
+f 11 18 19
+f 11 19 20
+f 11 20 12
+f 12 20 13
+f 13 20 19
+f 13 19 21
+f 13 21 16
+f 13 16 15
+f 13 15 22
+f 13 22 14
+f 16 21 17
+f 17 21 19
+f 17 19 18
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_281.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_281.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c630bb5a06a0ab2273e9c12adb6d7b1342ca02c
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_281.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.00685357 0.02783846 0.01396757
+v 0.01659816 0.02111450 0.01396757
+v 0.00685357 0.03596238 0.01396757
+v 0.00685357 0.03048127 0.01043947
+v 0.01602683 0.02525850 0.01043947
+v 0.02101908 0.02244114 0.01043947
+v 0.02084851 0.01941780 0.01396757
+v 0.01149359 0.03356396 0.01396757
+v 0.00685357 0.03614043 0.01346642
+v 0.00685357 0.03718778 0.01043947
+v 0.02101908 0.01935670 0.01396757
+v 0.02101908 0.02926286 0.01043947
+v 0.00820841 0.03637085 0.01082734
+v 0.00685357 0.03707606 0.01082734
+v 0.01323256 0.03264579 0.01396757
+v 0.00688547 0.03717207 0.01043947
+v 0.02101908 0.02809157 0.01396757
+v 0.01485226 0.03285351 0.01043947
+v 0.02101908 0.02907957 0.01103768
+v 0.00832490 0.03642671 0.01043947
+v 0.01401329 0.03240315 0.01342566
+v 0.02024944 0.02858033 0.01396757
+v 0.02101908 0.02891898 0.01153814
+v 0.01472330 0.03280812 0.01082734
+f 1 2 7
+f 1 7 11
+f 1 11 17
+f 1 17 22
+f 1 22 15
+f 1 15 8
+f 1 8 3
+f 1 3 9
+f 1 9 14
+f 1 14 10
+f 1 10 4
+f 1 4 2
+f 2 5 6
+f 2 6 7
+f 2 4 5
+f 3 8 9
+f 4 10 16
+f 4 16 20
+f 4 20 18
+f 4 18 12
+f 4 12 6
+f 4 6 5
+f 6 11 7
+f 6 12 19
+f 6 19 23
+f 6 23 17
+f 6 17 11
+f 8 13 14
+f 8 14 9
+f 8 15 13
+f 10 14 16
+f 12 18 19
+f 13 20 14
+f 13 15 21
+f 13 21 20
+f 14 20 16
+f 15 22 21
+f 17 23 22
+f 18 20 24
+f 18 24 19
+f 19 24 21
+f 19 21 23
+f 20 21 24
+f 21 22 23
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_282.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_282.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98259021c4f71bf9812caa798afd13989347de69
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_282.obj
@@ -0,0 +1,117 @@
+# https://github.com/mikedh/trimesh
+v -0.00001994 0.00013583 -0.06694533
+v 0.00880694 -0.00013983 -0.06694744
+v -0.00001994 0.00013583 -0.07368591
+v -0.01427818 0.00013583 -0.06652396
+v 0.00880694 -0.01115487 -0.06681353
+v 0.00880694 -0.00013983 -0.07368661
+v -0.01110721 0.00013583 -0.07368591
+v -0.01640285 0.00013583 -0.06652396
+v -0.00892579 -0.01085486 -0.06652396
+v 0.00880694 -0.01115487 -0.07367469
+v -0.00888877 -0.01102534 -0.06652396
+v -0.00885916 -0.01117369 -0.06652396
+v -0.00001994 -0.01117369 -0.06694744
+v 0.00880694 -0.00666582 -0.07368661
+v -0.00001747 -0.00013983 -0.07368661
+v -0.01110721 -0.00666582 -0.07368591
+v -0.01346631 0.00013583 -0.07368521
+v -0.01640285 0.00013583 -0.07356321
+v -0.01640285 -0.01117369 -0.06652396
+v 0.00666500 -0.01115487 -0.07368591
+v 0.00880694 -0.01110948 -0.07367680
+v -0.00001994 -0.01117369 -0.07368591
+v 0.00666500 -0.01110948 -0.07368661
+v -0.00001747 -0.01115487 -0.07368661
+v -0.01110721 -0.01110948 -0.07366207
+v -0.01555397 -0.00222327 -0.07366347
+v -0.01555397 0.00013583 -0.07367469
+v -0.00660370 -0.01117369 -0.07368591
+v -0.01640285 -0.00137528 -0.07355620
+v -0.01640285 -0.01117369 -0.07313623
+v 0.00222071 -0.01115487 -0.07368661
+v -0.01104552 -0.01117369 -0.07366067
+v -0.01555397 -0.01110948 -0.07344682
+v -0.01555397 -0.00666582 -0.07360248
+v -0.01640285 -0.00581783 -0.07344332
+v -0.01640285 -0.01110948 -0.07315586
+v -0.01557124 -0.01117369 -0.07342158
+v -0.01548981 -0.01117369 -0.07344192
+v -0.01640285 -0.01021388 -0.07320985
+v -0.01554903 -0.01117369 -0.07342860
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 17
+f 1 17 27
+f 1 27 18
+f 1 18 8
+f 1 8 4
+f 1 4 2
+f 2 5 10
+f 2 10 21
+f 2 21 14
+f 2 14 6
+f 2 4 5
+f 3 6 15
+f 3 15 7
+f 4 8 19
+f 4 19 12
+f 4 12 11
+f 4 11 9
+f 4 9 5
+f 5 9 11
+f 5 11 12
+f 5 12 13
+f 5 13 22
+f 5 22 10
+f 6 14 23
+f 6 23 31
+f 6 31 24
+f 6 24 15
+f 7 16 17
+f 7 15 24
+f 7 24 16
+f 8 18 29
+f 8 29 35
+f 8 35 39
+f 8 39 36
+f 8 36 30
+f 8 30 19
+f 10 20 21
+f 10 22 20
+f 12 19 30
+f 12 30 37
+f 12 37 40
+f 12 40 38
+f 12 38 32
+f 12 32 28
+f 12 28 22
+f 12 22 13
+f 14 21 23
+f 16 25 26
+f 16 26 27
+f 16 27 17
+f 16 24 28
+f 16 28 25
+f 18 27 29
+f 20 23 21
+f 20 22 31
+f 20 31 23
+f 22 28 24
+f 22 24 31
+f 25 28 32
+f 25 32 33
+f 25 33 34
+f 25 34 26
+f 26 34 29
+f 26 29 27
+f 29 34 35
+f 30 36 37
+f 32 38 33
+f 33 37 36
+f 33 36 39
+f 33 39 35
+f 33 35 34
+f 33 38 40
+f 33 40 37
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_283.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_283.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d48f11cfc153132fbed07d0a642f52bb1deb2b40
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_283.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.01377190 -0.00599868 -0.06652358
+v -0.01481203 -0.00599868 -0.06576066
+v -0.01236858 -0.00695551 -0.06652358
+v -0.01321604 -0.00796148 -0.06652396
+v -0.01640285 -0.00599868 -0.06652358
+v -0.01640285 -0.00599868 -0.06461343
+v -0.00892931 -0.01085477 -0.06652320
+v -0.01229255 -0.00953526 -0.06652396
+v -0.01640285 -0.00796148 -0.06652396
+v -0.01640285 -0.01084464 -0.06275350
+v -0.00886139 -0.01117337 -0.06652320
+v -0.01640285 -0.01117337 -0.06263669
+v -0.01229255 -0.01117337 -0.06652396
+v -0.01640285 -0.01117337 -0.06652396
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 5
+f 1 5 6
+f 1 6 2
+f 2 6 3
+f 3 7 8
+f 3 8 4
+f 3 6 7
+f 4 8 13
+f 4 13 14
+f 4 14 9
+f 5 9 14
+f 5 14 12
+f 5 12 10
+f 5 10 6
+f 6 10 7
+f 7 11 8
+f 7 10 12
+f 7 12 11
+f 8 11 13
+f 11 12 14
+f 11 14 13
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_284.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_284.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11f4e2fa0dac3cf8ea82a970ed0fd9fc844e2668
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_284.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v 0.04056614 -0.00005971 -0.02178026
+v 0.03562090 -0.00005971 -0.01921504
+v 0.03547193 -0.00005814 -0.02178026
+v 0.03907741 0.00668822 -0.02178026
+v 0.03923125 0.00669137 -0.01712250
+v 0.04094490 -0.00005971 -0.00909959
+v 0.03578058 -0.00005971 -0.00321830
+v 0.03103591 0.01602448 -0.02178026
+v 0.03577863 -0.00005499 -0.00320740
+v 0.03134749 0.01600401 -0.00320740
+v 0.03762860 0.01204752 -0.02178026
+v 0.03719434 0.01385179 -0.02054220
+v 0.03800346 0.01134848 -0.01712250
+v 0.03815535 0.01134848 -0.01246838
+v 0.03830724 0.01134848 -0.00780880
+v 0.03941138 0.00669137 -0.00780880
+v 0.04098190 -0.00005971 -0.00780880
+v 0.03580005 -0.00005971 -0.00320740
+v 0.03628981 0.01602448 -0.02178026
+v 0.03155293 0.01602448 -0.01166118
+v 0.03648941 0.01600401 -0.00320740
+v 0.03649914 0.01540574 -0.02178026
+v 0.03725568 0.01407693 -0.01712250
+v 0.03733260 0.01435560 -0.01246838
+v 0.03740855 0.01463113 -0.00780880
+v 0.03734623 0.01440599 -0.00397278
+v 0.03923709 0.00675119 -0.00320740
+v 0.03925170 0.00669137 -0.00320740
+v 0.04081151 -0.00005971 -0.00320740
+v 0.03661696 0.01602448 -0.01166118
+v 0.03677859 0.01600401 -0.00780880
+v 0.03681461 0.01535850 -0.00320740
+v 0.03728976 0.01422020 -0.00320740
+v 0.03767728 0.01282842 -0.00320740
+f 1 2 3
+f 1 3 8
+f 1 8 19
+f 1 19 22
+f 1 22 11
+f 1 11 4
+f 1 4 5
+f 1 5 6
+f 1 6 17
+f 1 17 29
+f 1 29 18
+f 1 18 7
+f 1 7 2
+f 2 7 3
+f 3 7 9
+f 3 9 10
+f 3 10 8
+f 4 11 12
+f 4 12 13
+f 4 13 5
+f 5 13 14
+f 5 14 15
+f 5 15 16
+f 5 16 17
+f 5 17 6
+f 7 18 9
+f 8 10 20
+f 8 20 30
+f 8 30 19
+f 9 18 29
+f 9 29 28
+f 9 28 27
+f 9 27 34
+f 9 34 33
+f 9 33 32
+f 9 32 21
+f 9 21 10
+f 10 21 30
+f 10 30 20
+f 11 22 12
+f 12 19 23
+f 12 23 13
+f 12 22 19
+f 13 23 24
+f 13 24 14
+f 14 24 15
+f 15 25 26
+f 15 26 27
+f 15 27 28
+f 15 28 16
+f 15 24 25
+f 16 28 17
+f 17 28 29
+f 19 30 31
+f 19 31 25
+f 19 25 24
+f 19 24 23
+f 21 32 26
+f 21 26 31
+f 21 31 30
+f 25 31 26
+f 26 32 33
+f 26 33 34
+f 26 34 27
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_285.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_285.obj
new file mode 100644
index 0000000000000000000000000000000000000000..957e332d43e43f138ba15a23b30b611370a56864
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_285.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v -0.03891653 0.01052074 -0.03922475
+v -0.03797891 0.01052074 -0.04235552
+v -0.03088757 0.01052074 -0.03922475
+v -0.03864932 0.01102457 -0.03922475
+v -0.03766850 0.01111229 -0.04235552
+v -0.03636928 0.01108529 -0.04645689
+v -0.03665248 0.01052074 -0.04645844
+v -0.02766190 0.01052074 -0.04715728
+v -0.02257059 0.02416891 -0.03922475
+v -0.03628448 0.01507763 -0.03922475
+v -0.03596287 0.01403400 -0.04235552
+v -0.03560606 0.01342446 -0.04474708
+v -0.03565566 0.01190400 -0.04715728
+v -0.03627488 0.01075016 -0.04715728
+v -0.03634048 0.01052074 -0.04715728
+v -0.02476744 0.01546449 -0.04715728
+v -0.02257059 0.03349410 -0.03922475
+v -0.02257059 0.01925215 -0.04715728
+v -0.03232279 0.02024405 -0.04240366
+v -0.02860592 0.02822647 -0.03922475
+v -0.03518685 0.01271372 -0.04715728
+v -0.03091316 0.02188597 -0.04391702
+v -0.02708589 0.02738302 -0.04584658
+v -0.02686508 0.02700290 -0.04715728
+v -0.02257059 0.03164301 -0.04679932
+v -0.02282020 0.03147207 -0.04715728
+v -0.02291300 0.03152830 -0.04679932
+v -0.02467944 0.03261691 -0.03922475
+v -0.02257059 0.03151480 -0.04715728
+v -0.02744749 0.03020577 -0.03922475
+v -0.02665868 0.03110095 -0.04011693
+v -0.02762670 0.02830744 -0.04235552
+v -0.02617067 0.03052965 -0.04235552
+v -0.02542025 0.02881801 -0.04715728
+v -0.02539305 0.02887424 -0.04711612
+v -0.02576586 0.03192866 -0.03922475
+v -0.02679148 0.03127414 -0.03922475
+f 1 2 7
+f 1 7 15
+f 1 15 8
+f 1 8 3
+f 1 3 9
+f 1 9 17
+f 1 17 28
+f 1 28 36
+f 1 36 37
+f 1 37 30
+f 1 30 20
+f 1 20 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 3 8 9
+f 4 10 5
+f 5 10 11
+f 5 11 12
+f 5 12 6
+f 6 12 13
+f 6 13 14
+f 6 14 7
+f 7 14 15
+f 8 15 14
+f 8 14 13
+f 8 13 21
+f 8 21 24
+f 8 24 34
+f 8 34 26
+f 8 26 29
+f 8 29 18
+f 8 18 16
+f 8 16 9
+f 9 16 18
+f 9 18 29
+f 9 29 25
+f 9 25 17
+f 10 19 11
+f 10 20 19
+f 11 19 12
+f 12 21 13
+f 12 19 22
+f 12 22 23
+f 12 23 24
+f 12 24 21
+f 17 25 26
+f 17 26 27
+f 17 27 28
+f 19 20 22
+f 20 30 31
+f 20 31 32
+f 20 32 22
+f 22 32 23
+f 23 32 31
+f 23 31 24
+f 24 31 33
+f 24 33 34
+f 25 29 26
+f 26 34 35
+f 26 35 33
+f 26 33 31
+f 26 31 27
+f 27 36 28
+f 27 31 36
+f 30 37 31
+f 31 37 36
+f 33 35 34
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_286.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_286.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41ccb7fc8de29a030074dd45f938b0a12ebf8794
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_286.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v -0.02345913 0.02773912 -0.01971518
+v -0.02346440 0.02774275 -0.01964586
+v -0.02361814 0.02809301 -0.00432252
+v -0.02470310 0.02633524 -0.00432252
+v -0.02619042 0.02397096 -0.00432252
+v -0.02575380 0.02410534 -0.01971518
+v -0.02366470 0.02774275 -0.01971518
+v -0.02392035 0.02809301 -0.00995067
+v -0.02982570 0.02809301 -0.00432252
+v -0.03229607 0.02397096 -0.00432252
+v -0.02645485 0.02397056 -0.00995369
+v -0.02583989 0.02397056 -0.01971518
+v -0.02971149 0.02774275 -0.01971518
+v -0.02625982 0.02809301 -0.00995369
+v -0.02984942 0.02809301 -0.00467211
+v -0.03241027 0.02397096 -0.00569226
+v -0.03235581 0.02397056 -0.00995369
+v -0.03185769 0.02397056 -0.01971518
+v -0.03210806 0.02397056 -0.01587719
+v -0.02987401 0.02774275 -0.01699227
+v -0.02994693 0.02809301 -0.00995369
+v -0.03002512 0.02809301 -0.00780790
+v -0.03243399 0.02397096 -0.00780790
+v -0.03015162 0.02774275 -0.00995369
+v -0.03005938 0.02774275 -0.01246563
+v -0.03226268 0.02397056 -0.01246563
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 12
+f 1 12 18
+f 1 18 13
+f 1 13 7
+f 1 7 2
+f 2 7 8
+f 2 8 3
+f 3 8 14
+f 3 14 21
+f 3 21 22
+f 3 22 15
+f 3 15 9
+f 3 9 10
+f 3 10 5
+f 3 5 4
+f 5 10 17
+f 5 17 11
+f 5 11 12
+f 5 12 6
+f 7 13 21
+f 7 21 14
+f 7 14 8
+f 9 15 16
+f 9 16 10
+f 10 16 17
+f 11 17 26
+f 11 26 19
+f 11 19 18
+f 11 18 12
+f 13 18 19
+f 13 19 20
+f 13 20 21
+f 15 22 16
+f 16 22 23
+f 16 23 17
+f 17 23 24
+f 17 24 25
+f 17 25 26
+f 19 26 20
+f 20 26 25
+f 20 25 21
+f 21 25 24
+f 21 24 22
+f 22 24 23
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_287.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_287.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50861cb32295195061b2ed2e3d97d64903e10e87
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_287.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v -0.02291796 -0.02809481 -0.03116274
+v -0.02291796 -0.02189005 -0.03116274
+v -0.02291796 -0.02676351 -0.03580590
+v -0.01899483 -0.02838984 -0.03849971
+v -0.02108738 -0.02919378 -0.03116274
+v -0.02291796 -0.01841612 -0.04017297
+v -0.00689447 -0.03134931 -0.03116274
+v -0.02291796 -0.02541008 -0.04017297
+v -0.02073444 -0.02671372 -0.04017297
+v -0.01017603 -0.03334443 -0.03927768
+v -0.01104034 -0.03385888 -0.03575915
+v -0.01250073 -0.03411334 -0.03116274
+v -0.00753133 -0.02789936 -0.04017297
+v -0.00689447 -0.03724983 -0.03116274
+v -0.00689447 -0.02832899 -0.04016592
+v -0.00690074 -0.02832161 -0.04017297
+v -0.01118779 -0.03236347 -0.04017297
+v -0.00839878 -0.03392157 -0.04017297
+v -0.00689447 -0.03576917 -0.03660946
+v -0.00689447 -0.03606973 -0.03565330
+v -0.00689447 -0.03611214 -0.03550247
+v -0.00689447 -0.03702672 -0.03204127
+v -0.00799407 -0.03665241 -0.03116274
+v -0.00689447 -0.03134194 -0.04017297
+v -0.00735564 -0.03442496 -0.04017297
+v -0.00689447 -0.03448028 -0.04017297
+f 1 2 6
+f 1 6 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 23
+f 1 23 14
+f 1 14 7
+f 1 7 2
+f 2 7 6
+f 3 8 4
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 5
+f 5 11 12
+f 6 13 16
+f 6 16 24
+f 6 24 26
+f 6 26 25
+f 6 25 18
+f 6 18 17
+f 6 17 9
+f 6 9 8
+f 6 7 13
+f 7 14 22
+f 7 22 21
+f 7 21 20
+f 7 20 19
+f 7 19 26
+f 7 26 24
+f 7 24 15
+f 7 15 16
+f 7 16 13
+f 9 17 10
+f 10 17 18
+f 10 18 19
+f 10 19 20
+f 10 20 21
+f 10 21 11
+f 11 21 22
+f 11 22 14
+f 11 14 23
+f 11 23 12
+f 15 24 16
+f 18 25 19
+f 19 25 26
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_288.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_288.obj
new file mode 100644
index 0000000000000000000000000000000000000000..218c29811874dcbf4950b0c5312e9e6e6e5c21c2
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_288.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.03370720 -0.02321304 -0.03107113
+v 0.03144550 -0.02724457 -0.03107113
+v 0.03136788 -0.02711166 -0.03211981
+v 0.03322810 -0.02321304 -0.03351843
+v 0.02571229 -0.02321304 -0.03107113
+v 0.03016744 -0.02926684 -0.03107113
+v 0.03235018 -0.02470369 -0.03354713
+v 0.02764878 -0.03241753 -0.03346765
+v 0.03000952 -0.02871046 -0.03354713
+v 0.02822291 -0.02932808 -0.03834459
+v 0.02762603 -0.02831304 -0.04234836
+v 0.03286676 -0.02321304 -0.03473822
+v 0.02223943 -0.02321304 -0.04234836
+v 0.02003661 -0.02535650 -0.04234836
+v 0.02003661 -0.02890721 -0.03107113
+v 0.02788031 -0.03273416 -0.03107113
+v 0.02519303 -0.03497795 -0.03107113
+v 0.02665979 -0.03109888 -0.04011521
+v 0.02616998 -0.03053468 -0.04234836
+v 0.02998811 -0.02426848 -0.04234836
+v 0.03060372 -0.02321304 -0.04234836
+v 0.02003661 -0.03375573 -0.04234836
+v 0.02003661 -0.03652463 -0.03107113
+v 0.02314545 -0.03579885 -0.03107113
+v 0.02293400 -0.03574283 -0.03197190
+v 0.02442753 -0.03469129 -0.03345993
+v 0.02395110 -0.03215693 -0.04234836
+v 0.02003661 -0.03612200 -0.03343564
+v 0.02244285 -0.03277325 -0.04234836
+f 1 2 3
+f 1 3 4
+f 1 4 12
+f 1 12 21
+f 1 21 13
+f 1 13 5
+f 1 5 15
+f 1 15 23
+f 1 23 24
+f 1 24 17
+f 1 17 16
+f 1 16 6
+f 1 6 2
+f 2 6 3
+f 3 7 4
+f 3 6 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 7
+f 4 7 12
+f 5 13 14
+f 5 14 15
+f 6 16 8
+f 7 11 12
+f 8 16 17
+f 8 17 18
+f 8 18 9
+f 9 18 10
+f 10 18 11
+f 11 18 19
+f 11 19 27
+f 11 27 29
+f 11 29 22
+f 11 22 14
+f 11 14 13
+f 11 13 21
+f 11 21 20
+f 11 20 12
+f 12 20 21
+f 14 22 28
+f 14 28 23
+f 14 23 15
+f 17 24 25
+f 17 25 26
+f 17 26 27
+f 17 27 18
+f 18 27 19
+f 22 29 26
+f 22 26 25
+f 22 25 28
+f 23 28 25
+f 23 25 24
+f 26 29 27
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_289.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_289.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75bedf6e403d6ffbd2379453b518da48b765f287
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_289.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.01213234 -0.03585073 -0.04234836
+v 0.01732638 -0.03446600 -0.04235216
+v 0.01668119 -0.03463419 -0.04234836
+v 0.01213234 -0.02867293 -0.04234836
+v 0.01213234 -0.03556872 -0.04337899
+v 0.01732638 -0.02874374 -0.04234836
+v 0.01257619 -0.03532719 -0.04382205
+v 0.01732638 -0.03319762 -0.04679987
+v 0.01732638 -0.02701885 -0.04234836
+v 0.01732638 -0.02676972 -0.04270965
+v 0.01213234 -0.02293296 -0.05308637
+v 0.01213234 -0.03518808 -0.04470627
+v 0.01213234 -0.03458235 -0.04677135
+v 0.01732638 -0.03181037 -0.05012757
+v 0.01732638 -0.02293296 -0.05015229
+v 0.01550368 -0.02293296 -0.05117152
+v 0.01213234 -0.02293296 -0.06177452
+v 0.01213234 -0.03238449 -0.05132935
+v 0.01555453 -0.03203799 -0.05047745
+v 0.01732638 -0.03094413 -0.05146246
+v 0.01732638 -0.02293296 -0.06177452
+v 0.01213234 -0.02552916 -0.06177452
+v 0.01213234 -0.03159033 -0.05254633
+v 0.01405265 -0.02503977 -0.06177452
+v 0.01732638 -0.02690883 -0.05754169
+v 0.01732638 -0.02349318 -0.06177452
+v 0.01560639 -0.02457946 -0.06177452
+v 0.01732638 -0.02644725 -0.05823005
+v 0.01702488 -0.02368413 -0.06177452
+f 1 2 3
+f 1 3 6
+f 1 6 9
+f 1 9 4
+f 1 4 11
+f 1 11 17
+f 1 17 22
+f 1 22 23
+f 1 23 18
+f 1 18 13
+f 1 13 12
+f 1 12 5
+f 1 5 2
+f 2 6 3
+f 2 5 7
+f 2 7 8
+f 2 8 14
+f 2 14 20
+f 2 20 25
+f 2 25 28
+f 2 28 26
+f 2 26 21
+f 2 21 15
+f 2 15 10
+f 2 10 9
+f 2 9 6
+f 4 9 10
+f 4 10 11
+f 5 12 7
+f 7 12 8
+f 8 13 14
+f 8 12 13
+f 10 15 16
+f 10 16 11
+f 11 16 15
+f 11 15 21
+f 11 21 17
+f 13 18 19
+f 13 19 14
+f 14 19 18
+f 14 18 20
+f 17 21 26
+f 17 26 29
+f 17 29 27
+f 17 27 24
+f 17 24 22
+f 18 23 20
+f 20 23 24
+f 20 24 25
+f 22 24 23
+f 24 27 28
+f 24 28 25
+f 26 28 29
+f 27 29 28
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_29.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6446038c6b8c5c2ca477244e55d7274e9ae94f86
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_29.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.02757552 0.01291371 0.00932602
+v 0.03489131 0.01291371 0.00932602
+v 0.03014846 0.01291371 -0.00119024
+v 0.02803555 0.01104499 0.00932602
+v 0.03533777 0.01265478 0.00791459
+v 0.03529706 0.01291371 0.00777972
+v 0.03580052 0.00981249 0.00932602
+v 0.02849152 0.00931534 0.00932602
+v 0.03730955 0.01291371 -0.00119024
+v 0.03420329 -0.00220180 -0.00119024
+v 0.03609907 0.01114856 0.00647227
+v 0.03541512 0.01291371 0.00727630
+v 0.03731362 0.00666540 0.00653095
+v 0.03899906 -0.00215149 0.00932602
+v 0.03966130 -0.00220180 0.00670390
+v 0.02924060 0.00654999 0.00932602
+v 0.04039410 0.00165254 -0.00119024
+v 0.03661067 0.01291371 0.00197442
+v 0.04143766 -0.00220180 -0.00119024
+v 0.03165070 -0.00220180 0.00932602
+v 0.03583581 0.01291371 0.00547984
+v 0.04060851 -0.00220180 0.00258696
+v 0.04065193 -0.00204496 0.00219988
+v 0.04020275 0.00074999 0.00079359
+v 0.03899499 -0.00220180 0.00932602
+v 0.04143902 -0.00217665 -0.00119024
+f 1 2 6
+f 1 6 12
+f 1 12 21
+f 1 21 18
+f 1 18 9
+f 1 9 3
+f 1 3 4
+f 1 4 8
+f 1 8 16
+f 1 16 20
+f 1 20 25
+f 1 25 14
+f 1 14 7
+f 1 7 2
+f 2 5 6
+f 2 7 5
+f 3 8 4
+f 3 9 17
+f 3 17 26
+f 3 26 19
+f 3 19 10
+f 3 10 8
+f 5 7 11
+f 5 11 6
+f 6 11 12
+f 7 13 11
+f 7 14 15
+f 7 15 13
+f 8 10 16
+f 9 18 17
+f 10 19 22
+f 10 22 15
+f 10 15 25
+f 10 25 20
+f 10 20 16
+f 11 13 21
+f 11 21 12
+f 13 15 22
+f 13 22 23
+f 13 23 24
+f 13 24 21
+f 14 25 15
+f 17 24 26
+f 17 18 24
+f 18 21 24
+f 19 26 22
+f 22 26 23
+f 23 26 24
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_290.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_290.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf7c4bf3782145ab46e71f23cc421360a497fdc6
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_290.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.00006934 -0.01562687 0.10184577
+v -0.00006934 -0.01561263 0.10172336
+v 0.00005325 -0.01562234 0.10184577
+v -0.00006934 -0.01015512 0.10184577
+v -0.00006934 -0.01536092 0.09985449
+v 0.00251345 -0.01521079 0.09985449
+v 0.00236648 -0.01548775 0.10184577
+v 0.00339018 -0.00985487 0.10184577
+v 0.00339018 -0.00901949 0.09988080
+v 0.00339018 -0.00901690 0.09985449
+v -0.00006934 -0.01012471 0.10120112
+v -0.00006934 -0.01006194 0.09985449
+v 0.00339018 -0.01499208 0.09985449
+v 0.00310877 -0.01529362 0.10184577
+v 0.00339018 -0.01521985 0.10184577
+f 1 2 3
+f 1 3 7
+f 1 7 14
+f 1 14 15
+f 1 15 8
+f 1 8 4
+f 1 4 11
+f 1 11 12
+f 1 12 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 3 6 7
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 5 12 10
+f 5 10 13
+f 5 13 6
+f 6 13 7
+f 7 13 14
+f 8 15 13
+f 8 13 10
+f 8 10 9
+f 10 12 11
+f 13 15 14
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_291.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_291.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d150fc009dc08cd9b3661b2bed6f4a7e24badd8b
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_291.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v -0.01921724 -0.01555119 -0.04787392
+v -0.02668971 -0.01028831 -0.04020611
+v -0.02120303 -0.01555119 -0.04498702
+v -0.01921724 -0.01555119 -0.05789464
+v -0.01921724 -0.01028831 -0.05198734
+v -0.01989395 -0.01028831 -0.05084426
+v -0.03253757 -0.01028831 -0.04020611
+v -0.02475999 -0.01555119 -0.04020611
+v -0.01938935 -0.01555119 -0.05773194
+v -0.01921724 -0.01539199 -0.05809072
+v -0.01921724 -0.01028831 -0.06151161
+v -0.03208512 -0.01028831 -0.04125115
+v -0.03082298 -0.01555119 -0.04042513
+v -0.03090512 -0.01555119 -0.04020611
+v -0.01996045 -0.01555119 -0.05707488
+v -0.01959275 -0.01521527 -0.05795304
+v -0.01921724 -0.01283397 -0.06022877
+v -0.02828434 -0.01028831 -0.04768410
+v -0.01921724 -0.01046966 -0.06143026
+v -0.02902364 -0.01555119 -0.04432787
+v -0.02418759 -0.01194420 -0.05324306
+v -0.03077995 -0.01028831 -0.04375216
+v -0.02960647 -0.01555119 -0.04319522
+v -0.02353305 -0.01555119 -0.05232943
+v -0.02371820 -0.01497055 -0.05252550
+v -0.01921724 -0.01074839 -0.06130511
+v -0.02995460 -0.01028831 -0.04512677
+v -0.02409762 -0.01555119 -0.05154513
+f 1 2 3
+f 1 3 8
+f 1 8 14
+f 1 14 13
+f 1 13 23
+f 1 23 20
+f 1 20 28
+f 1 28 24
+f 1 24 15
+f 1 15 9
+f 1 9 4
+f 1 4 10
+f 1 10 17
+f 1 17 26
+f 1 26 19
+f 1 19 11
+f 1 11 5
+f 1 5 6
+f 1 6 2
+f 2 7 14
+f 2 14 8
+f 2 8 3
+f 2 6 5
+f 2 5 11
+f 2 11 18
+f 2 18 27
+f 2 27 22
+f 2 22 12
+f 2 12 7
+f 4 9 10
+f 7 12 13
+f 7 13 14
+f 9 15 16
+f 9 16 10
+f 10 16 17
+f 11 19 20
+f 11 20 21
+f 11 21 18
+f 12 22 20
+f 12 20 23
+f 12 23 13
+f 15 24 16
+f 16 24 25
+f 16 25 17
+f 17 25 26
+f 18 20 27
+f 18 21 20
+f 19 26 20
+f 20 22 27
+f 20 26 25
+f 20 25 28
+f 24 28 25
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_292.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_292.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9db0d70ab48522cafbdcc37f00fed03d92994187
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_292.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.02779452 -0.01009788 -0.04732139
+v 0.02126525 -0.01009788 -0.05631508
+v 0.02779452 -0.01009788 -0.06008777
+v 0.02779452 -0.00462373 -0.05076238
+v 0.01732638 -0.00462373 -0.06446814
+v 0.01919642 -0.01009788 -0.05923955
+v 0.02251844 -0.01009788 -0.06790660
+v 0.02370707 -0.00669710 -0.06910424
+v 0.02595932 -0.00666655 -0.06570123
+v 0.02779452 -0.00668531 -0.06286031
+v 0.02779452 -0.00462373 -0.06354649
+v 0.01732638 -0.00462373 -0.07318837
+v 0.01732638 -0.01009788 -0.06199437
+v 0.01878347 -0.01009788 -0.05982950
+v 0.02131444 -0.01009788 -0.06968914
+v 0.02178476 -0.00819814 -0.07064117
+v 0.02267624 -0.00523626 -0.07166663
+v 0.02271620 -0.00462373 -0.07170967
+v 0.02009712 -0.00462373 -0.07273261
+v 0.01732638 -0.00667834 -0.07315293
+v 0.01732638 -0.01009788 -0.07257815
+v 0.01905604 -0.01009788 -0.07205150
+v 0.02018216 -0.00669710 -0.07241611
+v 0.02213316 -0.00462373 -0.07195782
+f 1 2 6
+f 1 6 14
+f 1 14 13
+f 1 13 21
+f 1 21 22
+f 1 22 15
+f 1 15 7
+f 1 7 3
+f 1 3 10
+f 1 10 11
+f 1 11 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 4 11 18
+f 4 18 24
+f 4 24 19
+f 4 19 12
+f 4 12 5
+f 5 12 20
+f 5 20 21
+f 5 21 13
+f 5 13 14
+f 5 14 6
+f 7 15 8
+f 8 15 16
+f 8 16 17
+f 8 17 9
+f 9 17 10
+f 10 17 11
+f 11 17 18
+f 12 19 20
+f 15 22 16
+f 16 22 17
+f 17 22 23
+f 17 23 24
+f 17 24 18
+f 19 23 20
+f 19 24 23
+f 20 23 21
+f 21 23 22
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_293.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_293.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b887c2314ed5b4227f342cf857ff993da3be42b9
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_293.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v -0.02455815 -0.01885186 -0.05933400
+v -0.02713718 -0.01885186 -0.05646463
+v -0.02455815 -0.01873105 -0.05946839
+v -0.02455815 -0.01885186 -0.04737226
+v -0.02669192 -0.01782219 -0.05794945
+v -0.03174030 -0.01885186 -0.05000696
+v -0.02455815 -0.01543200 -0.06201989
+v -0.02455815 -0.01877566 -0.04725279
+v -0.02455947 -0.01885186 -0.04725279
+v -0.02455815 -0.00222277 -0.06836663
+v -0.02455815 -0.00423751 -0.06742795
+v -0.02455815 -0.01110884 -0.06420658
+v -0.03219613 -0.01885186 -0.04900642
+v -0.03542254 -0.00841198 -0.04863521
+v -0.03580834 -0.00544933 -0.04943308
+v -0.02455815 -0.01757871 -0.04725279
+v -0.03289241 -0.01885186 -0.04725279
+v -0.02455815 -0.00148675 -0.06860343
+v -0.03623377 -0.00222277 -0.05008802
+v -0.03642667 0.00013583 -0.05074510
+v -0.03512263 -0.01092670 -0.04725279
+v -0.03619810 -0.00706076 -0.04725279
+v -0.03805441 0.00013583 -0.04725279
+v -0.03761577 0.00013583 -0.04830027
+v -0.02897103 0.00013583 -0.04894668
+v -0.03010728 0.00013583 -0.04725279
+v -0.02455815 0.00013583 -0.05557289
+v -0.02455815 0.00013583 -0.06904504
+f 1 2 3
+f 1 3 7
+f 1 7 12
+f 1 12 11
+f 1 11 10
+f 1 10 18
+f 1 18 28
+f 1 28 27
+f 1 27 16
+f 1 16 8
+f 1 8 4
+f 1 4 9
+f 1 9 17
+f 1 17 13
+f 1 13 6
+f 1 6 2
+f 2 5 3
+f 2 6 5
+f 3 5 7
+f 4 8 9
+f 5 10 11
+f 5 11 12
+f 5 12 7
+f 5 6 10
+f 6 13 14
+f 6 14 15
+f 6 15 10
+f 8 16 26
+f 8 26 23
+f 8 23 22
+f 8 22 21
+f 8 21 17
+f 8 17 9
+f 10 15 19
+f 10 19 20
+f 10 20 18
+f 13 17 14
+f 14 17 21
+f 14 21 22
+f 14 22 23
+f 14 23 15
+f 15 23 24
+f 15 24 19
+f 16 25 26
+f 16 27 25
+f 18 20 28
+f 19 24 20
+f 20 24 23
+f 20 23 26
+f 20 26 25
+f 20 25 27
+f 20 27 28
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_294.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_294.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15cc37bf34b8e63e24315b2adaa877e0a81e2928
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_294.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.02087039 -0.02755066 0.00354568
+v 0.02386806 -0.02755066 -0.00316615
+v 0.02845101 -0.02755066 0.00354568
+v 0.03385774 -0.00778116 0.00354568
+v 0.03385774 -0.01083870 -0.00316615
+v 0.03007061 -0.02755066 -0.00316615
+v 0.02906758 -0.02755066 0.00150966
+v 0.03331618 -0.02034803 0.00150966
+v 0.03299709 -0.01980231 0.00354568
+v 0.03385774 -0.01612747 0.00354568
+v 0.03385774 -0.02123820 -0.00316615
+v 0.03015197 -0.02754098 -0.00316615
+v 0.03014562 -0.02755066 -0.00313593
+v 0.02953413 -0.02755066 -0.00044949
+v 0.03225466 -0.02339976 -0.00155783
+v 0.03385774 -0.01976748 0.00062535
+v 0.03385774 -0.01941916 0.00146827
+v 0.03385774 -0.01867606 0.00283482
+v 0.03385138 -0.01830064 0.00354568
+v 0.03385774 -0.01829290 0.00353780
+v 0.03360984 -0.02166780 -0.00316615
+v 0.03385774 -0.02123433 -0.00312739
+v 0.03363654 -0.02161168 -0.00312542
+f 1 2 6
+f 1 6 13
+f 1 13 14
+f 1 14 7
+f 1 7 3
+f 1 3 9
+f 1 9 19
+f 1 19 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 5 11
+f 2 11 21
+f 2 21 12
+f 2 12 6
+f 3 7 8
+f 3 8 9
+f 4 10 20
+f 4 20 18
+f 4 18 17
+f 4 17 16
+f 4 16 22
+f 4 22 11
+f 4 11 5
+f 6 12 13
+f 7 14 15
+f 7 15 8
+f 8 16 17
+f 8 17 9
+f 8 15 16
+f 9 17 18
+f 9 18 19
+f 10 19 20
+f 11 22 21
+f 12 21 13
+f 13 21 23
+f 13 23 15
+f 13 15 14
+f 15 23 22
+f 15 22 16
+f 18 20 19
+f 21 22 23
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_295.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_295.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0dd97d2b4f70a78594e1eb665162da11e5a96075
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_295.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.01632974 -0.03797333 -0.02474315
+v 0.01986297 -0.03704447 -0.02474315
+v 0.01632974 -0.03102296 -0.02474315
+v 0.01632974 -0.03784857 -0.02902382
+v 0.01999864 -0.03688513 -0.02902382
+v 0.01999864 -0.03700865 -0.02474315
+v 0.02003528 -0.02965438 -0.02474315
+v 0.02003528 -0.02535471 -0.04234836
+v 0.01632974 -0.02751875 -0.04234836
+v 0.01632974 -0.03708894 -0.03346648
+v 0.02003528 -0.03612302 -0.03343546
+v 0.02003528 -0.03687525 -0.02902382
+v 0.02003528 -0.03687648 -0.02898246
+v 0.02003528 -0.03699877 -0.02474315
+v 0.02003528 -0.03375642 -0.04234836
+v 0.01632974 -0.03472480 -0.04234836
+v 0.01998957 -0.03612920 -0.03345787
+v 0.01632974 -0.03612920 -0.03711643
+v 0.01850191 -0.03574382 -0.03641333
+v 0.01999864 -0.03377124 -0.04234836
+v 0.01668161 -0.03463340 -0.04234836
+v 0.01632974 -0.03602668 -0.03750590
+f 1 2 6
+f 1 6 14
+f 1 14 7
+f 1 7 3
+f 1 3 9
+f 1 9 16
+f 1 16 22
+f 1 22 18
+f 1 18 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 3 8 9
+f 4 10 11
+f 4 11 5
+f 5 12 13
+f 5 13 6
+f 5 11 12
+f 6 13 14
+f 7 14 13
+f 7 13 12
+f 7 12 11
+f 7 11 15
+f 7 15 8
+f 8 15 20
+f 8 20 21
+f 8 21 16
+f 8 16 9
+f 10 17 11
+f 10 18 19
+f 10 19 17
+f 11 17 19
+f 11 19 20
+f 11 20 15
+f 16 21 22
+f 18 22 19
+f 19 22 20
+f 20 22 21
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_296.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_296.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78ebd229cb2ad44ca3fc337309d7c8d9ebadb8c4
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_296.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v 0.03476299 -0.00738040 -0.04109584
+v 0.02819553 -0.00738040 -0.04109584
+v 0.03292962 -0.01096952 -0.04109584
+v 0.03263011 -0.00987517 -0.04293606
+v 0.03327996 -0.00738040 -0.04385410
+v 0.01621870 -0.01862780 -0.04794279
+v 0.01858757 -0.01862780 -0.04490062
+v 0.02563062 -0.01189543 -0.04109584
+v 0.01751296 -0.00738040 -0.05538451
+v 0.03191128 -0.01283455 -0.04109584
+v 0.03176425 -0.01298098 -0.04123054
+v 0.02800856 -0.01862780 -0.04244285
+v 0.02764188 -0.01862780 -0.04300237
+v 0.01868377 -0.00990049 -0.06157040
+v 0.02197295 -0.00738040 -0.05901730
+v 0.01744579 -0.00738040 -0.05547776
+v 0.01621870 -0.00858485 -0.05624660
+v 0.01621870 -0.01862780 -0.05729934
+v 0.02182410 -0.01862780 -0.04109584
+v 0.03149923 -0.01357109 -0.04109584
+v 0.02866022 -0.01862780 -0.04109584
+v 0.02443076 -0.01862780 -0.04715739
+v 0.01777616 -0.01300520 -0.06033115
+v 0.01621870 -0.01667470 -0.05927012
+v 0.01621870 -0.01165983 -0.06219210
+v 0.01621870 -0.01164992 -0.06219624
+v 0.01941712 -0.00738040 -0.06212786
+v 0.01621870 -0.00738040 -0.05747756
+v 0.01621870 -0.00854741 -0.05627768
+v 0.01621870 -0.01689159 -0.05906703
+v 0.01829713 -0.01862780 -0.05505709
+v 0.02039734 -0.01862780 -0.05236928
+v 0.01629676 -0.01673525 -0.05912920
+v 0.01621870 -0.01677929 -0.05917479
+v 0.01621870 -0.00738040 -0.06226463
+f 1 2 8
+f 1 8 19
+f 1 19 21
+f 1 21 20
+f 1 20 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 15
+f 1 15 27
+f 1 27 35
+f 1 35 28
+f 1 28 16
+f 1 16 9
+f 1 9 2
+f 2 6 7
+f 2 7 8
+f 2 9 6
+f 3 10 4
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 4 15 5
+f 6 9 16
+f 6 16 17
+f 6 17 29
+f 6 29 28
+f 6 28 35
+f 6 35 26
+f 6 26 25
+f 6 25 24
+f 6 24 34
+f 6 34 30
+f 6 30 18
+f 6 18 31
+f 6 31 32
+f 6 32 22
+f 6 22 13
+f 6 13 12
+f 6 12 21
+f 6 21 19
+f 6 19 7
+f 7 19 8
+f 10 20 11
+f 11 20 12
+f 12 20 21
+f 13 22 23
+f 13 23 14
+f 14 23 24
+f 14 24 25
+f 14 25 26
+f 14 26 27
+f 14 27 15
+f 16 28 29
+f 16 29 17
+f 18 30 31
+f 22 32 23
+f 23 32 31
+f 23 31 33
+f 23 33 24
+f 24 33 34
+f 26 35 27
+f 30 34 33
+f 30 33 31
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_297.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_297.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8273e7e9ae22cabdc989bb3c963cc6186167892
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_297.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v -0.01171865 0.01978329 -0.05907002
+v -0.01171865 0.01978329 -0.04981178
+v -0.01176833 0.01978329 -0.05904903
+v -0.01553401 0.02928953 -0.04473720
+v -0.01171865 0.03020890 -0.04492797
+v -0.01171940 0.01978329 -0.04970495
+v -0.01171865 0.02682044 -0.04031125
+v -0.01553401 0.01978329 -0.05660522
+v -0.01553401 0.02382171 -0.05167945
+v -0.01553401 0.03155722 -0.04082825
+v -0.01287364 0.03194040 -0.04195191
+v -0.01171865 0.03279046 -0.04065274
+v -0.01553401 0.01978329 -0.04726113
+v -0.01171865 0.02736579 -0.03958059
+v -0.01553401 0.02114861 -0.04539537
+v -0.01553401 0.03210126 -0.03958059
+v -0.01522883 0.03220195 -0.03958059
+v -0.01453441 0.03243082 -0.03958059
+v -0.01171865 0.03291470 -0.04034750
+v -0.01553028 0.02584615 -0.03958059
+v -0.01553401 0.02154356 -0.04488219
+v -0.01171865 0.03314356 -0.03958059
+v -0.01553401 0.02956155 -0.03958059
+v -0.01337867 0.03275645 -0.03958059
+v -0.01171865 0.03292908 -0.04031125
+v -0.01553401 0.02584223 -0.03958632
+f 1 2 6
+f 1 6 13
+f 1 13 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 19
+f 1 19 25
+f 1 25 22
+f 1 22 14
+f 1 14 7
+f 1 7 2
+f 2 7 6
+f 3 8 9
+f 3 9 4
+f 4 10 11
+f 4 11 5
+f 4 9 8
+f 4 8 13
+f 4 13 15
+f 4 15 21
+f 4 21 26
+f 4 26 23
+f 4 23 16
+f 4 16 10
+f 5 11 12
+f 6 7 14
+f 6 14 15
+f 6 15 13
+f 10 16 17
+f 10 17 18
+f 10 18 11
+f 11 18 19
+f 11 19 12
+f 14 20 21
+f 14 21 15
+f 14 22 24
+f 14 24 18
+f 14 18 17
+f 14 17 16
+f 14 16 23
+f 14 23 20
+f 18 24 19
+f 19 24 25
+f 20 23 26
+f 20 26 21
+f 22 25 24
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_298.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_298.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e54b3a3b48939f8bbb18741928e6394bdc4f044b
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_298.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.00002584 0.01639707 0.08650408
+v -0.00222232 0.01626603 0.08650408
+v -0.00002584 0.00938324 0.08650408
+v -0.00002584 0.01710670 0.06632009
+v -0.00666601 0.01510969 0.08650408
+v -0.00205342 0.01696824 0.06632009
+v -0.00413351 0.01645147 0.06632009
+v -0.00383860 0.00868680 0.08650408
+v -0.00383860 0.00868680 0.08647444
+v -0.00002584 0.00938488 0.08208241
+v -0.00002584 0.00985302 0.06632009
+v -0.00896487 0.01423193 0.08650408
+v -0.00666601 0.01578882 0.06632009
+v -0.00896487 0.00868680 0.08650408
+v -0.00385173 0.00868680 0.08208241
+v -0.00002584 0.00947142 0.07596755
+v -0.00002584 0.00983984 0.06648605
+v -0.00519236 0.00868680 0.06632009
+v -0.00824555 0.01514184 0.06632009
+v -0.00896487 0.01483524 0.06632009
+v -0.00896487 0.00868680 0.06632009
+v -0.00002584 0.00952417 0.07333391
+v -0.00002584 0.00978544 0.06759444
+v -0.00002584 0.00972033 0.06893200
+f 1 2 5
+f 1 5 12
+f 1 12 14
+f 1 14 8
+f 1 8 3
+f 1 3 10
+f 1 10 16
+f 1 16 22
+f 1 22 24
+f 1 24 23
+f 1 23 17
+f 1 17 11
+f 1 11 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
+f 2 7 5
+f 3 8 9
+f 3 9 10
+f 4 11 18
+f 4 18 21
+f 4 21 20
+f 4 20 19
+f 4 19 13
+f 4 13 7
+f 4 7 6
+f 5 7 13
+f 5 13 12
+f 8 14 21
+f 8 21 18
+f 8 18 15
+f 8 15 9
+f 9 15 10
+f 10 15 16
+f 11 17 18
+f 12 13 19
+f 12 19 20
+f 12 20 21
+f 12 21 14
+f 15 18 16
+f 16 18 22
+f 17 23 18
+f 18 23 24
+f 18 24 22
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_299.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_299.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59b4d907fa4687845083292207b2b5d56f27a7c3
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_299.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.03530774 0.00982784 0.00865452
+v 0.03477270 0.00982784 0.01082744
+v 0.03776521 0.00163790 0.00865452
+v 0.02986907 0.00982784 0.00865452
+v 0.03440301 0.00982784 0.01216175
+v 0.03754441 0.00115397 0.00991267
+v 0.03811026 0.00033517 0.00865452
+v 0.03408157 0.00982784 0.01331274
+v 0.03062798 0.00660587 0.00865452
+v 0.02906703 -0.00005971 0.01331274
+v 0.02771558 0.00982784 0.01331274
+v 0.03719217 -0.00005971 0.01227165
+v 0.03773748 -0.00005971 0.01037553
+v 0.03820679 -0.00005971 0.00865452
+v 0.03810615 -0.00005971 0.00904487
+v 0.03672389 -0.00005971 0.01331274
+v 0.03703300 -0.00005971 0.01277691
+v 0.03163438 0.00264252 0.00865452
+v 0.03085698 -0.00005971 0.01086985
+v 0.03286773 -0.00005971 0.00865452
+f 1 2 3
+f 1 3 7
+f 1 7 14
+f 1 14 20
+f 1 20 18
+f 1 18 9
+f 1 9 4
+f 1 4 11
+f 1 11 8
+f 1 8 5
+f 1 5 2
+f 2 5 3
+f 3 6 7
+f 3 5 8
+f 3 8 6
+f 4 9 10
+f 4 10 11
+f 6 12 13
+f 6 13 7
+f 6 8 12
+f 7 13 15
+f 7 15 14
+f 8 16 17
+f 8 17 12
+f 8 11 10
+f 8 10 16
+f 9 18 10
+f 10 18 19
+f 10 19 20
+f 10 20 14
+f 10 14 15
+f 10 15 13
+f 10 13 12
+f 10 12 17
+f 10 17 16
+f 18 20 19
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_3.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09c39713e8cc4e52ad3751b68697275c6a24ee21
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_3.obj
@@ -0,0 +1,117 @@
+# https://github.com/mikedh/trimesh
+v 0.00220738 0.00585867 0.11695724
+v 0.00258789 0.00520630 0.12209744
+v 0.00310035 0.00558880 0.11695724
+v -0.00129268 0.00582699 0.11695724
+v -0.00185815 0.00535297 0.12209744
+v 0.00387317 0.00467009 0.12209744
+v 0.00313098 0.00557590 0.11695724
+v -0.00256264 0.00571200 0.11695724
+v -0.00239299 0.00534710 0.12209744
+v 0.00455763 0.00437793 0.12209744
+v 0.00496995 0.00479446 0.11695724
+v -0.00266277 0.00522859 0.12209744
+v -0.00476563 0.00434508 0.11695724
+v -0.00476327 0.00434273 0.11797673
+v 0.00514784 0.00239971 0.12209744
+v 0.00573452 0.00292418 0.11695724
+v 0.00498291 0.00476396 0.11695724
+v -0.00472322 0.00394380 0.12209744
+v -0.00603441 0.00214040 0.11695724
+v 0.00521971 -0.00118246 0.12209744
+v 0.00600077 0.00203128 0.11695724
+v -0.00531226 0.00161358 0.12209744
+v -0.00602735 -0.00243909 0.11695724
+v -0.00531226 -0.00145467 0.12209744
+v 0.00521499 -0.00169285 0.12209744
+v 0.00596660 -0.00130800 0.11695724
+v -0.00506957 -0.00415918 0.11695724
+v -0.00438040 -0.00458862 0.11797673
+v -0.00140813 -0.00547448 0.12103820
+v -0.00225163 -0.00384356 0.12209744
+v 0.00507009 -0.00196155 0.12209744
+v 0.00584644 -0.00255290 0.11695724
+v -0.00396101 -0.00525155 0.11695724
+v -0.00223395 -0.00612333 0.11695724
+v 0.00209428 -0.00612568 0.11695724
+v 0.00124607 -0.00547448 0.12103820
+v 0.00076424 -0.00393743 0.12209744
+v 0.00193760 -0.00393743 0.12209744
+v 0.00425958 -0.00472238 0.11797673
+v 0.00429845 -0.00475523 0.11695724
+f 1 2 3
+f 1 3 7
+f 1 7 11
+f 1 11 17
+f 1 17 16
+f 1 16 21
+f 1 21 26
+f 1 26 32
+f 1 32 40
+f 1 40 35
+f 1 35 34
+f 1 34 33
+f 1 33 27
+f 1 27 23
+f 1 23 19
+f 1 19 13
+f 1 13 8
+f 1 8 4
+f 1 4 5
+f 1 5 2
+f 2 6 3
+f 2 5 9
+f 2 9 12
+f 2 12 18
+f 2 18 22
+f 2 22 24
+f 2 24 30
+f 2 30 37
+f 2 37 38
+f 2 38 31
+f 2 31 25
+f 2 25 20
+f 2 20 15
+f 2 15 10
+f 2 10 6
+f 3 6 7
+f 4 8 9
+f 4 9 5
+f 6 10 11
+f 6 11 7
+f 8 12 9
+f 8 13 14
+f 8 14 12
+f 10 15 16
+f 10 16 17
+f 10 17 11
+f 12 14 18
+f 13 19 14
+f 14 19 18
+f 15 20 21
+f 15 21 16
+f 18 19 22
+f 19 23 24
+f 19 24 22
+f 20 25 21
+f 21 25 26
+f 23 27 24
+f 24 27 28
+f 24 28 29
+f 24 29 30
+f 25 31 32
+f 25 32 26
+f 27 33 28
+f 28 33 29
+f 29 34 35
+f 29 35 36
+f 29 36 38
+f 29 38 37
+f 29 37 30
+f 29 33 34
+f 31 38 36
+f 31 36 39
+f 31 39 32
+f 32 39 40
+f 35 40 39
+f 35 39 36
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_30.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d31aadc2ea18e0a35b0a856df9b777805abf111
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_30.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.00896487 0.00304497 0.08652779
+v -0.00373225 0.00868680 0.09088212
+v -0.00896487 0.00337135 0.09092578
+v -0.00896487 0.00304608 0.08482894
+v -0.00628223 0.00868680 0.09985670
+v -0.00896487 0.00720455 0.10430231
+v -0.00896487 0.00305326 0.08208615
+v -0.00385161 0.00868680 0.08208615
+v -0.00756028 0.00868680 0.10430231
+v -0.00896487 0.00815277 0.10615201
+v -0.00896487 0.00484201 0.06632010
+v -0.00519267 0.00868680 0.06632010
+v -0.00873999 0.00868680 0.10660848
+v -0.00877534 0.00868680 0.10665611
+v -0.00896487 0.00855315 0.10671168
+v -0.00896487 0.00868680 0.06632010
+v -0.00886344 0.00868680 0.10675535
+v -0.00896487 0.00868680 0.10686649
+f 1 2 3
+f 1 3 6
+f 1 6 10
+f 1 10 15
+f 1 15 18
+f 1 18 16
+f 1 16 11
+f 1 11 7
+f 1 7 4
+f 1 4 2
+f 2 5 6
+f 2 6 3
+f 2 4 7
+f 2 7 8
+f 2 8 12
+f 2 12 16
+f 2 16 18
+f 2 18 17
+f 2 17 14
+f 2 14 13
+f 2 13 9
+f 2 9 5
+f 5 9 6
+f 6 9 10
+f 7 11 12
+f 7 12 8
+f 9 13 10
+f 10 13 14
+f 10 14 15
+f 11 16 12
+f 14 17 15
+f 15 17 18
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_300.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_300.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38a8138c466a7f0b578fd74c325ac21dae31bbc1
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_300.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.04303970 -0.00222207 -0.03022747
+v 0.04303970 -0.00223050 -0.03022747
+v 0.04249922 -0.00222207 -0.03346888
+v 0.04248092 -0.00013978 -0.03022747
+v 0.04296649 -0.00546192 -0.03022747
+v 0.04235279 -0.00666617 -0.03346888
+v 0.04037066 -0.00544506 -0.04234836
+v 0.04028668 -0.00275837 -0.04234836
+v 0.04129767 -0.00223050 -0.03801065
+v 0.04193397 -0.00013978 -0.03346888
+v 0.03542986 -0.00013978 -0.03022747
+v 0.04292665 -0.00666617 -0.03022747
+v 0.04231080 -0.00676474 -0.03346888
+v 0.04184245 -0.00676474 -0.03516671
+v 0.04089069 -0.00676474 -0.03859202
+v 0.03984202 -0.00676474 -0.04234836
+v 0.03956424 -0.00013978 -0.04234836
+v 0.03965791 -0.00013978 -0.04200666
+v 0.04007135 -0.00013978 -0.04048087
+v 0.04028776 -0.00223050 -0.04180496
+v 0.03506703 -0.00013978 -0.03150054
+v 0.03537388 -0.00676474 -0.03022747
+v 0.04289435 -0.00673750 -0.03022747
+v 0.04288143 -0.00676474 -0.03022747
+v 0.03204161 -0.00676474 -0.04234836
+v 0.03230755 -0.00013978 -0.04234836
+v 0.03207068 -0.00676474 -0.04222141
+v 0.03208252 -0.00676474 -0.04217632
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 22
+f 1 22 24
+f 1 24 23
+f 1 23 12
+f 1 12 5
+f 1 5 2
+f 2 5 3
+f 3 6 7
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 3 5 6
+f 4 10 19
+f 4 19 18
+f 4 18 17
+f 4 17 26
+f 4 26 21
+f 4 21 11
+f 5 12 6
+f 6 12 13
+f 6 13 14
+f 6 14 7
+f 7 15 16
+f 7 16 25
+f 7 25 26
+f 7 26 17
+f 7 17 8
+f 7 14 15
+f 8 17 18
+f 8 18 19
+f 8 19 20
+f 8 20 9
+f 9 20 19
+f 9 19 10
+f 11 21 22
+f 12 23 13
+f 13 23 24
+f 13 24 22
+f 13 22 28
+f 13 28 27
+f 13 27 25
+f 13 25 16
+f 13 16 15
+f 13 15 14
+f 21 26 27
+f 21 27 28
+f 21 28 22
+f 25 27 26
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_301.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_301.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f8202fb05f185c68687565252d2c0aae5f335e1
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_301.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.02465491 -0.00667251 0.02154158
+v 0.02571474 -0.00220180 0.02154158
+v 0.02730722 -0.00917900 0.02154158
+v 0.02322967 -0.00917900 0.02154783
+v 0.03384076 -0.00220180 0.02154158
+v 0.02084095 -0.00917900 0.02606340
+v 0.01952479 -0.00917900 0.02856007
+v 0.01802502 -0.00917900 0.03146584
+v 0.02160083 -0.00220180 0.02976547
+v 0.03195378 -0.00917900 0.02154158
+v 0.03203740 -0.00220180 0.02540292
+v 0.03138841 -0.00307873 0.02708299
+v 0.03138841 -0.00498558 0.02708299
+v 0.03337174 -0.00658372 0.02154158
+v 0.01685247 -0.00917900 0.03382355
+v 0.01999563 -0.00220180 0.03319587
+v 0.03242098 -0.00832802 0.02154158
+v 0.02528572 -0.00644508 0.03749128
+v 0.03150476 -0.00917900 0.02241284
+v 0.02621648 -0.00220180 0.03749128
+v 0.02621830 -0.00222229 0.03749128
+v 0.02686729 -0.00481483 0.03591270
+v 0.01527817 -0.00917900 0.03746942
+v 0.01839587 -0.00220180 0.03717587
+v 0.02371142 -0.00917900 0.03749128
+v 0.01828316 -0.00220180 0.03749128
+v 0.01527090 -0.00917900 0.03749128
+v 0.01839224 -0.00220180 0.03718524
+f 1 2 5
+f 1 5 14
+f 1 14 17
+f 1 17 10
+f 1 10 3
+f 1 3 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 16
+f 2 16 24
+f 2 24 28
+f 2 28 26
+f 2 26 20
+f 2 20 11
+f 2 11 5
+f 3 10 19
+f 3 19 25
+f 3 25 27
+f 3 27 23
+f 3 23 15
+f 3 15 8
+f 3 8 7
+f 3 7 6
+f 3 6 4
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 8 15 9
+f 9 15 16
+f 10 17 18
+f 10 18 19
+f 11 20 12
+f 12 20 21
+f 12 21 13
+f 13 21 22
+f 13 22 18
+f 13 18 14
+f 14 18 17
+f 15 23 16
+f 16 23 24
+f 18 25 19
+f 18 22 21
+f 18 21 20
+f 18 20 26
+f 18 26 27
+f 18 27 25
+f 23 27 26
+f 23 26 28
+f 23 28 24
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_302.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_302.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3fa36e0ca8f478cb1077d3247289c122fbb4686f
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_302.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v 0.03257128 0.00993986 -0.04063946
+v 0.03219843 0.01135027 -0.04063946
+v 0.02661714 0.00993986 -0.04063946
+v 0.03233118 0.00993986 -0.04118850
+v 0.03185674 0.01135027 -0.04142356
+v 0.03150812 0.01382392 -0.04063946
+v 0.02457625 0.01664410 -0.04063946
+v 0.02077959 0.01664410 -0.04507563
+v 0.02077959 0.00993986 -0.04928902
+v 0.03202296 0.00993986 -0.04186910
+v 0.03058580 0.01664410 -0.04088153
+v 0.03077857 0.01636386 -0.04063946
+v 0.02891776 0.01664410 -0.04431960
+v 0.03068969 0.01664410 -0.04063946
+v 0.02077959 0.01664410 -0.05406724
+v 0.02077959 0.00993986 -0.05855953
+v 0.03084899 0.00993986 -0.04386704
+v 0.02901704 0.01600813 -0.04446519
+v 0.02077959 0.01138834 -0.05796663
+v 0.02353387 0.01463578 -0.05257799
+v 0.02483251 0.01611643 -0.05002224
+v 0.02415491 0.01664410 -0.05058882
+v 0.02081884 0.01664410 -0.05404618
+v 0.02077959 0.01593397 -0.05486010
+v 0.02816166 0.01028048 -0.04788222
+v 0.02820553 0.00993986 -0.04794712
+v 0.02998092 0.00993986 -0.04524578
+v 0.02844448 0.00993986 -0.04758577
+v 0.02077959 0.01305735 -0.05684049
+v 0.02302365 0.01664410 -0.05205351
+v 0.02155185 0.01664410 -0.05353223
+f 1 2 6
+f 1 6 12
+f 1 12 14
+f 1 14 7
+f 1 7 3
+f 1 3 9
+f 1 9 16
+f 1 16 26
+f 1 26 28
+f 1 28 27
+f 1 27 17
+f 1 17 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 3 8 9
+f 4 10 5
+f 5 11 12
+f 5 12 6
+f 5 10 13
+f 5 13 11
+f 7 14 11
+f 7 11 13
+f 7 13 22
+f 7 22 30
+f 7 30 31
+f 7 31 23
+f 7 23 15
+f 7 15 8
+f 8 15 24
+f 8 24 29
+f 8 29 19
+f 8 19 16
+f 8 16 9
+f 10 17 18
+f 10 18 13
+f 11 14 12
+f 13 18 19
+f 13 19 20
+f 13 20 21
+f 13 21 22
+f 15 23 24
+f 16 25 26
+f 16 19 18
+f 16 18 25
+f 17 27 18
+f 18 27 28
+f 18 28 26
+f 18 26 25
+f 19 29 30
+f 19 30 20
+f 20 30 22
+f 20 22 21
+f 23 31 24
+f 24 31 30
+f 24 30 29
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_303.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_303.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33d12e88f727f943bcd3616f8b6204e87a92d66a
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_303.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.01968140 -0.02326048 0.01120534
+v 0.01592791 -0.02326048 0.01599733
+v 0.01968140 -0.01586075 0.02083961
+v 0.01968140 -0.02326048 0.02821370
+v 0.01592791 -0.01586075 0.02745919
+v 0.01592791 -0.02326048 0.03287155
+v 0.01968140 -0.01586075 0.03779432
+v 0.01968140 -0.02163928 0.03065832
+v 0.01674137 -0.01586075 0.04546350
+v 0.01828781 -0.02270849 0.03188566
+v 0.01886905 -0.02326048 0.02974284
+v 0.01592791 -0.01586075 0.04546350
+v 0.01775248 -0.02326048 0.03124181
+v 0.01592791 -0.02315255 0.03309287
+v 0.01677553 -0.01586075 0.04538302
+v 0.01968140 -0.01595927 0.03768030
+v 0.01968140 -0.02016078 0.03251945
+v 0.01592791 -0.01690389 0.04546350
+v 0.01592791 -0.01768117 0.04405844
+f 1 2 3
+f 1 3 7
+f 1 7 16
+f 1 16 17
+f 1 17 8
+f 1 8 4
+f 1 4 11
+f 1 11 13
+f 1 13 6
+f 1 6 2
+f 2 5 3
+f 2 6 14
+f 2 14 19
+f 2 19 18
+f 2 18 12
+f 2 12 5
+f 3 5 12
+f 3 12 9
+f 3 9 15
+f 3 15 7
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 6 13 14
+f 7 15 16
+f 8 17 15
+f 8 15 9
+f 9 12 18
+f 9 18 10
+f 10 14 13
+f 10 13 11
+f 10 18 19
+f 10 19 14
+f 15 17 16
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_304.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_304.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c65d3f00292b0398d1e02ac1ea0aefe8ea6005a
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_304.obj
@@ -0,0 +1,117 @@
+# https://github.com/mikedh/trimesh
+v -0.03419053 -0.01659897 0.00799322
+v -0.03418497 -0.01662473 0.00799322
+v -0.03344549 -0.01659253 0.01089392
+v -0.03021403 -0.01659253 0.00799322
+v -0.03344104 -0.01959080 0.00799322
+v -0.03340768 -0.01659253 0.01102614
+v -0.03342770 -0.01665950 0.01089451
+v -0.02872840 -0.01659253 0.00799322
+v -0.03318862 -0.02051037 0.00799322
+v -0.03298068 -0.01984323 0.00938631
+v -0.03230125 -0.01659253 0.01401952
+v -0.03286169 -0.01947489 0.01010470
+v -0.03246582 -0.01825008 0.01249066
+v -0.02407691 -0.01659253 0.01402365
+v -0.02283148 -0.01799765 0.01402365
+v -0.02283259 -0.02365546 0.00799322
+v -0.03245804 -0.02288529 0.00799322
+v -0.03208997 -0.01743354 0.01402365
+v -0.03227122 -0.01665950 0.01402365
+v -0.03218782 -0.01659253 0.01402365
+v -0.03224231 -0.01947489 0.01185845
+v -0.03050760 -0.02157161 0.01402365
+v -0.02283148 -0.01947489 0.01402365
+v -0.02283148 -0.01800795 0.01402011
+v -0.02283259 -0.02974860 0.00799322
+v -0.02283148 -0.01947489 0.01381587
+v -0.03189982 -0.02134236 0.01089451
+v -0.03027853 -0.02508891 0.00799322
+v -0.02956128 -0.02475921 0.01082780
+v -0.02889186 -0.02423760 0.01402365
+v -0.02283259 -0.02776005 0.01402365
+v -0.02283259 -0.02780770 0.01390736
+v -0.02283259 -0.02836280 0.01239857
+v -0.02283259 -0.02905054 0.01028533
+v -0.02403244 -0.02859977 0.00963955
+v -0.02447835 -0.02885349 0.00799322
+v -0.02668344 -0.02755914 0.00799322
+v -0.02565039 -0.02720239 0.01104503
+v -0.02598066 -0.02595697 0.01402365
+v -0.02319288 -0.02805241 0.01274389
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 16
+f 1 16 25
+f 1 25 36
+f 1 36 37
+f 1 37 28
+f 1 28 17
+f 1 17 9
+f 1 9 5
+f 1 5 2
+f 2 5 3
+f 3 6 11
+f 3 11 20
+f 3 20 14
+f 3 14 8
+f 3 8 4
+f 3 5 7
+f 3 7 6
+f 5 9 10
+f 5 10 7
+f 6 7 10
+f 6 10 12
+f 6 12 13
+f 6 13 11
+f 8 14 15
+f 8 15 16
+f 9 17 10
+f 10 17 12
+f 11 13 18
+f 11 18 19
+f 11 19 20
+f 12 17 13
+f 13 17 21
+f 13 21 22
+f 13 22 18
+f 14 20 19
+f 14 19 18
+f 14 18 22
+f 14 22 30
+f 14 30 39
+f 14 39 31
+f 14 31 23
+f 14 23 15
+f 15 23 26
+f 15 26 24
+f 15 24 16
+f 16 24 26
+f 16 26 25
+f 17 22 27
+f 17 27 21
+f 17 28 29
+f 17 29 30
+f 17 30 22
+f 21 27 22
+f 23 31 32
+f 23 32 33
+f 23 33 34
+f 23 34 25
+f 23 25 26
+f 25 34 35
+f 25 35 36
+f 28 37 29
+f 29 37 30
+f 30 37 38
+f 30 38 39
+f 31 39 32
+f 32 40 33
+f 32 39 40
+f 33 40 34
+f 34 40 35
+f 35 40 38
+f 35 38 37
+f 35 37 36
+f 38 40 39
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_305.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_305.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ea58e5bb58e2035d38e8dcf9ebc425369900327
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_305.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.02779452 -0.00013978 -0.06342573
+v 0.02779349 -0.00013978 -0.05088463
+v 0.02779349 -0.00462373 -0.05076024
+v 0.02779452 -0.00462373 -0.06342573
+v 0.02779452 -0.00013978 -0.06367006
+v 0.01732638 -0.00013978 -0.06487398
+v 0.01732638 -0.00462373 -0.06446971
+v 0.02779452 -0.00462373 -0.06354790
+v 0.02779452 -0.00211533 -0.06432089
+v 0.02540701 -0.00013978 -0.06768384
+v 0.01732638 -0.00013978 -0.07344128
+v 0.01732638 -0.00462373 -0.07318806
+v 0.02271517 -0.00462373 -0.07171094
+v 0.02649830 -0.00222243 -0.06650659
+v 0.02779452 -0.00222243 -0.06435421
+v 0.02457292 -0.00013978 -0.06901880
+v 0.01791864 -0.00013978 -0.07336354
+v 0.01732638 -0.00097020 -0.07344572
+v 0.01732638 -0.00222243 -0.07345017
+v 0.01999977 -0.00222243 -0.07309922
+v 0.02009814 -0.00462373 -0.07273270
+v 0.02213418 -0.00462373 -0.07195750
+v 0.02287093 -0.00222243 -0.07187975
+v 0.02492644 -0.00222243 -0.06901880
+v 0.02380646 -0.00013978 -0.07021160
+v 0.01999977 -0.00013978 -0.07294372
+v 0.02152654 -0.00013978 -0.07229513
+v 0.02271313 -0.00013978 -0.07173315
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 15
+f 1 15 9
+f 1 9 5
+f 1 5 10
+f 1 10 16
+f 1 16 25
+f 1 25 28
+f 1 28 27
+f 1 27 26
+f 1 26 17
+f 1 17 11
+f 1 11 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 12
+f 3 12 21
+f 3 21 22
+f 3 22 13
+f 3 13 8
+f 3 8 4
+f 5 9 10
+f 6 11 18
+f 6 18 19
+f 6 19 12
+f 6 12 7
+f 8 13 14
+f 8 14 15
+f 9 15 10
+f 10 14 16
+f 10 15 14
+f 11 17 18
+f 12 19 20
+f 12 20 21
+f 13 22 20
+f 13 20 23
+f 13 23 24
+f 13 24 14
+f 14 24 16
+f 16 24 25
+f 17 20 18
+f 17 26 20
+f 18 20 19
+f 20 26 23
+f 20 22 21
+f 23 26 27
+f 23 27 28
+f 23 28 25
+f 23 25 24
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_306.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_306.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4475da1fef23343e6d922a22ba176414ac27d935
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_306.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.02987730 0.01600486 0.00354569
+v 0.03053565 0.01338194 0.00354569
+v 0.03508627 0.01600486 0.00354569
+v 0.03134707 0.01600486 -0.00320740
+v 0.03206430 0.00757945 0.00354569
+v 0.03756658 0.01054989 0.00067219
+v 0.03711591 0.01365555 -0.00086537
+v 0.03560117 0.01600486 0.00150972
+v 0.03786524 0.00651330 0.00354569
+v 0.03648968 0.01600486 -0.00320740
+v 0.03577673 -0.00005499 -0.00320740
+v 0.03429947 -0.00005971 0.00354569
+v 0.03814357 0.00549747 0.00354569
+v 0.03814999 0.00712028 0.00193872
+v 0.04005117 -0.00005971 0.00143502
+v 0.03729039 0.01422165 -0.00320740
+v 0.03646291 0.01600486 -0.00271228
+v 0.03570501 0.01600486 0.00100138
+v 0.03924938 0.00669099 -0.00314856
+v 0.03789308 0.01180159 -0.00271030
+v 0.03681617 0.01535856 -0.00320740
+v 0.03579921 -0.00005971 -0.00320740
+v 0.03949880 -0.00005971 0.00354569
+v 0.04081014 -0.00005971 -0.00314856
+v 0.03767791 0.01282843 -0.00320740
+v 0.03925152 0.00669099 -0.00320740
+v 0.03923760 0.00675075 -0.00320740
+v 0.04081121 -0.00005971 -0.00320740
+f 1 2 5
+f 1 5 12
+f 1 12 23
+f 1 23 13
+f 1 13 9
+f 1 9 3
+f 1 3 8
+f 1 8 18
+f 1 18 17
+f 1 17 10
+f 1 10 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 3 7 8
+f 3 9 6
+f 4 10 21
+f 4 21 16
+f 4 16 25
+f 4 25 27
+f 4 27 26
+f 4 26 28
+f 4 28 22
+f 4 22 11
+f 4 11 5
+f 5 11 12
+f 6 9 13
+f 6 13 14
+f 6 14 15
+f 6 15 7
+f 7 16 17
+f 7 17 18
+f 7 18 8
+f 7 15 19
+f 7 19 20
+f 7 20 16
+f 10 17 21
+f 11 22 12
+f 12 22 28
+f 12 28 24
+f 12 24 15
+f 12 15 23
+f 13 23 15
+f 13 15 14
+f 15 24 19
+f 16 20 25
+f 16 21 17
+f 19 24 26
+f 19 26 27
+f 19 27 25
+f 19 25 20
+f 24 28 26
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_307.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_307.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ad6373bbcd9ebc36bc6049b21fefe7df6510978
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_307.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v -0.00660322 -0.01117369 -0.07368618
+v -0.01104738 -0.01117369 -0.07366152
+v -0.00605846 -0.01117369 -0.07368618
+v -0.00605846 -0.01171858 -0.07368618
+v -0.00605846 -0.01177345 -0.07368520
+v -0.00605846 -0.01555392 -0.07361119
+v -0.00666701 -0.01555392 -0.07360034
+v -0.01549154 -0.01117369 -0.07344245
+v -0.00605846 -0.01117369 -0.06688622
+v -0.00605846 -0.01600562 -0.07353916
+v -0.00605846 -0.01616195 -0.07351349
+v -0.01111117 -0.01555392 -0.07308326
+v -0.01555027 -0.01117369 -0.07342962
+v -0.00677536 -0.01680230 -0.06360614
+v -0.00636831 -0.01731713 -0.06360614
+v -0.00605846 -0.01770946 -0.06360614
+v -0.01537408 -0.01117369 -0.06360614
+v -0.00605846 -0.01885186 -0.07277637
+v -0.01525865 -0.01556669 -0.07216653
+v -0.00785779 -0.01885186 -0.07255927
+v -0.01640285 -0.01503833 -0.07205404
+v -0.01640285 -0.01117369 -0.07313655
+v -0.00605846 -0.01885186 -0.06360614
+v -0.01640285 -0.01117369 -0.06360614
+v -0.01039630 -0.01885186 -0.07195930
+v -0.01111117 -0.01861061 -0.07188530
+v -0.01357981 -0.01791765 -0.07139092
+v -0.01640285 -0.01709692 -0.07022848
+v -0.01640285 -0.01885186 -0.06360614
+v -0.01087018 -0.01885186 -0.07177675
+v -0.01281836 -0.01885186 -0.07064293
+v -0.01640285 -0.01723371 -0.07002224
+v -0.01494475 -0.01885186 -0.06883612
+v -0.01525865 -0.01868276 -0.06882132
+v -0.01640285 -0.01885186 -0.06755132
+v -0.01640285 -0.01843474 -0.06820063
+v -0.01512094 -0.01885186 -0.06868218
+f 1 2 8
+f 1 8 13
+f 1 13 22
+f 1 22 24
+f 1 24 17
+f 1 17 9
+f 1 9 3
+f 1 3 4
+f 1 4 2
+f 2 4 5
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 3 9 16
+f 3 16 23
+f 3 23 18
+f 3 18 11
+f 3 11 10
+f 3 10 6
+f 3 6 5
+f 3 5 4
+f 6 10 7
+f 7 10 11
+f 7 11 12
+f 7 12 8
+f 8 12 13
+f 9 14 15
+f 9 15 16
+f 9 17 14
+f 11 18 12
+f 12 19 13
+f 12 18 20
+f 12 20 19
+f 13 21 22
+f 13 19 21
+f 14 17 24
+f 14 24 29
+f 14 29 23
+f 14 23 16
+f 14 16 15
+f 18 23 29
+f 18 29 35
+f 18 35 37
+f 18 37 33
+f 18 33 31
+f 18 31 30
+f 18 30 25
+f 18 25 20
+f 19 20 25
+f 19 25 26
+f 19 26 27
+f 19 27 21
+f 21 27 28
+f 21 28 32
+f 21 32 36
+f 21 36 35
+f 21 35 29
+f 21 29 24
+f 21 24 22
+f 25 30 26
+f 26 30 27
+f 27 31 28
+f 27 30 31
+f 28 31 33
+f 28 33 34
+f 28 34 32
+f 32 34 36
+f 33 37 34
+f 34 37 36
+f 35 36 37
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_308.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_308.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2df27e162582bd3b0e0897979e1816709b9cf62d
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_308.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.02009464 -0.02394897 -0.03836956
+v 0.02009464 -0.02179394 -0.04038336
+v 0.01174873 -0.02394897 -0.04487789
+v 0.02009464 -0.02394897 -0.04848502
+v 0.02009464 -0.01862780 -0.04343946
+v 0.01354292 -0.01862780 -0.04977518
+v 0.01174873 -0.01998479 -0.04984157
+v 0.01174873 -0.02394897 -0.05375188
+v 0.01977927 -0.02394897 -0.04887672
+v 0.02009464 -0.02318583 -0.04913342
+v 0.02009464 -0.01862780 -0.05275383
+v 0.01174873 -0.01862780 -0.05159645
+v 0.01174873 -0.01997073 -0.05955648
+v 0.01479623 -0.02394897 -0.05251926
+v 0.01874573 -0.02394897 -0.05008721
+v 0.01914771 -0.02004470 -0.05289989
+v 0.02009464 -0.02073700 -0.05117820
+v 0.01829637 -0.01862780 -0.05505753
+v 0.01174873 -0.01862780 -0.06066961
+v 0.01302411 -0.01862780 -0.06097500
+v 0.01730123 -0.02394897 -0.05111181
+v 0.01789031 -0.02315041 -0.05174472
+v 0.01316300 -0.01862780 -0.06088205
+f 1 2 3
+f 1 3 8
+f 1 8 14
+f 1 14 21
+f 1 21 15
+f 1 15 9
+f 1 9 4
+f 1 4 10
+f 1 10 17
+f 1 17 11
+f 1 11 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 3 6 7
+f 3 7 12
+f 3 12 19
+f 3 19 13
+f 3 13 8
+f 4 9 10
+f 5 11 18
+f 5 18 23
+f 5 23 20
+f 5 20 19
+f 5 19 12
+f 5 12 6
+f 6 12 7
+f 8 13 14
+f 9 15 16
+f 9 16 10
+f 10 16 17
+f 11 17 18
+f 13 19 20
+f 13 20 14
+f 14 20 21
+f 15 21 22
+f 15 22 16
+f 16 18 17
+f 16 22 18
+f 18 22 23
+f 20 23 21
+f 21 23 22
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_309.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_309.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ed3c2012361ba468d06042063e3d2f7022f4a87
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_309.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v 0.04303066 -0.00222419 -0.01080543
+v 0.04261795 -0.00222419 -0.00680149
+v 0.04291954 -0.00666575 -0.01080543
+v 0.03599625 -0.00222419 -0.01080543
+v 0.04143720 -0.00220180 -0.00118917
+v 0.04170949 -0.00222419 -0.00235799
+v 0.04027477 -0.00341036 0.00557997
+v 0.04027477 -0.00519433 0.00557997
+v 0.04247997 -0.00666575 -0.00680149
+v 0.04243357 -0.00677635 -0.00680149
+v 0.04287192 -0.00677635 -0.01080543
+v 0.03420376 -0.00220180 -0.00118917
+v 0.03545655 -0.00677635 -0.01080543
+v 0.03055773 -0.00677008 0.00960589
+v 0.03156753 -0.00220225 0.00960589
+v 0.04060934 -0.00220180 0.00258500
+v 0.03966059 -0.00220180 0.00670283
+v 0.03893041 -0.00220180 0.00960589
+v 0.03862270 -0.00666798 0.00960589
+v 0.03936998 -0.00667201 0.00684868
+v 0.03996341 -0.00677008 0.00424132
+v 0.04120887 -0.00677008 -0.00118917
+v 0.04144697 -0.00677635 -0.00224011
+v 0.04151657 -0.00666575 -0.00235799
+v 0.04239816 -0.00677635 -0.00662766
+v 0.03420010 -0.00220180 -0.00117319
+v 0.03351387 -0.00677635 -0.00119117
+v 0.03857264 -0.00677008 0.00960589
+v 0.03730398 -0.00220180 0.00960589
+v 0.03247477 -0.00220180 0.00654899
+v 0.03247843 -0.00220180 0.00652701
+v 0.03345404 -0.00220180 0.00208551
+v 0.03939074 -0.00677008 0.00659894
+v 0.04120643 -0.00677635 -0.00119117
+f 1 2 3
+f 1 3 11
+f 1 11 13
+f 1 13 4
+f 1 4 12
+f 1 12 5
+f 1 5 2
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 2 5 6
+f 3 9 10
+f 3 10 11
+f 4 13 14
+f 4 14 15
+f 4 15 12
+f 5 16 6
+f 5 12 26
+f 5 26 32
+f 5 32 31
+f 5 31 30
+f 5 30 29
+f 5 29 18
+f 5 18 17
+f 5 17 16
+f 6 16 7
+f 7 16 17
+f 7 17 18
+f 7 18 8
+f 8 18 19
+f 8 19 20
+f 8 20 21
+f 8 21 22
+f 8 22 23
+f 8 23 24
+f 8 24 9
+f 9 24 23
+f 9 23 25
+f 9 25 10
+f 10 25 23
+f 10 23 34
+f 10 34 27
+f 10 27 13
+f 10 13 11
+f 12 15 26
+f 13 27 14
+f 14 28 19
+f 14 19 18
+f 14 18 29
+f 14 29 15
+f 14 27 34
+f 14 34 28
+f 15 29 30
+f 15 30 31
+f 15 31 32
+f 15 32 26
+f 19 28 33
+f 19 33 20
+f 20 33 21
+f 21 33 34
+f 21 34 22
+f 22 34 23
+f 28 34 33
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_31.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88758b1ab1c43e78776cc690ec017770e7a985ea
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_31.obj
@@ -0,0 +1,168 @@
+# https://github.com/mikedh/trimesh
+v -0.00547663 -0.00636190 0.09673083
+v -0.00731006 -0.00636190 0.09952715
+v -0.00554709 -0.00706621 0.10217948
+v -0.00333316 -0.00720615 0.09673083
+v -0.01355162 -0.00636190 0.09673083
+v -0.00754540 -0.00636190 0.09985036
+v -0.00302313 -0.00819955 0.10217948
+v -0.00755950 -0.00636190 0.09985409
+v -0.01446622 -0.00706621 0.10217948
+v -0.00010880 -0.00915060 0.09673083
+v -0.01306402 -0.00750353 0.09673083
+v -0.01359953 -0.00843801 0.09934208
+v -0.01393212 -0.00636190 0.09779432
+v -0.00006934 -0.01016886 0.10217948
+v -0.01439717 -0.00636190 0.09985409
+v -0.01436617 -0.00647146 0.09985409
+v -0.01429147 -0.00706621 0.10069465
+v -0.01415900 -0.00811669 0.10217948
+v -0.00006934 -0.01006299 0.09985463
+v -0.00010880 -0.01475103 0.09673083
+v -0.01180274 -0.00949862 0.09673083
+v -0.01364322 -0.00854480 0.09985463
+v -0.01415900 -0.00706621 0.09985463
+v -0.01432248 -0.00636190 0.09934208
+v -0.01077963 -0.01060250 0.09673083
+v -0.01127005 -0.01094867 0.09934208
+v -0.01157022 -0.01078019 0.09985463
+v -0.00006934 -0.01566618 0.10217948
+v -0.01437885 -0.00636190 0.09969889
+v -0.01433093 -0.00636190 0.09939542
+v -0.01384192 -0.00902723 0.10217948
+v -0.00006934 -0.01535960 0.09985463
+v -0.00010880 -0.01527121 0.09917835
+v -0.00245238 -0.01542865 0.09934208
+v -0.00245238 -0.01480719 0.09673083
+v -0.01293155 -0.01000959 0.10217948
+v -0.00922664 -0.01162444 0.09673083
+v -0.00773706 -0.01327796 0.09934208
+v -0.01093746 -0.01123224 0.09985463
+v -0.01131373 -0.01097629 0.09985463
+v -0.00006934 -0.01561186 0.10172293
+v -0.00245097 -0.01576745 0.10217948
+v -0.00193941 -0.01546915 0.09985463
+v -0.00010880 -0.01532645 0.09958316
+v -0.00245097 -0.01549033 0.09985463
+v -0.00540898 -0.01462950 0.09934208
+v -0.00486924 -0.01432200 0.09682256
+v -0.00465363 -0.01434594 0.09673083
+v -0.01151244 -0.01109414 0.10217948
+v -0.00710713 -0.01292719 0.09673083
+v -0.00804710 -0.01342159 0.10217948
+v -0.00546676 -0.01466173 0.09985409
+v -0.00572184 -0.01480719 0.10217948
+v -0.00942816 -0.01251105 0.10217948
+v -0.00360796 -0.01545350 0.10217948
+v -0.00377566 -0.01540287 0.10217948
+v -0.00496225 -0.01423914 0.09673083
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 20
+f 1 20 35
+f 1 35 48
+f 1 48 57
+f 1 57 50
+f 1 50 37
+f 1 37 25
+f 1 25 21
+f 1 21 11
+f 1 11 5
+f 1 5 13
+f 1 13 24
+f 1 24 30
+f 1 30 29
+f 1 29 15
+f 1 15 8
+f 1 8 6
+f 1 6 2
+f 2 6 3
+f 3 7 4
+f 3 6 8
+f 3 8 15
+f 3 15 9
+f 3 9 18
+f 3 18 31
+f 3 31 36
+f 3 36 49
+f 3 49 54
+f 3 54 51
+f 3 51 53
+f 3 53 56
+f 3 56 55
+f 3 55 42
+f 3 42 28
+f 3 28 14
+f 3 14 7
+f 4 7 10
+f 5 11 12
+f 5 12 13
+f 7 14 10
+f 9 15 16
+f 9 16 17
+f 9 17 18
+f 10 14 19
+f 10 19 32
+f 10 32 20
+f 11 21 12
+f 12 22 23
+f 12 23 16
+f 12 16 24
+f 12 24 13
+f 12 21 25
+f 12 25 26
+f 12 26 27
+f 12 27 22
+f 14 28 41
+f 14 41 32
+f 14 32 19
+f 15 29 16
+f 16 30 24
+f 16 23 17
+f 16 29 30
+f 17 23 31
+f 17 31 18
+f 20 33 34
+f 20 34 35
+f 20 32 33
+f 22 31 23
+f 22 27 36
+f 22 36 31
+f 25 37 38
+f 25 38 26
+f 26 38 39
+f 26 39 40
+f 26 40 27
+f 27 40 36
+f 28 42 43
+f 28 43 41
+f 32 41 44
+f 32 44 33
+f 33 44 43
+f 33 43 34
+f 34 43 45
+f 34 45 46
+f 34 46 47
+f 34 47 48
+f 34 48 35
+f 36 40 49
+f 37 50 38
+f 38 51 39
+f 38 50 47
+f 38 47 46
+f 38 46 52
+f 38 52 53
+f 38 53 51
+f 39 49 40
+f 39 51 54
+f 39 54 49
+f 41 43 44
+f 42 45 43
+f 42 55 46
+f 42 46 45
+f 46 55 56
+f 46 56 52
+f 47 50 57
+f 47 57 48
+f 52 56 53
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_310.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_310.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0407e42b9ce6f8f108e82cb98cf3d52d7e2ea914
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_310.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v -0.01553572 0.00676654 -0.05900722
+v -0.01751676 -0.00005971 -0.05859400
+v -0.01553572 0.00670039 -0.05905118
+v -0.01553572 0.00676654 -0.05923361
+v -0.01771075 0.00676654 -0.05546630
+v -0.01985522 -0.00005971 -0.05459590
+v -0.01744103 -0.00005971 -0.06061173
+v -0.01743173 -0.00005971 -0.06255913
+v -0.01626250 0.00676654 -0.06227559
+v -0.01776256 0.00676654 -0.05539157
+v -0.02910807 -0.00005971 -0.04091577
+v -0.02244081 -0.00005971 -0.05064616
+v -0.02087032 -0.00005971 -0.05299798
+v -0.02021794 -0.00005971 -0.06255913
+v -0.01742375 0.00203240 -0.06260529
+v -0.01629040 0.00676654 -0.06227999
+v -0.02910807 0.00676654 -0.04015308
+v -0.02910807 -0.00005971 -0.05060440
+v -0.02034284 0.00203240 -0.06260529
+v -0.02150011 -0.00005971 -0.06131509
+v -0.02267067 0.00203240 -0.06034798
+v -0.01968781 0.00669037 -0.06215031
+v -0.01966655 0.00676654 -0.06213273
+v -0.02910807 0.00676654 -0.04971862
+v -0.02910807 0.00082564 -0.05090772
+v -0.02840121 -0.00005971 -0.05176273
+v -0.02254577 -0.00005971 -0.06012598
+v -0.02829625 0.00476530 -0.05237376
+v -0.02403521 0.00543416 -0.05758514
+v -0.02813282 -0.00005971 -0.05215177
+v -0.02430227 0.00203240 -0.05801814
+v -0.02224151 0.00676654 -0.05899623
+v -0.02910807 0.00612775 -0.05021097
+v -0.02910807 0.00099269 -0.05093849
+v -0.02826702 0.00203240 -0.05233639
+v -0.02910807 0.00203240 -0.05112752
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 16
+f 1 16 23
+f 1 23 32
+f 1 32 24
+f 1 24 17
+f 1 17 10
+f 1 10 5
+f 1 5 6
+f 1 6 2
+f 2 7 3
+f 2 6 13
+f 2 13 12
+f 2 12 11
+f 2 11 18
+f 2 18 26
+f 2 26 30
+f 2 30 27
+f 2 27 20
+f 2 20 14
+f 2 14 8
+f 2 8 7
+f 3 7 8
+f 3 8 4
+f 4 8 9
+f 5 10 11
+f 5 11 12
+f 5 12 13
+f 5 13 6
+f 8 14 19
+f 8 19 15
+f 8 15 9
+f 9 15 16
+f 10 17 11
+f 11 17 24
+f 11 24 33
+f 11 33 36
+f 11 36 34
+f 11 34 25
+f 11 25 18
+f 14 20 21
+f 14 21 19
+f 15 19 16
+f 16 19 22
+f 16 22 23
+f 18 25 26
+f 19 21 22
+f 20 27 21
+f 21 28 29
+f 21 29 22
+f 21 27 30
+f 21 30 31
+f 21 31 28
+f 22 29 23
+f 23 29 32
+f 24 32 28
+f 24 28 33
+f 25 34 30
+f 25 30 26
+f 28 32 29
+f 28 31 35
+f 28 35 36
+f 28 36 33
+f 30 34 36
+f 30 36 35
+f 30 35 31
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_311.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_311.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f2f019fd1bb6c1c10686db4310d06d5e8a363b5c
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_311.obj
@@ -0,0 +1,138 @@
+# https://github.com/mikedh/trimesh
+v -0.00896421 0.00868680 0.08650616
+v -0.00896421 0.01423090 0.08650616
+v -0.00226678 0.00918625 0.08650409
+v -0.00383832 0.00868680 0.08650616
+v -0.00896421 0.00868680 0.10686766
+v -0.00666553 0.01510967 0.08650616
+v -0.00222215 0.01626465 0.08650409
+v -0.00226678 0.01010002 0.08650409
+v -0.00896421 0.01550791 0.09985612
+v -0.00666553 0.01654086 0.09985612
+v -0.00002584 0.00938395 0.08650409
+v -0.00373245 0.00868680 0.09088760
+v -0.00886271 0.00868680 0.10675547
+v -0.00002584 0.01130703 0.10430196
+v -0.00002584 0.01250647 0.10736417
+v -0.00896421 0.00918436 0.10744520
+v -0.00226678 0.01625330 0.08650616
+v -0.00105050 0.01805246 0.09985820
+v -0.00035573 0.01786895 0.09687700
+v -0.00219940 0.01626654 0.08650409
+v -0.00896421 0.01578128 0.10423755
+v -0.00666553 0.01687099 0.10429988
+v -0.00403170 0.01761355 0.10429988
+v -0.00226678 0.01810733 0.10429988
+v -0.00180827 0.01823503 0.10430196
+v -0.00002584 0.01639708 0.08650409
+v -0.00002584 0.00938395 0.08652902
+v -0.00002584 0.00941611 0.08837799
+v -0.00002584 0.00949084 0.09103094
+v -0.00628139 0.00868680 0.09985612
+v -0.00877521 0.00868680 0.10665368
+v -0.00873933 0.00868680 0.10660589
+v -0.00755980 0.00868680 0.10429988
+v -0.00002584 0.01066474 0.09985820
+v -0.00002584 0.01401428 0.10760724
+v -0.00896421 0.01111784 0.10763633
+v -0.00002584 0.01834948 0.10430196
+v -0.00002584 0.01786895 0.09687700
+v -0.00896421 0.01545967 0.10578944
+v -0.00136638 0.01811300 0.10692582
+v -0.00226678 0.01794463 0.10603874
+v -0.00002584 0.01825584 0.10594733
+v -0.00002584 0.01574439 0.10765711
+v -0.00896421 0.01305889 0.10772774
+v -0.00896421 0.01462630 0.10740573
+v -0.00666553 0.01514372 0.10764671
+v -0.00002584 0.01814138 0.10695906
+f 1 2 8
+f 1 8 3
+f 1 3 4
+f 1 4 12
+f 1 12 30
+f 1 30 33
+f 1 33 32
+f 1 32 31
+f 1 31 13
+f 1 13 5
+f 1 5 16
+f 1 16 36
+f 1 36 44
+f 1 44 45
+f 1 45 39
+f 1 39 21
+f 1 21 9
+f 1 9 2
+f 2 6 7
+f 2 7 8
+f 2 9 10
+f 2 10 6
+f 3 11 4
+f 3 8 7
+f 3 7 20
+f 3 20 26
+f 3 26 11
+f 4 11 12
+f 5 13 14
+f 5 14 15
+f 5 15 16
+f 6 17 7
+f 6 10 18
+f 6 18 17
+f 7 19 20
+f 7 17 18
+f 7 18 19
+f 9 21 22
+f 9 22 10
+f 10 22 23
+f 10 23 24
+f 10 24 25
+f 10 25 18
+f 11 26 38
+f 11 38 37
+f 11 37 42
+f 11 42 47
+f 11 47 43
+f 11 43 35
+f 11 35 15
+f 11 15 14
+f 11 14 34
+f 11 34 29
+f 11 29 28
+f 11 28 27
+f 11 27 12
+f 12 28 29
+f 12 29 30
+f 12 27 28
+f 13 31 14
+f 14 31 32
+f 14 32 33
+f 14 33 34
+f 15 35 16
+f 16 35 36
+f 18 25 37
+f 18 37 19
+f 19 38 26
+f 19 26 20
+f 19 37 38
+f 21 39 22
+f 22 39 40
+f 22 40 41
+f 22 41 23
+f 23 41 24
+f 24 41 40
+f 24 40 25
+f 25 42 37
+f 25 40 42
+f 29 34 33
+f 29 33 30
+f 35 43 44
+f 35 44 36
+f 39 45 40
+f 40 45 46
+f 40 46 47
+f 40 47 42
+f 43 47 46
+f 43 46 44
+f 44 46 45
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_312.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_312.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1f5f63479d25792484aeca80603cd02c761133c
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_312.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v -0.00003913 0.02822083 0.01396736
+v -0.00003913 0.03133899 0.00895453
+v 0.00685219 0.02783694 0.01396736
+v -0.00003913 0.03595378 0.01396736
+v -0.00003913 0.03225519 0.00825750
+v 0.00685219 0.03170445 0.00825750
+v 0.00685219 0.03596198 0.01396736
+v 0.00355223 0.03699181 0.01396736
+v 0.00376135 0.03715764 0.01374824
+v -0.00003913 0.03628034 0.01313841
+v -0.00003913 0.03774320 0.00825750
+v 0.00685219 0.03782100 0.00825750
+v 0.00685219 0.03614010 0.01346596
+v 0.00495667 0.03715764 0.01374824
+v 0.00518467 0.03694369 0.01396736
+v 0.00458768 0.03699181 0.01396736
+v 0.00375730 0.03701638 0.01393494
+v 0.00220851 0.03829497 0.00825750
+v 0.00375730 0.03715867 0.01374209
+v 0.00065567 0.03670927 0.01246206
+v -0.00003913 0.03732962 0.00982149
+v 0.00220851 0.03760397 0.01087738
+v 0.00666533 0.03791927 0.00825750
+v 0.00685219 0.03707575 0.01082763
+v 0.00587745 0.03758350 0.01082763
+f 1 2 3
+f 1 3 7
+f 1 7 15
+f 1 15 16
+f 1 16 8
+f 1 8 4
+f 1 4 10
+f 1 10 21
+f 1 21 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 12
+f 3 12 24
+f 3 24 13
+f 3 13 7
+f 4 8 9
+f 4 9 10
+f 5 11 18
+f 5 18 23
+f 5 23 12
+f 5 12 6
+f 7 13 14
+f 7 14 15
+f 8 16 17
+f 8 17 9
+f 9 17 14
+f 9 14 18
+f 9 18 19
+f 9 19 10
+f 10 20 21
+f 10 19 20
+f 11 21 22
+f 11 22 18
+f 12 23 24
+f 13 24 14
+f 14 17 16
+f 14 16 15
+f 14 24 25
+f 14 25 18
+f 18 25 23
+f 18 22 19
+f 19 22 21
+f 19 21 20
+f 23 25 24
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_313.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_313.obj
new file mode 100644
index 0000000000000000000000000000000000000000..430cad352a67656c0c39c44ebb63c47c254a64ac
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_313.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v 0.02009545 -0.03424729 -0.02801046
+v 0.02009545 -0.03413414 -0.02848436
+v 0.02080382 -0.03410357 -0.02801046
+v 0.02009545 -0.02829213 -0.02801046
+v 0.02009545 -0.03351187 -0.03108508
+v 0.02072555 -0.03338497 -0.03108222
+v 0.02346217 -0.03308989 -0.02951625
+v 0.02378054 -0.03327030 -0.02801046
+v 0.02009545 -0.02663019 -0.03131057
+v 0.02749879 -0.01862780 -0.02801046
+v 0.02009545 -0.03337121 -0.03166695
+v 0.02009545 -0.03324737 -0.03217429
+v 0.02219932 -0.03262204 -0.03262239
+v 0.02392911 -0.02921407 -0.03777129
+v 0.02430452 -0.02967733 -0.03575912
+v 0.02622268 -0.03070171 -0.02801046
+v 0.02408166 -0.01862780 -0.03776747
+v 0.02009545 -0.02425730 -0.03777129
+v 0.03364724 -0.01862780 -0.02801046
+v 0.02009545 -0.03234683 -0.03494030
+v 0.02009545 -0.03190956 -0.03616423
+v 0.02009545 -0.03125518 -0.03777129
+v 0.02044565 -0.03112981 -0.03777129
+v 0.02089137 -0.03096927 -0.03777129
+v 0.02586717 -0.02595746 -0.03777129
+v 0.02668696 -0.02583667 -0.03593206
+v 0.02741788 -0.02755213 -0.03110133
+v 0.02781583 -0.02823556 -0.02874998
+v 0.02794053 -0.02844808 -0.02801046
+v 0.02689655 -0.02982105 -0.02801046
+v 0.02737543 -0.02919419 -0.02801046
+v 0.02408830 -0.01862780 -0.03777129
+v 0.02407768 -0.01863239 -0.03777129
+v 0.03299326 -0.01980201 -0.02801046
+v 0.03274255 -0.01936627 -0.02951529
+v 0.03299989 -0.01862780 -0.02996148
+v 0.02749481 -0.02319469 -0.03777129
+v 0.02752002 -0.02328643 -0.03760027
+v 0.02820185 -0.02422825 -0.03449411
+v 0.02878287 -0.02522358 -0.03110133
+v 0.03005766 -0.01862780 -0.03777129
+v 0.03084827 -0.01862780 -0.03580976
+v 0.02884256 -0.02085544 -0.03777129
+v 0.02916358 -0.02154499 -0.03593206
+f 1 2 3
+f 1 3 8
+f 1 8 16
+f 1 16 30
+f 1 30 31
+f 1 31 29
+f 1 29 34
+f 1 34 19
+f 1 19 10
+f 1 10 4
+f 1 4 9
+f 1 9 18
+f 1 18 22
+f 1 22 21
+f 1 21 20
+f 1 20 12
+f 1 12 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 7
+f 3 7 8
+f 4 10 9
+f 5 11 6
+f 6 11 12
+f 6 12 13
+f 6 13 7
+f 7 13 14
+f 7 14 15
+f 7 15 16
+f 7 16 8
+f 9 10 17
+f 9 17 18
+f 10 19 36
+f 10 36 42
+f 10 42 41
+f 10 41 32
+f 10 32 17
+f 12 20 13
+f 13 20 21
+f 13 21 22
+f 13 22 23
+f 13 23 24
+f 13 24 14
+f 14 25 26
+f 14 26 27
+f 14 27 28
+f 14 28 29
+f 14 29 15
+f 14 24 23
+f 14 23 22
+f 14 22 18
+f 14 18 33
+f 14 33 32
+f 14 32 41
+f 14 41 43
+f 14 43 37
+f 14 37 25
+f 15 30 16
+f 15 29 31
+f 15 31 30
+f 17 32 33
+f 17 33 18
+f 19 34 35
+f 19 35 36
+f 25 37 38
+f 25 38 26
+f 26 38 39
+f 26 39 27
+f 27 39 40
+f 27 40 28
+f 28 40 35
+f 28 35 29
+f 29 35 34
+f 35 40 39
+f 35 39 36
+f 36 39 42
+f 37 43 38
+f 38 43 39
+f 39 43 44
+f 39 44 42
+f 41 42 43
+f 42 44 43
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_314.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_314.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9318584326c5c8cc2780de66a858633856c52b4c
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_314.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v -0.02657505 0.00583392 0.03533656
+v -0.02657505 0.01352903 0.02688880
+v -0.02658123 0.00583392 0.03532572
+v -0.02657505 0.00583392 0.01881481
+v -0.02672320 0.01352903 0.02661253
+v -0.02657505 0.01352903 0.01018829
+v -0.03115271 0.00583392 0.02663149
+v -0.02798242 0.01352903 0.02426157
+v -0.02994040 0.01352903 0.02060512
+v -0.03034779 0.01352903 0.01984403
+v -0.03282798 0.01352903 0.01520982
+v -0.03590444 0.00949467 0.01385829
+v -0.02773675 0.00583392 0.01604945
+v -0.02740219 0.01352903 0.00767211
+v -0.03511433 0.00805523 0.01682137
+v -0.03566741 0.00583392 0.01788580
+v -0.03399708 0.01352903 0.01239570
+v -0.03457855 0.01352903 0.01097646
+v -0.03642294 0.01037973 0.01097646
+v -0.03825129 0.00666700 0.01097646
+v -0.03655627 0.00661051 0.01537233
+v -0.03184652 0.00583392 0.00767211
+v -0.03152184 0.00630620 0.00767211
+v -0.03552914 0.01352903 0.00767211
+v -0.03619579 0.00583392 0.01684033
+v -0.03522174 0.01352903 0.00883405
+v -0.03548717 0.01323452 0.00852257
+v -0.03621554 0.01235548 0.00767211
+v -0.03682540 0.01127082 0.00767211
+v -0.03878461 0.00740895 0.00767211
+v -0.03914880 0.00667152 0.00767211
+v -0.03831919 0.00583392 0.01097646
+v -0.03918583 0.00583392 0.00767211
+v -0.03603900 0.01265753 0.00767211
+v -0.03537235 0.01352903 0.00829506
+f 1 2 3
+f 1 3 7
+f 1 7 16
+f 1 16 25
+f 1 25 32
+f 1 32 33
+f 1 33 22
+f 1 22 13
+f 1 13 4
+f 1 4 6
+f 1 6 2
+f 2 5 3
+f 2 6 14
+f 2 14 24
+f 2 24 35
+f 2 35 26
+f 2 26 18
+f 2 18 17
+f 2 17 11
+f 2 11 10
+f 2 10 9
+f 2 9 8
+f 2 8 5
+f 3 5 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 7
+f 4 13 14
+f 4 14 6
+f 7 12 15
+f 7 15 16
+f 11 17 12
+f 12 17 18
+f 12 18 19
+f 12 19 20
+f 12 20 21
+f 12 21 15
+f 13 22 23
+f 13 23 14
+f 14 23 22
+f 14 22 33
+f 14 33 31
+f 14 31 30
+f 14 30 29
+f 14 29 28
+f 14 28 34
+f 14 34 24
+f 15 21 25
+f 15 25 16
+f 18 26 19
+f 19 26 27
+f 19 27 28
+f 19 28 29
+f 19 29 30
+f 19 30 31
+f 19 31 20
+f 20 32 25
+f 20 25 21
+f 20 31 32
+f 24 34 35
+f 26 35 27
+f 27 35 34
+f 27 34 28
+f 31 33 32
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_315.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_315.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4208c46114d79ffa8b0de7ea4f48347f6875dddf
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_315.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.02408357 0.02002350 -0.04468235
+v 0.02408357 0.02238779 -0.03904920
+v 0.02408357 0.02238779 -0.04468235
+v 0.02675239 0.01738082 -0.04468235
+v 0.02702250 0.01738082 -0.04330041
+v 0.02782896 0.01738082 -0.04014812
+v 0.02977662 0.01738082 -0.03258594
+v 0.02540440 0.02238779 -0.03620243
+v 0.03240020 0.02238779 -0.04468235
+v 0.03407904 0.01738082 -0.04468235
+v 0.02720731 0.02238191 -0.03258594
+v 0.03728421 0.01738082 -0.03258594
+v 0.02732363 0.02238779 -0.03258594
+v 0.03596208 0.02238779 -0.03266647
+v 0.03278017 0.02155264 -0.04468235
+v 0.03394721 0.01787338 -0.04468235
+v 0.03422120 0.01738082 -0.04419210
+v 0.03712136 0.01738082 -0.03354513
+v 0.03597629 0.02238779 -0.03258594
+v 0.03631619 0.02020435 -0.03366591
+v 0.03542573 0.02182270 -0.03527996
+v 0.03336951 0.01999899 -0.04468235
+v 0.03470327 0.01738082 -0.04250938
+v 0.03665222 0.01738082 -0.03531074
+v 0.03584963 0.01885997 -0.03680281
+v 0.03403510 0.01999899 -0.04235543
+v 0.03608356 0.01738082 -0.03744464
+f 1 2 3
+f 1 3 9
+f 1 9 15
+f 1 15 22
+f 1 22 16
+f 1 16 10
+f 1 10 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 8 13
+f 2 13 19
+f 2 19 14
+f 2 14 9
+f 2 9 3
+f 2 7 8
+f 4 10 17
+f 4 17 23
+f 4 23 27
+f 4 27 24
+f 4 24 18
+f 4 18 12
+f 4 12 7
+f 4 7 6
+f 4 6 5
+f 7 11 8
+f 7 12 19
+f 7 19 13
+f 7 13 11
+f 8 11 13
+f 9 14 15
+f 10 16 17
+f 12 18 19
+f 14 19 18
+f 14 18 20
+f 14 20 21
+f 14 21 15
+f 15 21 22
+f 16 22 23
+f 16 23 17
+f 18 24 20
+f 20 24 25
+f 20 25 26
+f 20 26 21
+f 21 26 22
+f 22 26 23
+f 23 26 27
+f 24 27 25
+f 25 27 26
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_316.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_316.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d8cedaf2db039b52e1412e46f43a51558300994
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_316.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.01302418 -0.01862780 -0.06097461
+v 0.01174917 -0.01709967 -0.06193318
+v 0.01307756 -0.01857055 -0.06103356
+v 0.01316244 -0.01862780 -0.06088198
+v 0.01174917 -0.01862780 -0.06066865
+v 0.01174917 -0.01675287 -0.06208617
+v 0.01466892 -0.01546474 -0.06209599
+v 0.01621870 -0.01667470 -0.05927079
+v 0.01621870 -0.01677929 -0.05917535
+v 0.01535936 -0.01862780 -0.05836835
+v 0.01174917 -0.01862780 -0.05159797
+v 0.01174917 -0.01231380 -0.06220546
+v 0.01620645 -0.01164992 -0.06220686
+v 0.01621870 -0.01165983 -0.06219283
+v 0.01621870 -0.01689159 -0.05906588
+v 0.01621870 -0.01862780 -0.05730031
+v 0.01354267 -0.01862780 -0.04977766
+v 0.01621870 -0.00854741 -0.05627857
+v 0.01621870 -0.00738040 -0.05747714
+v 0.01174917 -0.01618037 -0.05414669
+v 0.01174917 -0.01229288 -0.06219844
+v 0.01343941 -0.00893715 -0.06185459
+v 0.01598593 -0.00738040 -0.06227002
+v 0.01604675 -0.00738040 -0.06227985
+v 0.01621870 -0.00738040 -0.06226441
+v 0.01621870 -0.01164992 -0.06219564
+v 0.01621870 -0.01862780 -0.04794191
+v 0.01524516 -0.00738040 -0.05905887
+v 0.01174917 -0.01223893 -0.05929324
+v 0.01174917 -0.01222682 -0.05931009
+v 0.01343941 -0.00893715 -0.06061251
+v 0.01522985 -0.00738040 -0.05909255
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 16
+f 1 16 27
+f 1 27 17
+f 1 17 11
+f 1 11 5
+f 1 5 2
+f 2 6 3
+f 2 5 11
+f 2 11 20
+f 2 20 29
+f 2 29 30
+f 2 30 21
+f 2 21 12
+f 2 12 6
+f 3 6 7
+f 3 7 8
+f 3 8 9
+f 3 9 4
+f 4 9 10
+f 6 12 13
+f 6 13 7
+f 7 13 14
+f 7 14 8
+f 8 14 26
+f 8 26 25
+f 8 25 19
+f 8 19 18
+f 8 18 27
+f 8 27 16
+f 8 16 15
+f 8 15 9
+f 9 15 10
+f 10 15 16
+f 11 17 18
+f 11 18 19
+f 11 19 20
+f 12 21 22
+f 12 22 23
+f 12 23 24
+f 12 24 13
+f 13 24 25
+f 13 25 26
+f 13 26 14
+f 17 27 18
+f 19 25 24
+f 19 24 23
+f 19 23 32
+f 19 32 28
+f 19 28 20
+f 20 28 29
+f 21 30 22
+f 22 30 31
+f 22 31 32
+f 22 32 23
+f 28 32 31
+f 28 31 30
+f 28 30 29
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_317.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_317.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46091516d459c17d14c4935d493cf6e348a2d3ab
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_317.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v -0.01318579 -0.01425058 0.04545995
+v -0.01879479 -0.01425058 0.04545995
+v -0.01318579 -0.01817047 0.04545995
+v -0.01318579 -0.01425058 0.03370420
+v -0.01872538 -0.01440600 0.04545995
+v -0.02276704 -0.01425058 0.03549389
+v -0.02276704 -0.01453695 0.03526973
+v -0.02276704 -0.01787815 0.03199634
+v -0.01319142 -0.02100705 0.03771766
+v -0.01318579 -0.02012611 0.04000903
+v -0.01360506 -0.01793105 0.04545995
+v -0.02276704 -0.02100705 0.02623944
+v -0.02016421 -0.02100705 0.02963380
+v -0.01318579 -0.01452504 0.03311000
+v -0.02146140 -0.01425058 0.02029396
+v -0.01570984 -0.01670158 0.04545995
+v -0.02268919 -0.01822404 0.03181132
+v -0.02276704 -0.01425058 0.01877824
+v -0.02276704 -0.01829811 0.03153024
+v -0.01318579 -0.02100705 0.03625887
+v -0.02276704 -0.02100705 0.00911817
+v -0.01318579 -0.01690925 0.02845609
+v -0.01318579 -0.02100705 0.02077785
+f 1 2 5
+f 1 5 16
+f 1 16 11
+f 1 11 3
+f 1 3 10
+f 1 10 20
+f 1 20 23
+f 1 23 22
+f 1 22 14
+f 1 14 4
+f 1 4 15
+f 1 15 18
+f 1 18 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 5
+f 3 9 10
+f 3 11 12
+f 3 12 13
+f 3 13 9
+f 4 14 15
+f 5 8 17
+f 5 17 12
+f 5 12 16
+f 6 18 21
+f 6 21 12
+f 6 12 19
+f 6 19 8
+f 6 8 7
+f 8 19 17
+f 9 20 10
+f 9 13 12
+f 9 12 21
+f 9 21 23
+f 9 23 20
+f 11 16 12
+f 12 17 19
+f 14 22 15
+f 15 22 23
+f 15 23 21
+f 15 21 18
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_318.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_318.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f99cc3df52eb834cbfdf13b98aab88a296f4bdf
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_318.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.00510249 0.00728505 0.10291909
+v -0.00510249 0.00919887 0.10125209
+v -0.00235004 0.00981380 0.10125209
+v -0.00235004 0.00894680 0.10291909
+v -0.00510249 0.01478700 0.10291909
+v -0.00510249 0.01460717 0.10125209
+v -0.00235004 0.01529756 0.10125209
+v -0.00235004 0.01548541 0.10291909
+v -0.00245107 0.01548060 0.10291909
+v -0.00245107 0.01529355 0.10125209
+v -0.00239611 0.01529596 0.10125209
+v -0.00242467 0.01548220 0.10291909
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 12
+f 1 12 9
+f 1 9 5
+f 1 5 6
+f 1 6 2
+f 2 6 10
+f 2 10 11
+f 2 11 7
+f 2 7 3
+f 3 7 8
+f 3 8 4
+f 5 9 6
+f 6 9 10
+f 7 11 8
+f 8 11 12
+f 9 12 10
+f 10 12 11
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_319.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_319.obj
new file mode 100644
index 0000000000000000000000000000000000000000..751e0b1e4d869805a032bb92de3800004c3386e4
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_319.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.03351396 0.00677559 -0.00119122
+v -0.04120706 0.00677559 -0.00119122
+v -0.03418655 0.00237335 -0.00119122
+v -0.03601440 0.00237335 -0.01120829
+v -0.03551675 0.00677430 -0.01120829
+v -0.03558036 0.00677559 -0.01120829
+v -0.04124915 0.00666786 -0.00119122
+v -0.04144840 0.00677559 -0.00224245
+v -0.04143063 0.00237335 -0.00119122
+v -0.04307046 0.00237335 -0.01120829
+v -0.04291612 0.00677559 -0.01120829
+v -0.04138666 0.00347693 -0.00119122
+v -0.04151763 0.00666614 -0.00235816
+v -0.04170284 0.00237335 -0.00235816
+v -0.04239975 0.00677559 -0.00663074
+v -0.04248113 0.00666614 -0.00680137
+v -0.04167010 0.00237335 -0.00221695
+v -0.04261490 0.00237335 -0.00680137
+v -0.04296382 0.00666614 -0.01120829
+v -0.04295073 0.00669760 -0.01120829
+v -0.04290676 0.00677559 -0.01111513
+v -0.04243436 0.00677559 -0.00680137
+f 1 2 7
+f 1 7 12
+f 1 12 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 11
+f 1 11 21
+f 1 21 22
+f 1 22 15
+f 1 15 8
+f 1 8 2
+f 2 8 7
+f 3 9 17
+f 3 17 14
+f 3 14 18
+f 3 18 10
+f 3 10 4
+f 4 10 19
+f 4 19 20
+f 4 20 11
+f 4 11 6
+f 4 6 5
+f 7 8 13
+f 7 13 14
+f 7 14 12
+f 8 15 16
+f 8 16 13
+f 9 12 17
+f 10 18 19
+f 11 20 21
+f 12 14 17
+f 13 16 14
+f 14 16 18
+f 15 22 16
+f 16 22 20
+f 16 20 19
+f 16 19 18
+f 20 22 21
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_32.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8af373b8acc2aca106b7abe09ae98b017039d1f
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_32.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.00019873 -0.00005971 0.01919472
+v -0.00019873 -0.01659571 0.01919472
+v -0.00019873 -0.00005971 0.01501287
+v -0.02051265 -0.00005971 0.01919472
+v -0.02051265 -0.01659571 0.01919514
+v -0.00019873 -0.01659571 0.01501287
+v -0.02051265 -0.01659571 0.01495644
+v -0.02051265 -0.00005971 0.01501287
+f 1 2 6
+f 1 6 3
+f 1 3 8
+f 1 8 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 6
+f 3 6 7
+f 3 7 8
+f 4 8 7
+f 4 7 5
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_320.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_320.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b6eebfcdd27758c60c57e684057b72d9a0dd54b
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_320.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.02669682 0.01874848 0.00865406
+v 0.03308153 0.01874848 0.00865406
+v 0.02722188 0.01874848 0.00652091
+v 0.03163416 0.00264295 0.00865406
+v 0.03319682 0.01874848 0.00823754
+v 0.03776575 0.00163774 0.00865406
+v 0.03813041 0.00243860 0.00657441
+v 0.03755522 0.00585375 0.00529281
+v 0.03786474 0.00651284 0.00354619
+v 0.02881085 0.01874848 0.00354619
+v 0.03206399 0.00758065 0.00354619
+v 0.03429832 -0.00005971 0.00354619
+v 0.03286850 -0.00005971 0.00865406
+v 0.03440860 0.01874848 0.00354619
+v 0.03811036 0.00033611 0.00865406
+v 0.03814294 0.00549658 0.00354619
+v 0.03879081 -0.00005971 0.00637390
+v 0.03949883 -0.00005971 0.00354619
+v 0.03820559 -0.00005971 0.00865406
+f 1 2 5
+f 1 5 14
+f 1 14 10
+f 1 10 3
+f 1 3 4
+f 1 4 13
+f 1 13 19
+f 1 19 15
+f 1 15 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 5
+f 3 10 11
+f 3 11 12
+f 3 12 4
+f 4 12 13
+f 5 9 14
+f 6 15 7
+f 7 16 8
+f 7 15 17
+f 7 17 16
+f 8 16 9
+f 9 16 18
+f 9 18 12
+f 9 12 11
+f 9 11 10
+f 9 10 14
+f 12 18 17
+f 12 17 19
+f 12 19 13
+f 15 19 17
+f 16 17 18
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_321.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_321.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61f2a63c53cf5930e4d70bb50e7ee050b59c7dac
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_321.obj
@@ -0,0 +1,117 @@
+# https://github.com/mikedh/trimesh
+v 0.04037065 -0.00544527 -0.04234837
+v 0.04036941 -0.00538377 -0.04234837
+v 0.03983638 -0.00675287 -0.04234837
+v 0.03984623 -0.00675287 -0.04235698
+v 0.04037065 -0.00544333 -0.04235698
+v 0.04028694 -0.00275822 -0.04234837
+v 0.03829637 -0.00675287 -0.04234837
+v 0.03899313 -0.00675287 -0.04512075
+v 0.04004935 -0.00458692 -0.04476747
+v 0.04004935 -0.00424642 -0.04476747
+v 0.03956433 -0.00013978 -0.04234837
+v 0.03277032 -0.00246627 -0.04234837
+v 0.03204647 -0.00675287 -0.04235052
+v 0.03875924 -0.00630557 -0.04646278
+v 0.03853273 -0.00675287 -0.04647140
+v 0.03875555 -0.00630751 -0.04647140
+v 0.03646461 -0.00630363 -0.05113297
+v 0.03561521 -0.00458109 -0.05355638
+v 0.03896974 -0.00013978 -0.04441419
+v 0.03943876 -0.00013978 -0.04280505
+v 0.03561521 -0.00419528 -0.05355638
+v 0.03662218 -0.00251741 -0.05140870
+v 0.03903006 -0.00254848 -0.04647140
+v 0.03831361 -0.00013978 -0.04663942
+v 0.03836654 -0.00013978 -0.04646278
+v 0.03230868 -0.00013978 -0.04234837
+v 0.03230745 -0.00013978 -0.04235052
+v 0.02779452 -0.00675287 -0.05009682
+v 0.03639321 -0.00675287 -0.05092186
+v 0.03588234 -0.00675287 -0.05164350
+v 0.03159222 -0.00535723 -0.05858631
+v 0.02779452 -0.00222223 -0.06435511
+v 0.02779452 -0.00013978 -0.06367009
+v 0.03523974 -0.00123311 -0.05299845
+v 0.03642768 -0.00013978 -0.05074522
+v 0.03761808 -0.00013978 -0.04829811
+v 0.02779452 -0.00013978 -0.05088524
+v 0.02779452 -0.00675287 -0.06280628
+v 0.02779452 -0.00668426 -0.06286013
+v 0.03509202 -0.00013978 -0.05278089
+f 1 2 6
+f 1 6 11
+f 1 11 26
+f 1 26 12
+f 1 12 7
+f 1 7 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 13
+f 3 13 28
+f 3 28 38
+f 3 38 30
+f 3 30 29
+f 3 29 15
+f 3 15 8
+f 3 8 4
+f 4 8 9
+f 4 9 5
+f 5 9 10
+f 5 10 6
+f 6 10 11
+f 7 12 13
+f 8 14 9
+f 8 15 16
+f 8 16 14
+f 9 14 16
+f 9 16 17
+f 9 17 18
+f 9 18 21
+f 9 21 10
+f 10 19 20
+f 10 20 11
+f 10 21 22
+f 10 22 23
+f 10 23 24
+f 10 24 25
+f 10 25 19
+f 11 20 19
+f 11 19 25
+f 11 25 24
+f 11 24 36
+f 11 36 35
+f 11 35 40
+f 11 40 33
+f 11 33 37
+f 11 37 27
+f 11 27 26
+f 12 26 13
+f 13 26 27
+f 13 27 28
+f 15 29 16
+f 16 29 17
+f 17 29 18
+f 18 29 30
+f 18 30 31
+f 18 31 32
+f 18 32 21
+f 21 32 33
+f 21 33 34
+f 21 34 22
+f 22 34 35
+f 22 35 36
+f 22 36 23
+f 23 36 24
+f 27 37 28
+f 28 37 33
+f 28 33 32
+f 28 32 39
+f 28 39 38
+f 30 38 39
+f 30 39 31
+f 31 39 32
+f 33 40 34
+f 34 40 35
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_322.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_322.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c1cbb800345293753e9ea95ed3ca44718b9d39e
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_322.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v 0.03496571 -0.00005971 -0.04064161
+v 0.03339612 0.00681059 -0.04064161
+v 0.02909564 -0.00005971 -0.04064161
+v 0.03430898 -0.00005971 -0.04215363
+v 0.03270858 0.00525329 -0.04308230
+v 0.03340190 0.00675969 -0.04065876
+v 0.03233111 0.00993986 -0.04118851
+v 0.03256992 0.00993986 -0.04064161
+v 0.02661512 0.00993986 -0.04064161
+v 0.01659095 0.00993986 -0.05449433
+v 0.02218754 -0.00005971 -0.05068531
+v 0.03336145 -0.00005971 -0.04402168
+v 0.03311879 0.00203299 -0.04368710
+v 0.02789775 -0.00003622 -0.05216087
+v 0.02215094 0.00203299 -0.05985397
+v 0.02862188 0.00669019 -0.04856204
+v 0.02820397 0.00993986 -0.04794651
+v 0.02844470 0.00993986 -0.04758619
+v 0.02997962 0.00993986 -0.04524417
+v 0.03084819 0.00993986 -0.04386726
+v 0.03220786 0.00835907 -0.04237024
+v 0.03202297 0.00993986 -0.04187053
+v 0.01529098 0.00993986 -0.05680633
+v 0.01726115 -0.00005971 -0.05859288
+v 0.01959916 -0.00005971 -0.05457154
+v 0.02090490 -0.00005971 -0.05257910
+v 0.02791316 -0.00005971 -0.05214157
+v 0.02227613 -0.00005971 -0.06007488
+v 0.01982064 0.00203299 -0.06250270
+v 0.01924865 0.00669019 -0.06215096
+v 0.01879030 0.00989679 -0.06171129
+v 0.01878259 0.00993986 -0.06170272
+v 0.01529098 0.00993986 -0.06211022
+v 0.01529098 0.00700929 -0.05935425
+v 0.01529098 0.00696720 -0.05940144
+v 0.01720338 -0.00005971 -0.06015852
+v 0.02099157 -0.00005971 -0.06153328
+v 0.01994582 -0.00005971 -0.06254988
+v 0.01719952 0.00203299 -0.06250270
+v 0.01730930 0.00993986 -0.06210163
+v 0.01872481 0.00993986 -0.06172202
+v 0.01719182 -0.00005971 -0.06254988
+v 0.01529098 0.00779821 -0.06211022
+v 0.01529098 0.00751533 -0.06190647
+f 1 2 8
+f 1 8 9
+f 1 9 3
+f 1 3 11
+f 1 11 26
+f 1 26 25
+f 1 25 24
+f 1 24 36
+f 1 36 42
+f 1 42 38
+f 1 38 37
+f 1 37 28
+f 1 28 27
+f 1 27 12
+f 1 12 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 3 9 10
+f 3 10 11
+f 4 12 13
+f 4 13 5
+f 5 13 14
+f 5 14 15
+f 5 15 16
+f 5 16 17
+f 5 17 18
+f 5 18 19
+f 5 19 20
+f 5 20 21
+f 5 21 22
+f 5 22 7
+f 5 7 6
+f 7 22 20
+f 7 20 19
+f 7 19 18
+f 7 18 17
+f 7 17 32
+f 7 32 41
+f 7 41 40
+f 7 40 33
+f 7 33 23
+f 7 23 10
+f 7 10 9
+f 7 9 8
+f 10 23 24
+f 10 24 25
+f 10 25 26
+f 10 26 11
+f 12 27 14
+f 12 14 13
+f 14 27 28
+f 14 28 15
+f 15 28 29
+f 15 29 30
+f 15 30 31
+f 15 31 17
+f 15 17 16
+f 17 31 32
+f 20 22 21
+f 23 33 43
+f 23 43 44
+f 23 44 35
+f 23 35 34
+f 23 34 24
+f 24 34 35
+f 24 35 36
+f 28 37 29
+f 29 38 42
+f 29 42 39
+f 29 39 33
+f 29 33 40
+f 29 40 30
+f 29 37 38
+f 30 40 41
+f 30 41 31
+f 31 41 32
+f 33 39 42
+f 33 42 43
+f 35 44 42
+f 35 42 36
+f 42 44 43
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_323.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_323.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2f0295c3d4887c2a1459fcb04f55017dba8031c
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_323.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.02182810 -0.02591773 -0.00119122
+v 0.01632937 -0.02882048 -0.00119122
+v 0.02182810 -0.03433097 -0.00119122
+v 0.02182810 -0.02827772 -0.01124384
+v 0.01632937 -0.03068266 -0.01124384
+v 0.01632937 -0.03604104 -0.00119122
+v 0.02016276 -0.03502007 -0.00119122
+v 0.02182810 -0.03543260 -0.00511878
+v 0.02182810 -0.03624155 -0.01124384
+v 0.01632937 -0.03769004 -0.01124384
+v 0.01632937 -0.03626805 -0.00219796
+v 0.01886074 -0.03583823 -0.00327555
+v 0.02182325 -0.03543376 -0.00511583
+v 0.02182810 -0.03590737 -0.00752393
+v 0.02182810 -0.03609866 -0.00924217
+v 0.01999860 -0.03672553 -0.01124384
+v 0.01632937 -0.03721066 -0.00678093
+v 0.01632937 -0.03704819 -0.00597593
+v 0.02020475 -0.03617356 -0.00667858
+f 1 2 6
+f 1 6 7
+f 1 7 3
+f 1 3 8
+f 1 8 14
+f 1 14 15
+f 1 15 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 10
+f 2 10 17
+f 2 17 18
+f 2 18 11
+f 2 11 6
+f 3 7 8
+f 4 9 16
+f 4 16 10
+f 4 10 5
+f 6 11 12
+f 6 12 7
+f 7 13 8
+f 7 12 13
+f 8 13 14
+f 9 15 16
+f 10 16 15
+f 10 15 17
+f 11 18 12
+f 12 18 13
+f 13 18 17
+f 13 17 19
+f 13 19 14
+f 14 19 17
+f 14 17 15
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_324.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_324.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85ea40f36916937562f3a1a543fddfd5d13b6d86
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_324.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.00003950 0.02536039 0.01491320
+v 0.00686532 0.02281479 0.01491339
+v -0.00003950 0.02550613 0.01491339
+v -0.00003950 0.02822295 0.01396792
+v 0.00694745 0.02280064 0.01491339
+v -0.00003950 0.03558100 0.01491339
+v -0.00003950 0.03595456 0.01396792
+v 0.00852218 0.02694095 0.01396792
+v 0.00852134 0.02253886 0.01491330
+v 0.00852218 0.02550613 0.01491339
+v 0.00264985 0.03627435 0.01491339
+v 0.00355412 0.03699318 0.01396792
+v 0.00852218 0.03506452 0.01396792
+v 0.00852218 0.02680653 0.01401206
+v 0.00852218 0.02550613 0.01444176
+v 0.00852218 0.03476595 0.01491339
+v 0.00299011 0.03627435 0.01491339
+v 0.00458746 0.03699318 0.01396792
+v 0.00852218 0.03486076 0.01461418
+v 0.00518500 0.03694365 0.01396792
+v 0.00617056 0.03601823 0.01491339
+f 1 2 3
+f 1 3 6
+f 1 6 7
+f 1 7 4
+f 1 4 2
+f 2 5 10
+f 2 10 16
+f 2 16 21
+f 2 21 17
+f 2 17 11
+f 2 11 6
+f 2 6 3
+f 2 4 5
+f 4 7 12
+f 4 12 18
+f 4 18 20
+f 4 20 13
+f 4 13 8
+f 4 8 9
+f 4 9 5
+f 5 9 10
+f 6 11 12
+f 6 12 7
+f 8 13 19
+f 8 19 16
+f 8 16 10
+f 8 10 15
+f 8 15 14
+f 8 14 9
+f 9 15 10
+f 9 14 15
+f 11 17 18
+f 11 18 12
+f 13 20 19
+f 16 19 20
+f 16 20 21
+f 17 21 18
+f 18 21 20
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_325.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_325.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e39e713ca7e29155b515d4ad72ffa2a2b03c475
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_325.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.00454553 0.04099252 -0.00313489
+v 0.00461849 0.04099179 -0.00313489
+v 0.00454553 0.03538422 -0.00313489
+v 0.00454553 0.03932550 0.00354503
+v 0.00636168 0.04096978 -0.00313489
+v 0.00454553 0.03476082 -0.00085266
+v 0.00991947 0.03350158 -0.00313489
+v 0.00454553 0.03392622 0.00354503
+v 0.00483115 0.03930790 0.00354503
+v 0.00686772 0.03966653 0.00150934
+v 0.00665506 0.04079890 -0.00289490
+v 0.01196536 0.03822394 -0.00278111
+v 0.01193431 0.03826061 -0.00313489
+v 0.00454553 0.03426651 0.00163490
+v 0.02040347 0.03350158 -0.00313489
+v 0.00670628 0.03350158 0.00354503
+v 0.00454553 0.03410003 0.00256806
+v 0.00701363 0.03904314 0.00354503
+v 0.00934203 0.03800758 0.00354503
+v 0.01083065 0.03790344 0.00150934
+v 0.01381100 0.03690309 -0.00098345
+v 0.01408575 0.03709084 -0.00313489
+v 0.01257074 0.03794011 -0.00313489
+v 0.01852523 0.03350158 0.00150934
+v 0.01742312 0.03350158 0.00354503
+v 0.01027960 0.03758955 0.00354503
+v 0.01800677 0.03350158 0.00246735
+f 1 2 5
+f 1 5 13
+f 1 13 23
+f 1 23 22
+f 1 22 15
+f 1 15 7
+f 1 7 3
+f 1 3 6
+f 1 6 14
+f 1 14 17
+f 1 17 8
+f 1 8 4
+f 1 4 2
+f 2 4 5
+f 3 7 6
+f 4 8 16
+f 4 16 25
+f 4 25 26
+f 4 26 19
+f 4 19 18
+f 4 18 9
+f 4 9 5
+f 5 9 10
+f 5 10 11
+f 5 11 12
+f 5 12 13
+f 6 7 14
+f 7 15 24
+f 7 24 27
+f 7 27 25
+f 7 25 16
+f 7 16 8
+f 7 8 17
+f 7 17 14
+f 9 18 10
+f 10 18 19
+f 10 19 20
+f 10 20 11
+f 11 20 12
+f 12 21 22
+f 12 22 23
+f 12 23 13
+f 12 20 21
+f 15 22 21
+f 15 21 24
+f 19 26 20
+f 20 26 24
+f 20 24 21
+f 24 26 27
+f 25 27 26
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_326.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_326.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29e6c8abd70436dd3860c2f8e41def358ae21c43
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_326.obj
@@ -0,0 +1,132 @@
+# https://github.com/mikedh/trimesh
+v 0.00546522 0.03142085 -0.04468353
+v 0.00636546 0.03072398 -0.04468353
+v 0.00546522 0.03244465 -0.03967323
+v 0.00546522 0.03864336 -0.04468353
+v 0.02408227 0.02002570 -0.04468353
+v 0.00546522 0.03284040 -0.03818955
+v 0.00546522 0.04005432 -0.04141438
+v 0.00666068 0.03858529 -0.04468353
+v 0.02408227 0.02900761 -0.04468353
+v 0.02408227 0.02446504 -0.03244998
+v 0.00546522 0.03443848 -0.03324512
+v 0.00665339 0.03926496 -0.04251009
+v 0.00546522 0.04019842 -0.04091862
+v 0.00842653 0.03774646 -0.04468353
+v 0.00812402 0.03968222 -0.03905294
+v 0.02271005 0.02980127 -0.04468353
+v 0.02165856 0.03078850 -0.04348125
+v 0.02408227 0.02980987 -0.04210773
+v 0.02408227 0.03254359 -0.03244998
+v 0.00611944 0.03462130 -0.03244998
+v 0.00546522 0.03499554 -0.03244998
+v 0.00546522 0.04033177 -0.04043244
+v 0.01079557 0.03657426 -0.04468353
+v 0.00666797 0.04177069 -0.03346785
+v 0.00909533 0.04011454 -0.03609274
+v 0.01359105 0.03501060 -0.04468353
+v 0.01300607 0.03535903 -0.04464162
+v 0.01313728 0.03543431 -0.04419376
+v 0.01143704 0.03688398 -0.04256877
+v 0.02408227 0.03134557 -0.03685794
+v 0.01300607 0.03667750 -0.04022049
+v 0.01300607 0.03817448 -0.03510361
+v 0.02408227 0.03249627 -0.03269906
+v 0.01841661 0.03586233 -0.03244998
+v 0.00546522 0.04199652 -0.03244998
+v 0.00546522 0.04182016 -0.03346785
+v 0.01257600 0.03558917 -0.04468353
+v 0.01300607 0.03547088 -0.04430752
+v 0.00905888 0.04097272 -0.03244998
+v 0.00976777 0.04049739 -0.03346785
+v 0.00666797 0.04195351 -0.03244998
+v 0.01300607 0.03863261 -0.03353610
+v 0.02408227 0.03237152 -0.03334570
+v 0.01831638 0.03592040 -0.03244998
+v 0.00993907 0.04059418 -0.03244998
+f 1 2 3
+f 1 3 6
+f 1 6 11
+f 1 11 21
+f 1 21 35
+f 1 35 36
+f 1 36 22
+f 1 22 13
+f 1 13 7
+f 1 7 4
+f 1 4 8
+f 1 8 14
+f 1 14 23
+f 1 23 37
+f 1 37 26
+f 1 26 16
+f 1 16 9
+f 1 9 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 4 7 8
+f 5 9 18
+f 5 18 30
+f 5 30 43
+f 5 43 33
+f 5 33 19
+f 5 19 10
+f 5 10 11
+f 5 11 6
+f 7 12 8
+f 7 13 12
+f 8 12 15
+f 8 15 14
+f 9 16 17
+f 9 17 18
+f 10 19 34
+f 10 34 44
+f 10 44 45
+f 10 45 39
+f 10 39 41
+f 10 41 35
+f 10 35 21
+f 10 21 20
+f 10 20 11
+f 11 20 21
+f 12 13 15
+f 13 22 15
+f 14 15 23
+f 15 22 24
+f 15 24 25
+f 15 25 23
+f 16 26 27
+f 16 27 28
+f 16 28 17
+f 17 28 29
+f 17 29 18
+f 18 29 31
+f 18 31 32
+f 18 32 30
+f 19 33 34
+f 22 36 24
+f 23 25 29
+f 23 29 28
+f 23 28 38
+f 23 38 37
+f 24 39 40
+f 24 40 25
+f 24 36 41
+f 24 41 39
+f 25 40 42
+f 25 42 32
+f 25 32 31
+f 25 31 29
+f 26 37 27
+f 27 38 28
+f 27 37 38
+f 30 32 42
+f 30 42 43
+f 33 43 34
+f 34 43 44
+f 35 41 36
+f 39 45 40
+f 40 45 44
+f 40 44 42
+f 42 44 43
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_327.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_327.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3aba8bae6f76239f3d2a6699e054a22c5752929d
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_327.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.02793777 -0.02082920 0.00354493
+v -0.02883937 -0.01983743 0.00353736
+v -0.02883937 -0.02121738 0.00354493
+v -0.02555250 -0.02309376 0.00354493
+v -0.02555250 -0.02507293 -0.00417970
+v -0.02883937 -0.02196421 -0.00338871
+v -0.02883937 -0.02760976 0.00354493
+v -0.02555250 -0.02956159 0.00354493
+v -0.02883937 -0.02242565 -0.00417970
+v -0.02555250 -0.03098199 -0.00417970
+v -0.02883937 -0.02865292 0.00057456
+v -0.02881845 -0.02867369 0.00055717
+v -0.02800985 -0.02816852 0.00354493
+v -0.02569247 -0.02948395 0.00354493
+v -0.02555250 -0.03006349 0.00181549
+v -0.02883937 -0.02927729 -0.00417970
+v -0.02555250 -0.03100715 -0.00314824
+v -0.02883937 -0.02868572 0.00042483
+v -0.02555250 -0.03096013 -0.00290020
+v -0.02883937 -0.02929916 -0.00314824
+f 1 2 3
+f 1 3 7
+f 1 7 13
+f 1 13 14
+f 1 14 8
+f 1 8 4
+f 1 4 2
+f 2 4 5
+f 2 5 6
+f 2 6 9
+f 2 9 16
+f 2 16 20
+f 2 20 18
+f 2 18 11
+f 2 11 7
+f 2 7 3
+f 4 8 15
+f 4 15 19
+f 4 19 17
+f 4 17 10
+f 4 10 5
+f 5 9 6
+f 5 10 16
+f 5 16 9
+f 7 11 12
+f 7 12 13
+f 8 14 12
+f 8 12 15
+f 10 17 16
+f 11 18 12
+f 12 18 17
+f 12 17 19
+f 12 19 15
+f 12 14 13
+f 16 17 20
+f 17 18 20
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_328.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_328.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bcf7f8bef6272ba9b249d2c41a25bd16d74b48c9
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_328.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.01187842 -0.01885111 -0.06360613
+v -0.01640285 -0.01885186 -0.06360522
+v -0.01187842 -0.01450921 -0.06360613
+v -0.00289566 -0.01885111 -0.06360613
+v -0.01640285 -0.01885186 -0.05423806
+v -0.01640285 -0.01117369 -0.06360522
+v -0.01187842 -0.01885186 -0.06360522
+v -0.01537289 -0.01117369 -0.06360522
+v -0.00828214 -0.01607025 -0.06360613
+v -0.01481890 -0.01885186 -0.05549986
+v -0.01187842 -0.01885186 -0.05784463
+v -0.00677620 -0.01680230 -0.06360613
+v -0.01551832 -0.01117369 -0.06340256
+v -0.01640285 -0.01117369 -0.06263595
+f 1 2 6
+f 1 6 3
+f 1 3 9
+f 1 9 12
+f 1 12 4
+f 1 4 7
+f 1 7 2
+f 2 5 14
+f 2 14 6
+f 2 7 11
+f 2 11 10
+f 2 10 5
+f 3 6 8
+f 3 8 9
+f 4 5 10
+f 4 10 11
+f 4 11 7
+f 4 12 8
+f 4 8 13
+f 4 13 14
+f 4 14 5
+f 6 14 13
+f 6 13 8
+f 8 12 9
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_329.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_329.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ec95703f41fc34735cdf6dfdeedac6321bd5060
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_329.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v 0.03803042 0.01738082 -0.02457831
+v 0.03790328 0.01738082 -0.02902114
+v 0.03732479 0.01999850 -0.02457831
+v 0.03799122 0.01739454 -0.02263693
+v 0.03799333 0.01738082 -0.02263693
+v 0.03728347 0.01738082 -0.03258594
+v 0.03616571 0.02238779 -0.03151840
+v 0.03719448 0.01999850 -0.02902114
+v 0.03650898 0.02238779 -0.02902114
+v 0.03655984 0.02238779 -0.02728612
+v 0.03663824 0.02238779 -0.02457831
+v 0.03676538 0.02175261 -0.02201578
+v 0.03722838 0.01999850 -0.02013547
+v 0.03788421 0.01739454 -0.01752872
+v 0.03797850 0.01739454 -0.02197156
+v 0.03784395 0.01739454 -0.01569263
+v 0.03774647 0.01739454 -0.01124768
+v 0.03772846 0.01739454 -0.01107502
+v 0.03100279 0.01738082 -0.02263693
+v 0.02977696 0.01738082 -0.03258594
+v 0.03597606 0.02238779 -0.03258594
+v 0.03662023 0.02238779 -0.02375712
+v 0.03653017 0.02175261 -0.01124768
+v 0.03703343 0.01999850 -0.01124768
+v 0.03704191 0.01990146 -0.01107502
+v 0.03057794 0.01739454 -0.01107502
+v 0.02720663 0.02238191 -0.03258594
+v 0.02822162 0.02175261 -0.01107502
+v 0.02732423 0.02238779 -0.03258594
+v 0.03659692 0.02238779 -0.02270010
+v 0.03651004 0.02175261 -0.01107502
+v 0.03701013 0.02001369 -0.01107502
+v 0.03659480 0.02238779 -0.02263693
+v 0.02810614 0.02238779 -0.02263693
+v 0.02722040 0.02238779 -0.03253962
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 19
+f 1 19 20
+f 1 20 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 14
+f 3 14 15
+f 3 15 4
+f 4 15 5
+f 5 15 14
+f 5 14 16
+f 5 16 17
+f 5 17 18
+f 5 18 26
+f 5 26 19
+f 6 20 27
+f 6 27 29
+f 6 29 21
+f 6 21 7
+f 7 9 8
+f 7 21 29
+f 7 29 35
+f 7 35 34
+f 7 34 33
+f 7 33 30
+f 7 30 22
+f 7 22 11
+f 7 11 10
+f 7 10 9
+f 11 22 23
+f 11 23 12
+f 12 23 13
+f 13 23 24
+f 13 24 17
+f 13 17 16
+f 13 16 14
+f 17 24 18
+f 18 25 32
+f 18 32 31
+f 18 31 28
+f 18 28 26
+f 18 24 25
+f 19 26 20
+f 20 26 28
+f 20 28 27
+f 22 30 23
+f 23 31 32
+f 23 32 24
+f 23 30 33
+f 23 33 31
+f 24 32 25
+f 27 28 34
+f 27 34 35
+f 27 35 29
+f 28 31 33
+f 28 33 34
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_33.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..069e2de7b01bba7879df6879732b6a727df8fb4e
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_33.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v -0.01710931 -0.00223947 0.06632009
+v -0.01714179 -0.00212413 0.06632009
+v -0.01009220 -0.00223947 0.06632009
+v -0.01640827 -0.00223947 0.08607550
+v -0.01729165 -0.00027037 0.06632009
+v -0.01641243 -0.00222275 0.08607550
+v -0.00896487 0.00484293 0.06632009
+v -0.00943362 -0.00223947 0.07711634
+v -0.00929624 -0.00223947 0.08607550
+v -0.01747066 0.00237738 0.06632009
+v -0.01671383 0.00222360 0.08607550
+v -0.00896487 0.01483384 0.06632009
+v -0.00896487 0.00305436 0.08208226
+v -0.00929707 -0.00223947 0.08208226
+v -0.00929624 -0.00223947 0.08558626
+v -0.00896487 0.00304601 0.08607550
+v -0.01683456 0.00423114 0.06632009
+v -0.01530841 0.00621528 0.08607550
+v -0.01027371 0.01427721 0.06632009
+v -0.00975917 0.01392619 0.08607550
+v -0.00896487 0.01422874 0.08607550
+v -0.00896487 0.00304601 0.08482628
+v -0.01595950 0.00666493 0.06632009
+v -0.01514855 0.00666493 0.08607550
+v -0.01148846 0.01320407 0.06632009
+v -0.01198136 0.01156260 0.08607550
+v -0.01249590 0.01224460 0.06632009
+v -0.01399957 0.01002310 0.06632009
+v -0.01375396 0.00907031 0.08607550
+v -0.01359660 0.00934110 0.08607550
+v -0.01343258 0.00956676 0.08607550
+v -0.01318613 0.01123665 0.06632009
+f 1 2 5
+f 1 5 10
+f 1 10 17
+f 1 17 23
+f 1 23 28
+f 1 28 32
+f 1 32 27
+f 1 27 25
+f 1 25 19
+f 1 19 12
+f 1 12 7
+f 1 7 3
+f 1 3 8
+f 1 8 14
+f 1 14 15
+f 1 15 9
+f 1 9 4
+f 1 4 2
+f 2 4 6
+f 2 6 5
+f 3 7 8
+f 4 9 16
+f 4 16 21
+f 4 21 20
+f 4 20 26
+f 4 26 31
+f 4 31 30
+f 4 30 29
+f 4 29 24
+f 4 24 18
+f 4 18 11
+f 4 11 6
+f 5 6 11
+f 5 11 10
+f 7 12 21
+f 7 21 16
+f 7 16 22
+f 7 22 13
+f 7 13 14
+f 7 14 8
+f 9 15 22
+f 9 22 16
+f 10 11 17
+f 11 18 17
+f 12 19 20
+f 12 20 21
+f 13 22 15
+f 13 15 14
+f 17 18 24
+f 17 24 23
+f 19 25 20
+f 20 25 27
+f 20 27 26
+f 23 24 29
+f 23 29 30
+f 23 30 28
+f 26 27 31
+f 27 32 30
+f 27 30 31
+f 28 30 32
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_330.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_330.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0417722d53c42591b780ee46c8bb50046ecb16e6
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_330.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.00416862 0.03805364 0.00825694
+v 0.00666542 0.03791893 0.00825694
+v 0.00416862 0.03919048 0.00420792
+v 0.00416862 0.03290978 0.00825694
+v 0.00685219 0.03782238 0.00825694
+v 0.00685219 0.03799826 0.00764820
+v 0.00685219 0.03906250 0.00354569
+v 0.00483084 0.03930724 0.00354569
+v 0.00416862 0.03934915 0.00354569
+v 0.00416862 0.03325780 0.00633158
+v 0.00685219 0.03170484 0.00825694
+v 0.00685219 0.03342095 0.00354569
+v 0.00416862 0.03400022 0.00354569
+f 1 2 3
+f 1 3 9
+f 1 9 13
+f 1 13 10
+f 1 10 4
+f 1 4 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 3 8 9
+f 4 10 11
+f 5 11 12
+f 5 12 7
+f 5 7 6
+f 7 12 13
+f 7 13 9
+f 7 9 8
+f 10 13 11
+f 11 13 12
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_331.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_331.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d66abfd9774769ef9187ee3abb94cf22abe1002
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_331.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v -0.02196200 0.02695194 -0.00119024
+v -0.02196200 0.03427854 -0.00119024
+v -0.02038412 0.02695194 -0.00119024
+v -0.02196200 0.02695194 0.01952253
+v -0.02016259 0.03502095 -0.00119024
+v -0.02196200 0.03197519 0.00973033
+v -0.01301750 0.02980063 -0.00119024
+v -0.01301750 0.02695194 0.01032917
+v -0.02111264 0.02695194 0.02098082
+v -0.02196200 0.02750411 0.01907894
+v -0.01560847 0.03623750 -0.00119024
+v -0.01999885 0.03339954 0.00653373
+v -0.02196200 0.03125912 0.01294357
+v -0.01301750 0.03691845 -0.00119024
+v -0.01301750 0.02695194 0.02713282
+v -0.01940518 0.02695194 0.02278012
+v -0.02196200 0.03115083 0.01328180
+v -0.01301750 0.03620335 0.00208954
+v -0.01999885 0.03230982 0.01097792
+v -0.01301750 0.03482584 0.00826649
+v -0.01301750 0.03511851 0.00706049
+v -0.01301750 0.03417903 0.01085316
+v -0.01301750 0.02747387 0.02602940
+v -0.01548326 0.02756655 0.02446298
+v -0.01420922 0.02695194 0.02647022
+v -0.01892008 0.02695194 0.02321539
+v -0.01878611 0.02714022 0.02308786
+v -0.01999885 0.03140741 0.01383074
+v -0.01301750 0.03247859 0.01544429
+v -0.01625381 0.02695194 0.02531689
+v -0.01301750 0.03164057 0.01721864
+v -0.01364882 0.03119278 0.01781471
+v -0.01530025 0.03186495 0.01547479
+f 1 2 5
+f 1 5 11
+f 1 11 14
+f 1 14 7
+f 1 7 3
+f 1 3 8
+f 1 8 15
+f 1 15 25
+f 1 25 30
+f 1 30 26
+f 1 26 16
+f 1 16 9
+f 1 9 4
+f 1 4 10
+f 1 10 17
+f 1 17 13
+f 1 13 6
+f 1 6 2
+f 2 6 5
+f 3 7 8
+f 4 9 10
+f 5 6 12
+f 5 12 11
+f 6 13 12
+f 7 14 18
+f 7 18 21
+f 7 21 20
+f 7 20 22
+f 7 22 29
+f 7 29 31
+f 7 31 23
+f 7 23 15
+f 7 15 8
+f 9 16 17
+f 9 17 10
+f 11 12 18
+f 11 18 14
+f 12 13 19
+f 12 19 20
+f 12 20 21
+f 12 21 18
+f 13 17 22
+f 13 22 19
+f 15 23 24
+f 15 24 25
+f 16 26 27
+f 16 27 17
+f 17 28 29
+f 17 29 22
+f 17 27 30
+f 17 30 24
+f 17 24 28
+f 19 22 20
+f 23 31 32
+f 23 32 24
+f 24 30 25
+f 24 32 28
+f 26 30 27
+f 28 32 31
+f 28 31 33
+f 28 33 29
+f 29 33 31
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_332.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_332.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b86934706d2f874187bbe9472ec3d4300442047
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_332.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.02016958 -0.03105333 0.01379487
+v 0.02080689 -0.03083367 0.01379487
+v 0.02083142 -0.03041204 0.01493134
+v 0.02027996 -0.03060140 0.01493134
+v 0.02016958 -0.03067714 0.01482352
+v 0.02016958 -0.02184295 0.01379487
+v 0.02264524 -0.02993991 0.01379487
+v 0.02334632 -0.02919005 0.01493134
+v 0.02016958 -0.03063422 0.01493134
+v 0.02016958 -0.01295828 0.01493134
+v 0.02126474 -0.00770170 0.01493134
+v 0.02434582 -0.01481146 0.01379487
+v 0.02296001 -0.02974802 0.01379487
+v 0.02377719 -0.02892495 0.01493134
+v 0.02365373 -0.00543950 0.01493134
+v 0.02434582 -0.02858663 0.01379487
+v 0.02434582 -0.00526276 0.01493134
+v 0.02395910 -0.02913198 0.01379487
+v 0.02411649 -0.02844776 0.01493134
+v 0.02434582 -0.02828870 0.01452644
+v 0.02434582 -0.02805895 0.01493134
+v 0.02434582 -0.02824326 0.01463459
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 10
+f 1 10 6
+f 1 6 12
+f 1 12 16
+f 1 16 18
+f 1 18 13
+f 1 13 7
+f 1 7 2
+f 2 7 8
+f 2 8 3
+f 3 8 14
+f 3 14 19
+f 3 19 21
+f 3 21 17
+f 3 17 15
+f 3 15 11
+f 3 11 10
+f 3 10 9
+f 3 9 4
+f 4 9 5
+f 6 10 11
+f 6 11 12
+f 7 13 8
+f 8 13 14
+f 11 15 12
+f 12 15 17
+f 12 17 21
+f 12 21 22
+f 12 22 20
+f 12 20 16
+f 13 18 14
+f 14 18 19
+f 16 20 19
+f 16 19 18
+f 19 20 22
+f 19 22 21
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_333.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_333.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8fbd4275263e7ac253f3bf42c8fb59757ebb06a5
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_333.obj
@@ -0,0 +1,15 @@
+# https://github.com/mikedh/trimesh
+v -0.00821494 0.00550676 0.10125209
+v -0.00908911 0.00550676 0.10125209
+v -0.00908911 0.00489430 0.10125209
+v -0.00908911 0.00365524 0.09985449
+v -0.00786972 0.00550676 0.09985449
+v -0.00908911 0.00550676 0.09985449
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 4
+f 2 4 3
+f 4 6 5
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_334.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_334.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3938e729e46237f44fb25ad5e61dbf3a2546b01
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_334.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.03055753 -0.00677018 0.00960589
+v 0.02459970 -0.00677018 0.02154002
+v 0.03156757 -0.00220225 0.00960589
+v 0.03857330 -0.00677018 0.00960589
+v 0.02571635 -0.00220180 0.02154002
+v 0.03327060 -0.00677018 0.02154002
+v 0.03730374 -0.00220180 0.00960589
+v 0.03155354 -0.00220180 0.00965262
+v 0.03862240 -0.00666822 0.00960589
+v 0.03825206 -0.00666599 0.01097617
+v 0.03820015 -0.00677018 0.01097617
+v 0.03384015 -0.00220180 0.02154002
+v 0.03543377 -0.00677018 0.01743504
+v 0.03337161 -0.00658415 0.02154002
+v 0.03893103 -0.00220180 0.00960589
+v 0.03861118 -0.00222237 0.01097617
+v 0.03655603 -0.00661009 0.01537203
+v 0.03651956 -0.00677018 0.01528792
+v 0.03816508 -0.00677018 0.01108130
+v 0.03585181 -0.00509102 0.01823991
+v 0.03585181 -0.00328576 0.01823991
+v 0.03493717 -0.00220180 0.01950856
+v 0.03639611 -0.00677018 0.01553207
+v 0.03872200 -0.00220180 0.01050305
+v 0.03861118 -0.00220180 0.01095514
+v 0.03860557 -0.00220180 0.01097617
+v 0.03845967 -0.00220180 0.01136050
+v 0.03656726 -0.00220180 0.01619209
+f 1 2 3
+f 1 3 7
+f 1 7 15
+f 1 15 9
+f 1 9 4
+f 1 4 11
+f 1 11 19
+f 1 19 18
+f 1 18 23
+f 1 23 13
+f 1 13 6
+f 1 6 2
+f 2 5 3
+f 2 6 14
+f 2 14 12
+f 2 12 5
+f 3 5 8
+f 3 8 7
+f 4 9 10
+f 4 10 11
+f 5 12 22
+f 5 22 28
+f 5 28 27
+f 5 27 26
+f 5 26 25
+f 5 25 24
+f 5 24 15
+f 5 15 7
+f 5 7 8
+f 6 13 14
+f 9 15 16
+f 9 16 10
+f 10 17 18
+f 10 18 19
+f 10 19 11
+f 10 16 20
+f 10 20 17
+f 12 14 20
+f 12 20 21
+f 12 21 22
+f 13 20 14
+f 13 23 17
+f 13 17 20
+f 15 24 16
+f 16 24 25
+f 16 25 26
+f 16 26 27
+f 16 27 21
+f 16 21 20
+f 17 23 18
+f 21 27 28
+f 21 28 22
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_335.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_335.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e93e231816ba6e7a743b036f3a97e607b86730ad
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_335.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.04097225 0.00222227 -0.03922388
+v -0.04061609 0.00091130 -0.03922388
+v -0.04132164 0.00222207 -0.03791057
+v -0.04249951 0.00222207 -0.03346771
+v -0.04302795 0.00222207 -0.03030409
+v -0.03690247 0.00222227 -0.03030409
+v -0.03479742 0.00222227 -0.03922388
+v -0.04040413 0.00013583 -0.03922388
+v -0.04080385 0.00013583 -0.03772109
+v -0.04193332 0.00013583 -0.03346771
+v -0.04246563 0.00013583 -0.03030409
+v -0.03591624 0.00222227 -0.03030409
+v -0.03503938 0.00222227 -0.03385105
+v -0.03365439 0.00222207 -0.03922388
+v -0.03314047 0.00013583 -0.03922388
+v -0.03541587 0.00013583 -0.03030409
+v -0.03584365 0.00200354 -0.03030409
+v -0.03506648 0.00013583 -0.03149514
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 12
+f 1 12 13
+f 1 13 7
+f 1 7 14
+f 1 14 15
+f 1 15 8
+f 1 8 2
+f 2 8 9
+f 2 9 10
+f 2 10 3
+f 3 10 4
+f 4 10 11
+f 4 11 5
+f 5 11 16
+f 5 16 17
+f 5 17 12
+f 5 12 6
+f 7 13 14
+f 8 15 18
+f 8 18 16
+f 8 16 11
+f 8 11 10
+f 8 10 9
+f 12 17 14
+f 12 14 13
+f 14 17 18
+f 14 18 15
+f 16 18 17
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_336.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_336.obj
new file mode 100644
index 0000000000000000000000000000000000000000..494b770c0378e458634a5b049309db28b7df299c
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_336.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.03992134 -0.00642400 0.00354628
+v 0.03821240 -0.00642400 0.00961811
+v 0.03989406 -0.00715462 0.00354628
+v 0.03428263 -0.00642400 0.00354628
+v 0.03813216 -0.00729096 0.00961811
+v 0.03221585 -0.00642400 0.00961811
+v 0.03925381 -0.00860252 0.00354628
+v 0.02582937 -0.02156247 0.00354628
+v 0.03088239 -0.00828834 0.00961811
+v 0.03143278 -0.00732653 0.00961811
+v 0.03755449 -0.00855509 0.00961811
+v 0.03723035 -0.00975698 0.00876098
+v 0.03763633 -0.01045203 0.00616878
+v 0.03794442 -0.01132640 0.00354628
+v 0.03189813 -0.02156247 0.00354628
+v 0.02352992 -0.02156247 0.00961811
+v 0.02567693 -0.01765299 0.00961811
+v 0.03643606 -0.01063728 0.00961811
+v 0.03336477 -0.01588202 0.00961811
+v 0.03279673 -0.01945953 0.00482365
+v 0.03299731 -0.01980187 0.00354628
+v 0.03243729 -0.02069995 0.00354628
+v 0.03087437 -0.02156247 0.00680182
+v 0.02998058 -0.02156247 0.00961811
+f 1 2 3
+f 1 3 7
+f 1 7 14
+f 1 14 21
+f 1 21 22
+f 1 22 15
+f 1 15 8
+f 1 8 4
+f 1 4 6
+f 1 6 2
+f 2 5 3
+f 2 6 10
+f 2 10 9
+f 2 9 17
+f 2 17 16
+f 2 16 24
+f 2 24 19
+f 2 19 18
+f 2 18 11
+f 2 11 5
+f 3 5 7
+f 4 8 9
+f 4 9 10
+f 4 10 6
+f 5 11 7
+f 7 11 12
+f 7 12 13
+f 7 13 14
+f 8 15 23
+f 8 23 24
+f 8 24 16
+f 8 16 17
+f 8 17 9
+f 11 18 12
+f 12 18 19
+f 12 19 20
+f 12 20 21
+f 12 21 13
+f 13 21 14
+f 15 22 23
+f 19 24 20
+f 20 24 21
+f 21 24 23
+f 21 23 22
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_337.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_337.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84e46256f45d503bea30c1a30949669973fbee4d
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_337.obj
@@ -0,0 +1,117 @@
+# https://github.com/mikedh/trimesh
+v -0.01564728 -0.00726911 -0.05934155
+v -0.01565689 -0.00726911 -0.05955759
+v -0.01743147 -0.00005971 -0.06255838
+v -0.01744109 -0.00005971 -0.06061187
+v -0.01751607 -0.00005971 -0.05859405
+v -0.01781215 -0.00726911 -0.05531242
+v -0.01636826 -0.00726911 -0.06211117
+v -0.02021736 -0.00005971 -0.06255838
+v -0.01744301 -0.00262704 -0.06250221
+v -0.01985590 -0.00005971 -0.05459517
+v -0.02087105 -0.00005971 -0.05299648
+v -0.02730608 -0.00726911 -0.04061527
+v -0.01950214 -0.00726911 -0.06214142
+v -0.02150167 -0.00005971 -0.06131399
+v -0.02006547 -0.00262704 -0.06250221
+v -0.02244183 -0.00005971 -0.05064597
+v -0.02738875 -0.00726911 -0.04048997
+v -0.02239377 -0.00262704 -0.05985572
+v -0.02176892 -0.00726911 -0.05884682
+v -0.02254758 -0.00005971 -0.06012577
+v -0.02933637 -0.00005971 -0.04049212
+v -0.02933637 -0.00006042 -0.04048997
+v -0.03337773 -0.00726911 -0.04048997
+v -0.02810974 -0.00042526 -0.05211936
+v -0.03326045 -0.00262704 -0.04353828
+v -0.02869806 -0.00726911 -0.04834515
+v -0.03286054 -0.00541595 -0.04294417
+v -0.02813281 -0.00005971 -0.05215177
+v -0.03267405 -0.00005971 -0.04048997
+v -0.03344117 -0.00706657 -0.04048997
+v -0.03336427 -0.00726911 -0.04052453
+v -0.02840005 -0.00005971 -0.05176289
+v -0.03359691 -0.00005971 -0.04400709
+v -0.03475048 -0.00005971 -0.04174299
+v -0.02890186 -0.00726911 -0.04803622
+v -0.03254908 -0.00726911 -0.04239327
+v -0.03328737 -0.00726911 -0.04070385
+v -0.03528882 -0.00005971 -0.04048997
+v -0.03097637 -0.00726911 -0.04489069
+v -0.03106673 -0.00726911 -0.04475026
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 12
+f 1 12 17
+f 1 17 23
+f 1 23 31
+f 1 31 37
+f 1 37 36
+f 1 36 40
+f 1 40 39
+f 1 39 35
+f 1 35 26
+f 1 26 19
+f 1 19 13
+f 1 13 7
+f 1 7 2
+f 2 7 3
+f 3 8 14
+f 3 14 20
+f 3 20 28
+f 3 28 32
+f 3 32 33
+f 3 33 34
+f 3 34 38
+f 3 38 29
+f 3 29 21
+f 3 21 16
+f 3 16 11
+f 3 11 10
+f 3 10 5
+f 3 5 4
+f 3 7 9
+f 3 9 15
+f 3 15 8
+f 5 10 6
+f 6 10 11
+f 6 11 12
+f 7 13 9
+f 8 15 14
+f 9 13 15
+f 11 16 17
+f 11 17 12
+f 13 18 15
+f 13 19 18
+f 14 15 20
+f 15 18 20
+f 16 21 22
+f 16 22 17
+f 17 22 29
+f 17 29 38
+f 17 38 30
+f 17 30 23
+f 18 24 20
+f 18 19 25
+f 18 25 24
+f 19 26 27
+f 19 27 25
+f 20 24 28
+f 21 29 22
+f 23 30 31
+f 24 32 28
+f 24 25 33
+f 24 33 32
+f 25 27 34
+f 25 34 33
+f 26 35 27
+f 27 36 37
+f 27 37 30
+f 27 30 38
+f 27 38 34
+f 27 35 39
+f 27 39 40
+f 27 40 36
+f 30 37 31
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_338.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_338.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58e2cec78d403508f121507549ae15dbb35e0dbf
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_338.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v -0.02730575 -0.01425058 0.02617993
+v -0.03108322 -0.01425058 0.01829520
+v -0.03009427 -0.01550398 0.01964281
+v -0.03152863 -0.01999837 0.01407554
+v -0.02770775 -0.01563825 0.02454565
+v -0.02730575 -0.01492193 0.02579413
+v -0.02730575 -0.01425058 0.00911644
+v -0.03240529 -0.01425058 0.01553300
+v -0.03362733 -0.01425058 0.01228051
+v -0.03411049 -0.01425058 0.01099184
+v -0.03138048 -0.02100705 0.01376476
+v -0.02730575 -0.01614027 0.02508148
+v -0.02730575 -0.01998448 -0.00119024
+v -0.02977437 -0.01425058 -0.00119024
+v -0.03255911 -0.01999837 0.01097577
+v -0.03508906 -0.01425058 0.00708565
+v -0.03219014 -0.02100705 0.01097577
+v -0.03066518 -0.02100705 0.01502664
+v -0.02730575 -0.01889445 0.02287386
+v -0.02730575 -0.01815828 0.02347399
+v -0.02730575 -0.02100705 -0.00119024
+v -0.03694524 -0.01425058 -0.00119024
+v -0.03365658 -0.01999837 0.00653106
+v -0.03549578 -0.01425058 0.00533884
+v -0.03514474 -0.02081391 -0.00119024
+v -0.03504565 -0.02100705 -0.00119024
+v -0.02730575 -0.02100705 0.02028581
+v -0.03576283 -0.01425058 0.00415734
+v -0.03576661 -0.01855448 -0.00119024
+v -0.03561751 -0.01801079 0.00015737
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 12
+f 1 12 20
+f 1 20 19
+f 1 19 27
+f 1 27 21
+f 1 21 13
+f 1 13 7
+f 1 7 14
+f 1 14 22
+f 1 22 28
+f 1 28 24
+f 1 24 16
+f 1 16 10
+f 1 10 9
+f 1 9 8
+f 1 8 2
+f 2 8 4
+f 2 4 3
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 5
+f 5 12 6
+f 7 13 14
+f 10 15 11
+f 10 16 15
+f 11 15 17
+f 11 17 26
+f 11 26 21
+f 11 21 27
+f 11 27 18
+f 11 18 19
+f 11 19 20
+f 11 20 12
+f 13 21 26
+f 13 26 25
+f 13 25 29
+f 13 29 22
+f 13 22 14
+f 15 16 23
+f 15 23 17
+f 16 24 23
+f 17 23 25
+f 17 25 26
+f 18 27 19
+f 22 29 28
+f 23 24 28
+f 23 28 30
+f 23 30 25
+f 25 30 29
+f 28 29 30
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_339.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_339.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d76f9e6da7ca81f09f987816609a3ea71decb495
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_339.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.03575230 -0.00005399 -0.02179299
+v -0.03579252 -0.00005971 -0.02179299
+v -0.03627194 0.00204458 -0.02179299
+v -0.03598508 0.00443860 -0.02178720
+v -0.03638602 -0.00005971 -0.00995232
+v -0.03575362 -0.00005971 -0.02178140
+v -0.04089332 -0.00005971 -0.02179299
+v -0.03860703 0.00443860 -0.02179299
+v -0.03667486 0.00443860 -0.01272963
+v -0.03666892 0.00101027 -0.00995232
+v -0.04129624 -0.00005971 -0.00995232
+v -0.04228277 0.00351613 -0.02179299
+v -0.04089530 -0.00005971 -0.02178140
+v -0.04228277 0.00443860 -0.02179299
+v -0.03767260 0.00443860 -0.00995232
+v -0.03691951 0.00195299 -0.00995232
+v -0.04248917 0.00272575 -0.00995232
+v -0.04228343 0.00351437 -0.02178140
+v -0.04237311 0.00315330 -0.01712395
+v -0.04228343 0.00443860 -0.02178140
+v -0.04248917 0.00443860 -0.00995232
+v -0.04237311 0.00443860 -0.01712395
+f 1 2 7
+f 1 7 12
+f 1 12 14
+f 1 14 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 5
+f 2 5 11
+f 2 11 13
+f 2 13 7
+f 3 8 4
+f 4 8 14
+f 4 14 20
+f 4 20 22
+f 4 22 21
+f 4 21 15
+f 4 15 9
+f 4 9 5
+f 5 9 10
+f 5 10 16
+f 5 16 15
+f 5 15 21
+f 5 21 17
+f 5 17 11
+f 7 13 12
+f 9 15 16
+f 9 16 10
+f 11 17 13
+f 12 13 18
+f 12 18 20
+f 12 20 14
+f 13 17 19
+f 13 19 18
+f 17 21 22
+f 17 22 19
+f 18 19 22
+f 18 22 20
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_34.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..666fb94bc6649b14500e6bb6ed274e1bea14bfe4
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_34.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v -0.02256049 0.02418278 -0.03922475
+v -0.03293205 0.00677559 -0.03922475
+v -0.03096823 0.02418278 -0.03922475
+v -0.02574616 0.02418278 -0.02651641
+v -0.03574471 0.00677559 -0.02651641
+v -0.04071072 0.00677559 -0.03922475
+v -0.03127470 0.02365798 -0.03922475
+v -0.03253284 0.02418278 -0.03396102
+v -0.03361959 0.02418278 -0.02651641
+v -0.04315844 0.00677559 -0.02651641
+v -0.04089622 0.00677559 -0.03856165
+v -0.04020464 0.00808761 -0.03922475
+v -0.03686574 0.01408198 -0.03922475
+v -0.04080347 0.01027032 -0.03346587
+v -0.03265784 0.02418278 -0.03353554
+v -0.03353692 0.02418278 -0.02902325
+v -0.04002318 0.01337826 -0.02709367
+v -0.04002318 0.01337826 -0.02651641
+v -0.04103130 0.01149714 -0.02651641
+v -0.04100106 0.01144602 -0.02875452
+v -0.04309191 0.00677559 -0.02901703
+v -0.04178740 0.00677559 -0.03534818
+v -0.03994657 0.00873680 -0.03922475
+v -0.04230759 0.00677559 -0.03346587
+v -0.03865012 0.01102345 -0.03922475
+v -0.03900095 0.01099278 -0.03810631
+v -0.04031352 0.00943199 -0.03675524
+v -0.03988406 0.01314994 -0.03005708
+v -0.03598666 0.01851727 -0.03346587
+v -0.03468820 0.02073917 -0.03346587
+v -0.03347644 0.02418278 -0.02933676
+v -0.03641612 0.01925336 -0.02902325
+f 1 2 6
+f 1 6 12
+f 1 12 23
+f 1 23 25
+f 1 25 13
+f 1 13 7
+f 1 7 3
+f 1 3 8
+f 1 8 15
+f 1 15 31
+f 1 31 16
+f 1 16 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 10
+f 2 10 21
+f 2 21 24
+f 2 24 22
+f 2 22 11
+f 2 11 6
+f 3 7 8
+f 4 9 18
+f 4 18 19
+f 4 19 10
+f 4 10 5
+f 6 11 12
+f 7 13 14
+f 7 14 8
+f 8 14 15
+f 9 16 17
+f 9 17 18
+f 10 19 20
+f 10 20 21
+f 11 22 12
+f 12 22 24
+f 12 24 23
+f 13 25 26
+f 13 26 14
+f 14 26 27
+f 14 27 24
+f 14 24 21
+f 14 21 20
+f 14 20 28
+f 14 28 29
+f 14 29 15
+f 15 29 30
+f 15 30 28
+f 15 28 31
+f 16 31 28
+f 16 28 32
+f 16 32 20
+f 16 20 17
+f 17 20 19
+f 17 19 18
+f 20 32 28
+f 23 24 27
+f 23 27 25
+f 25 27 26
+f 28 30 29
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_340.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_340.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c37302a068e1d8166f0f908b19cfecbc67e6eb4a
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_340.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.00519966 0.01006653 -0.06692734
+v 0.00811548 0.01006653 -0.06692734
+v 0.00519966 0.01006653 -0.06690553
+v 0.00519966 0.01397540 -0.06692734
+v 0.00811548 0.01006653 -0.06687078
+v 0.00811548 0.01397540 -0.06692734
+v 0.00562298 0.01006653 -0.06689951
+v 0.00811548 0.01397540 -0.06539094
+v 0.00664401 0.01397540 -0.06556618
+v 0.00519966 0.01397540 -0.06633649
+f 1 2 5
+f 1 5 7
+f 1 7 3
+f 1 3 10
+f 1 10 4
+f 1 4 6
+f 1 6 2
+f 2 6 8
+f 2 8 5
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 4 10 9
+f 4 9 8
+f 4 8 6
+f 5 8 7
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_341.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_341.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66a6b79dcfa9c3685aa59756f920f7e0ea4b46b3
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_341.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.01086696 -0.02585134 -0.06177452
+v 0.01086696 -0.02344817 -0.06587287
+v 0.01405241 -0.02503850 -0.06177452
+v 0.01086696 -0.01746071 -0.06177452
+v 0.01111103 -0.02338493 -0.06587287
+v 0.01086696 -0.01350627 -0.06587287
+v 0.01560657 -0.02457908 -0.06177452
+v 0.01410236 -0.02254419 -0.06587287
+v 0.01732575 -0.01038884 -0.06177452
+v 0.01732575 -0.00685105 -0.06378037
+v 0.01429015 -0.00685105 -0.06587287
+v 0.01086696 -0.01178573 -0.06587087
+v 0.01088087 -0.01177457 -0.06587287
+v 0.01702478 -0.02368254 -0.06177452
+v 0.01732575 -0.02271904 -0.06339084
+v 0.01636278 -0.02129983 -0.06587287
+v 0.01732575 -0.02198618 -0.06434161
+v 0.01732575 -0.02349095 -0.06177452
+v 0.01732575 -0.00685105 -0.06587287
+v 0.01637289 -0.02129425 -0.06587287
+v 0.01732575 -0.02027309 -0.06587287
+f 1 2 3
+f 1 3 7
+f 1 7 14
+f 1 14 18
+f 1 18 9
+f 1 9 4
+f 1 4 12
+f 1 12 6
+f 1 6 2
+f 2 5 3
+f 2 6 13
+f 2 13 11
+f 2 11 19
+f 2 19 21
+f 2 21 20
+f 2 20 16
+f 2 16 8
+f 2 8 5
+f 3 5 8
+f 3 8 7
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 6 12 13
+f 7 8 15
+f 7 15 14
+f 8 16 17
+f 8 17 15
+f 9 18 15
+f 9 15 17
+f 9 17 21
+f 9 21 19
+f 9 19 10
+f 10 19 11
+f 11 13 12
+f 14 15 18
+f 16 20 17
+f 17 20 21
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_342.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_342.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3904ba1960d3b940ca15d6cd2d625f7f54951402
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_342.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.03533017 -0.01659253 0.00354568
+v -0.03468133 -0.01922491 0.00354568
+v -0.03466222 -0.01660268 0.00616823
+v -0.03466404 -0.01659253 0.00616823
+v -0.03012127 -0.01659253 0.00354568
+v -0.03434190 -0.02057954 0.00354568
+v -0.03419266 -0.01659877 0.00799279
+v -0.03466131 -0.01659253 0.00617824
+v -0.02873078 -0.01659253 0.00799279
+v -0.02603442 -0.02057954 0.00799279
+v -0.02656404 -0.02057954 0.00655570
+v -0.02816475 -0.02057954 0.00354568
+v -0.03344554 -0.02057954 0.00701281
+v -0.03344099 -0.01958903 0.00799279
+v -0.03021500 -0.01659253 0.00799279
+v -0.03316253 -0.02057954 0.00799279
+v -0.03321076 -0.02057954 0.00784781
+v -0.03318892 -0.02050968 0.00799279
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 15
+f 1 15 9
+f 1 9 5
+f 1 5 12
+f 1 12 6
+f 1 6 2
+f 2 6 3
+f 3 6 7
+f 3 7 4
+f 4 7 8
+f 5 9 10
+f 5 10 11
+f 5 11 12
+f 6 13 7
+f 6 12 11
+f 6 11 10
+f 6 10 16
+f 6 16 17
+f 6 17 13
+f 7 13 14
+f 7 14 18
+f 7 18 16
+f 7 16 10
+f 7 10 9
+f 7 9 15
+f 7 15 8
+f 13 17 14
+f 14 17 18
+f 16 18 17
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_343.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_343.obj
new file mode 100644
index 0000000000000000000000000000000000000000..499908bdb30d42cda0a743fd537fedcc1d923bd1
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_343.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.02182304 -0.01862780 -0.04109377
+v 0.02749932 -0.01862780 -0.02801046
+v 0.02563235 -0.01189543 -0.04109377
+v 0.02866332 -0.01862780 -0.04109377
+v 0.03364716 -0.01862780 -0.02801046
+v 0.03386453 -0.00738260 -0.02801046
+v 0.02819702 -0.00738040 -0.04109377
+v 0.02942238 -0.01727582 -0.04109377
+v 0.02922780 -0.01862780 -0.03992708
+v 0.03300029 -0.01862780 -0.02996092
+v 0.03790349 -0.01128990 -0.02801046
+v 0.03395043 -0.00738040 -0.02801046
+v 0.03386278 -0.00738040 -0.02801815
+v 0.03476208 -0.00738040 -0.04109377
+v 0.03014813 -0.01658002 -0.04039964
+v 0.03149971 -0.01357109 -0.04109377
+v 0.03250244 -0.01429883 -0.03812390
+v 0.03084759 -0.01862780 -0.03580973
+v 0.03294420 -0.01508711 -0.03575851
+v 0.03763527 -0.01047629 -0.03008258
+v 0.03973013 -0.00738040 -0.02801046
+v 0.03530902 -0.00738040 -0.04008076
+v 0.03293017 -0.01096952 -0.04109377
+v 0.03191167 -0.01283455 -0.04109377
+v 0.03311249 -0.01163450 -0.03997319
+v 0.03580863 -0.00738040 -0.03885260
+v 0.03649231 -0.00847365 -0.03575851
+v 0.03705152 -0.00738040 -0.03575851
+v 0.03829441 -0.00738040 -0.03218800
+f 1 2 3
+f 1 3 7
+f 1 7 14
+f 1 14 23
+f 1 23 24
+f 1 24 16
+f 1 16 8
+f 1 8 4
+f 1 4 9
+f 1 9 18
+f 1 18 10
+f 1 10 5
+f 1 5 2
+f 2 5 11
+f 2 11 21
+f 2 21 12
+f 2 12 6
+f 2 6 3
+f 3 6 7
+f 4 8 9
+f 5 10 11
+f 6 12 13
+f 6 13 7
+f 7 13 12
+f 7 12 21
+f 7 21 29
+f 7 29 28
+f 7 28 26
+f 7 26 22
+f 7 22 14
+f 8 15 9
+f 8 16 15
+f 9 15 17
+f 9 17 18
+f 10 19 20
+f 10 20 11
+f 10 18 19
+f 11 20 21
+f 14 22 23
+f 15 16 24
+f 15 24 17
+f 17 24 25
+f 17 25 22
+f 17 22 26
+f 17 26 27
+f 17 27 20
+f 17 20 19
+f 17 19 18
+f 20 27 28
+f 20 28 29
+f 20 29 21
+f 22 25 23
+f 23 25 24
+f 26 28 27
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_344.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_344.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81ba34329130205bf56555edcde93cbbefd083ef
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_344.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.01592740 -0.02326048 0.01599663
+v 0.01067070 -0.02326048 0.01983863
+v 0.01592740 -0.01586075 0.02745918
+v 0.01592740 -0.02326048 0.03287316
+v 0.01353911 -0.01586075 0.03059739
+v 0.01067070 -0.02326048 0.03664017
+v 0.01067070 -0.01648518 0.03322218
+v 0.01592740 -0.01586075 0.04546350
+v 0.01592740 -0.02318008 0.03303758
+v 0.01495685 -0.01814913 0.04546350
+v 0.01442423 -0.01867142 0.04546350
+v 0.01346244 -0.01914880 0.04546350
+v 0.01105562 -0.02016585 0.04546350
+v 0.01552549 -0.02326048 0.03323371
+v 0.01174262 -0.01586075 0.03310969
+v 0.01081993 -0.02326048 0.03654787
+v 0.01067070 -0.02026727 0.04546350
+v 0.01067070 -0.01586075 0.03462110
+v 0.01067070 -0.01586075 0.04546350
+v 0.01592740 -0.01690389 0.04546350
+v 0.01592740 -0.01768117 0.04405881
+v 0.01092749 -0.02326048 0.03647865
+f 1 2 3
+f 1 3 8
+f 1 8 20
+f 1 20 21
+f 1 21 9
+f 1 9 4
+f 1 4 14
+f 1 14 22
+f 1 22 16
+f 1 16 6
+f 1 6 2
+f 2 5 3
+f 2 6 17
+f 2 17 19
+f 2 19 18
+f 2 18 7
+f 2 7 5
+f 3 5 15
+f 3 15 18
+f 3 18 19
+f 3 19 8
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 5 7 15
+f 6 16 17
+f 7 18 15
+f 8 19 17
+f 8 17 13
+f 8 13 12
+f 8 12 11
+f 8 11 10
+f 8 10 20
+f 9 21 10
+f 10 21 20
+f 13 17 14
+f 14 17 22
+f 16 22 17
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_345.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_345.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cdd39ca11a06d1cba2337bcc66232d07005da7c6
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_345.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.01732638 -0.02293296 -0.05015073
+v 0.01550419 -0.02293296 -0.05117020
+v 0.01732638 -0.02293296 -0.06177452
+v 0.01732638 -0.02146676 -0.05103139
+v 0.01213234 -0.02293296 -0.05308854
+v 0.01510610 -0.02293296 -0.06177452
+v 0.01732638 -0.01038792 -0.06177452
+v 0.01213234 -0.02293296 -0.06177338
+v 0.01213234 -0.02188550 -0.05432419
+v 0.01510610 -0.01373907 -0.06177452
+v 0.01710979 -0.01069982 -0.06177452
+v 0.01213234 -0.01674640 -0.06177338
+v 0.01213234 -0.01771282 -0.06003368
+v 0.01652205 -0.01154836 -0.06177452
+f 1 2 5
+f 1 5 8
+f 1 8 6
+f 1 6 3
+f 1 3 7
+f 1 7 4
+f 1 4 2
+f 2 4 5
+f 3 6 10
+f 3 10 14
+f 3 14 11
+f 3 11 7
+f 4 7 5
+f 5 7 9
+f 5 9 13
+f 5 13 12
+f 5 12 8
+f 6 8 12
+f 6 12 10
+f 7 11 12
+f 7 12 13
+f 7 13 9
+f 10 12 14
+f 11 14 12
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_346.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_346.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e93d65f16332b8593b6877f29b5973b1b934bb2
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_346.obj
@@ -0,0 +1,15 @@
+# https://github.com/mikedh/trimesh
+v -0.00908923 0.00215071 0.10291909
+v -0.00908923 0.00489424 0.10125209
+v -0.00821490 0.00550695 0.10125209
+v -0.00698061 0.00550695 0.10291909
+v -0.00908923 0.00550695 0.10291909
+v -0.00908923 0.00550695 0.10125209
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 3
+f 3 6 5
+f 3 5 4
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_347.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_347.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c71cf8a445748c15b9a2102d8e90a80b44933c2e
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_347.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.01640285 -0.00599849 -0.06652396
+v -0.01377195 -0.00599849 -0.06652396
+v -0.01640285 -0.00599849 -0.06461338
+v -0.01640285 0.00013583 -0.06652396
+v -0.01390639 -0.00340990 -0.06652396
+v -0.01481272 -0.00599849 -0.06576073
+v -0.01427933 0.00013583 -0.06652396
+v -0.01640285 0.00013583 -0.06551761
+f 1 2 6
+f 1 6 3
+f 1 3 8
+f 1 8 4
+f 1 4 7
+f 1 7 5
+f 1 5 2
+f 2 5 6
+f 3 6 5
+f 3 5 7
+f 3 7 8
+f 4 8 7
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_348.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_348.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ebffb2dd9aa3828b7fb95cf54915b90a1aabf924
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_348.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v 0.01529152 0.00993986 -0.06211146
+v 0.01529152 0.01144019 -0.06211313
+v 0.01730795 0.00993986 -0.06210312
+v 0.01529152 0.00993986 -0.05680629
+v 0.01529152 0.01239906 -0.06210145
+v 0.01529152 0.01389087 -0.06206810
+v 0.01872333 0.00993986 -0.06172120
+v 0.01659033 0.00993986 -0.05449477
+v 0.01529152 0.01173750 -0.05467489
+v 0.01529152 0.01431944 -0.06198471
+v 0.01878134 0.00993986 -0.06170285
+v 0.02077844 0.00993986 -0.04928967
+v 0.01529152 0.01664410 -0.04975665
+v 0.01529152 0.01477295 -0.06145269
+v 0.01625408 0.01608098 -0.05909280
+v 0.01814697 0.01300287 -0.06105910
+v 0.01882055 0.00993986 -0.06164282
+v 0.01987389 0.01141000 -0.05932462
+v 0.02077844 0.01138834 -0.05796706
+v 0.02077844 0.01664410 -0.04507523
+v 0.02077844 0.00993986 -0.05855912
+v 0.01529152 0.01664410 -0.05909781
+v 0.01529152 0.01645049 -0.05937966
+v 0.01666875 0.01664410 -0.05802543
+v 0.01812334 0.01664410 -0.05666453
+v 0.01935017 0.01462200 -0.05795372
+v 0.02077844 0.01593397 -0.05486001
+v 0.02077844 0.01305735 -0.05684132
+v 0.02040996 0.00993986 -0.05913950
+v 0.02077844 0.01664410 -0.05406782
+f 1 2 3
+f 1 3 7
+f 1 7 11
+f 1 11 17
+f 1 17 29
+f 1 29 21
+f 1 21 12
+f 1 12 8
+f 1 8 4
+f 1 4 9
+f 1 9 13
+f 1 13 22
+f 1 22 23
+f 1 23 14
+f 1 14 10
+f 1 10 6
+f 1 6 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 3 6 7
+f 4 8 9
+f 6 10 11
+f 6 11 7
+f 8 12 13
+f 8 13 9
+f 10 14 15
+f 10 15 16
+f 10 16 11
+f 11 16 18
+f 11 18 19
+f 11 19 17
+f 12 20 13
+f 12 21 19
+f 12 19 28
+f 12 28 27
+f 12 27 30
+f 12 30 20
+f 13 20 30
+f 13 30 25
+f 13 25 24
+f 13 24 22
+f 14 23 15
+f 15 23 24
+f 15 24 16
+f 16 24 25
+f 16 25 26
+f 16 26 27
+f 16 27 28
+f 16 28 19
+f 16 19 18
+f 17 19 29
+f 19 21 29
+f 22 24 23
+f 25 30 26
+f 26 30 27
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_349.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_349.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d09693554264af7da23b7a5c8d18ef457934bd62
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_349.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.01632937 -0.03797714 -0.02457798
+v 0.01999860 -0.03701335 -0.02457798
+v 0.01632937 -0.03796100 -0.02380364
+v 0.01632937 -0.03797240 -0.02474315
+v 0.01986296 -0.03704469 -0.02474315
+v 0.02182810 -0.03653099 -0.02457798
+v 0.01999860 -0.03672564 -0.01124384
+v 0.01632937 -0.03786510 -0.01935849
+v 0.01632937 -0.03102268 -0.02474315
+v 0.02182810 -0.03652624 -0.02474315
+v 0.02182810 -0.03624232 -0.01124384
+v 0.01632937 -0.03768943 -0.01124384
+v 0.01632937 -0.03776919 -0.01491598
+v 0.02182810 -0.02857570 -0.02474315
+v 0.01632937 -0.03068274 -0.01124648
+v 0.02182810 -0.02827754 -0.01124384
+v 0.01632937 -0.03068274 -0.01124384
+f 1 2 3
+f 1 3 8
+f 1 8 13
+f 1 13 12
+f 1 12 17
+f 1 17 15
+f 1 15 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 4 9 14
+f 4 14 10
+f 4 10 5
+f 5 10 6
+f 6 10 14
+f 6 14 16
+f 6 16 11
+f 6 11 7
+f 7 11 16
+f 7 16 17
+f 7 17 12
+f 7 12 13
+f 7 13 8
+f 9 15 14
+f 14 15 16
+f 15 17 16
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_35.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0381884b25d784a5c9232f463f0c2f58e52a2eb0
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_35.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.01643120 -0.02422291 0.01392480
+v 0.01643120 -0.03219781 0.01392480
+v 0.01643120 -0.02426634 0.01381799
+v 0.01173825 -0.02490602 0.01392480
+v 0.01633679 -0.03223072 0.01392480
+v 0.01643120 -0.03272561 0.01266116
+v 0.01643120 -0.02677767 0.01057357
+v 0.00701275 -0.02643545 0.01392480
+v -0.00019841 -0.03122777 0.01049329
+v -0.00019841 -0.02974045 0.01248347
+v 0.01468783 -0.03280064 0.01392480
+v 0.01437366 -0.03304414 0.01360469
+v 0.01643120 -0.03337846 0.01049329
+v 0.01643120 -0.02686322 0.01049329
+v 0.01634819 -0.02687639 0.01049329
+v -0.00019841 -0.02884148 0.01392480
+v -0.00019841 -0.03766929 0.01049329
+v 0.01376487 -0.03309942 0.01392480
+v 0.01602914 -0.03342321 0.01070692
+v -0.00019841 -0.03718888 0.01211432
+v -0.00019841 -0.03656500 0.01392480
+v 0.01360860 -0.03313890 0.01392480
+v -0.00019841 -0.03687167 0.01314317
+v 0.00060572 -0.03637678 0.01392480
+f 1 2 6
+f 1 6 13
+f 1 13 14
+f 1 14 7
+f 1 7 3
+f 1 3 4
+f 1 4 8
+f 1 8 16
+f 1 16 21
+f 1 21 24
+f 1 24 22
+f 1 22 18
+f 1 18 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 3 7 4
+f 4 7 9
+f 4 9 10
+f 4 10 8
+f 5 11 12
+f 5 12 6
+f 6 12 13
+f 7 14 15
+f 7 15 9
+f 8 10 16
+f 9 17 20
+f 9 20 23
+f 9 23 21
+f 9 21 16
+f 9 16 10
+f 9 15 14
+f 9 14 13
+f 9 13 17
+f 11 18 12
+f 12 19 13
+f 12 18 20
+f 12 20 17
+f 12 17 19
+f 13 19 17
+f 18 22 23
+f 18 23 20
+f 21 23 24
+f 22 24 23
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_350.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_350.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf9dcef9c0e155fbbd7cf828347bd489ad03a8c6
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_350.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.00744182 -0.03188380 0.00851184
+v -0.00435496 -0.03343821 0.00851184
+v -0.00435496 -0.03385424 0.00633696
+v -0.00435496 -0.03460263 0.00354617
+v -0.00744182 -0.03381793 0.00354617
+v -0.00744182 -0.03816220 0.00851184
+v -0.00435496 -0.03858692 0.00851184
+v -0.00435496 -0.03994870 0.00354617
+v -0.00744182 -0.03955556 0.00354617
+v -0.00744182 -0.03874007 0.00651731
+v -0.00683025 -0.03847956 0.00851184
+v -0.00435496 -0.03977581 0.00426465
+v -0.00507380 -0.03990212 0.00354617
+v -0.00725569 -0.03963845 0.00354617
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 10
+f 1 10 6
+f 1 6 11
+f 1 11 7
+f 1 7 2
+f 2 7 12
+f 2 12 8
+f 2 8 4
+f 2 4 3
+f 4 8 13
+f 4 13 14
+f 4 14 9
+f 4 9 5
+f 6 10 11
+f 7 11 12
+f 8 12 13
+f 9 14 11
+f 9 11 10
+f 11 14 13
+f 11 13 12
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_351.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_351.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f40ac498484af6bfd8fbdb30e53e8839c3e0f1ed
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_351.obj
@@ -0,0 +1,126 @@
+# https://github.com/mikedh/trimesh
+v -0.01957304 0.03528417 -0.00995231
+v -0.02039216 0.03507007 -0.00995231
+v -0.01957304 0.03003156 -0.00995231
+v -0.01957304 0.03522953 -0.01248710
+v -0.02108599 0.03464337 -0.02178308
+v -0.02108599 0.03488847 -0.00995231
+v -0.02414814 0.02774300 -0.00995231
+v -0.02055682 0.02774300 -0.02801045
+v -0.01957304 0.02849970 -0.02801045
+v -0.01957304 0.03492169 -0.02178308
+v -0.01957304 0.03478068 -0.02329441
+v -0.01957304 0.03440787 -0.02644079
+v -0.02108599 0.03409116 -0.02644079
+v -0.02497141 0.03325842 -0.02178308
+v -0.02511846 0.03334923 -0.01712537
+v -0.02524273 0.03342453 -0.01246766
+v -0.02531004 0.03346439 -0.00995231
+v -0.02339632 0.03411331 -0.00995231
+v -0.03015232 0.02774300 -0.00995231
+v -0.02824482 0.02774300 -0.02801045
+v -0.01957304 0.03410814 -0.02801045
+v -0.01957304 0.03412143 -0.02795389
+v -0.02438528 0.03291219 -0.02644079
+v -0.02109842 0.03371171 -0.02801045
+v -0.02405391 0.03271286 -0.02801045
+v -0.02730039 0.03140839 -0.02178308
+v -0.02744744 0.03158409 -0.01712537
+v -0.02757170 0.03172952 -0.01246766
+v -0.02763901 0.03180777 -0.00995231
+v -0.02913851 0.02947935 -0.00995231
+v -0.02900699 0.02925493 -0.01712537
+v -0.03006016 0.02774300 -0.01246766
+v -0.02864558 0.02774300 -0.02679078
+v -0.02818268 0.02785522 -0.02801045
+v -0.02697729 0.03004706 -0.02689331
+v -0.02648851 0.03010908 -0.02801045
+v -0.02858241 0.02853588 -0.02564182
+v -0.02890136 0.02907922 -0.02178308
+v -0.02987479 0.02774300 -0.01699457
+v -0.02890447 0.02774300 -0.02600242
+v -0.02762762 0.02860010 -0.02801045
+v -0.02715851 0.02922761 -0.02801045
+v -0.02962315 0.02774300 -0.02178308
+f 1 2 6
+f 1 6 18
+f 1 18 17
+f 1 17 29
+f 1 29 30
+f 1 30 19
+f 1 19 7
+f 1 7 3
+f 1 3 9
+f 1 9 21
+f 1 21 22
+f 1 22 12
+f 1 12 11
+f 1 11 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 3 8 9
+f 4 10 5
+f 5 10 11
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 5 14 15
+f 5 15 16
+f 5 16 17
+f 5 17 18
+f 5 18 6
+f 7 19 32
+f 7 32 39
+f 7 39 43
+f 7 43 40
+f 7 40 33
+f 7 33 20
+f 7 20 8
+f 8 20 34
+f 8 34 41
+f 8 41 42
+f 8 42 36
+f 8 36 25
+f 8 25 24
+f 8 24 21
+f 8 21 9
+f 12 22 13
+f 13 23 14
+f 13 22 21
+f 13 21 24
+f 13 24 25
+f 13 25 23
+f 14 23 26
+f 14 26 27
+f 14 27 28
+f 14 28 29
+f 14 29 15
+f 15 29 16
+f 16 29 17
+f 19 30 31
+f 19 31 32
+f 20 33 34
+f 23 25 35
+f 23 35 26
+f 25 36 35
+f 26 35 37
+f 26 37 38
+f 26 38 27
+f 27 31 29
+f 27 29 28
+f 27 38 31
+f 29 31 30
+f 31 39 32
+f 31 38 39
+f 33 40 37
+f 33 37 34
+f 34 37 35
+f 34 35 41
+f 35 36 42
+f 35 42 41
+f 37 40 43
+f 37 43 38
+f 38 43 39
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_352.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_352.obj
new file mode 100644
index 0000000000000000000000000000000000000000..028046abcc95c1d8c2685e209063d21fd3f4c7b6
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_352.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.01761557 0.03521104 -0.03922475
+v -0.01761557 0.03439084 -0.04234973
+v -0.01999922 0.03376956 -0.04235531
+v -0.01999243 0.03458717 -0.03922475
+v -0.01761557 0.02784739 -0.03922475
+v -0.01761557 0.03380056 -0.04440567
+v -0.01999922 0.03319091 -0.04440567
+v -0.02257059 0.03217181 -0.04440567
+v -0.02257059 0.03271946 -0.04235531
+v -0.02257059 0.03349574 -0.03922475
+v -0.02257059 0.02417138 -0.03922475
+v -0.02257059 0.02201563 -0.04440567
+v -0.01761557 0.02660741 -0.04270929
+v -0.01761557 0.02662033 -0.04440567
+v -0.01991336 0.02446975 -0.04440567
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 11
+f 1 11 5
+f 1 5 13
+f 1 13 14
+f 1 14 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 3 8 9
+f 3 9 4
+f 4 9 10
+f 5 11 12
+f 5 12 13
+f 6 14 15
+f 6 15 12
+f 6 12 8
+f 6 8 7
+f 8 12 11
+f 8 11 10
+f 8 10 9
+f 12 15 13
+f 13 15 14
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_353.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_353.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac9ee53f1e5ec2a173950342f04874e8f0ceaac0
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_353.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.01527024 -0.00917900 0.03749128
+v 0.01233100 -0.00917900 0.04546350
+v 0.01828425 -0.00220180 0.03749128
+v 0.02371001 -0.00917900 0.03749128
+v 0.01558020 -0.00220180 0.04546350
+v 0.01668004 -0.00220180 0.04210481
+v 0.01668684 -0.00220180 0.04208451
+v 0.01759770 -0.00220180 0.03941332
+v 0.02072455 -0.00917900 0.04546350
+v 0.02621694 -0.00220180 0.03749128
+v 0.02528568 -0.00644508 0.03749128
+v 0.02281411 -0.00558386 0.04546350
+v 0.02155657 -0.00775228 0.04546350
+v 0.02340685 -0.00220180 0.04546350
+v 0.02341093 -0.00222229 0.04546350
+v 0.02621965 -0.00222229 0.03749128
+v 0.02310776 -0.00449316 0.04546350
+f 1 2 3
+f 1 3 10
+f 1 10 16
+f 1 16 11
+f 1 11 4
+f 1 4 9
+f 1 9 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 2 9 13
+f 2 13 12
+f 2 12 17
+f 2 17 15
+f 2 15 14
+f 2 14 5
+f 3 8 7
+f 3 7 6
+f 3 6 5
+f 3 5 14
+f 3 14 10
+f 4 11 12
+f 4 12 13
+f 4 13 9
+f 10 14 15
+f 10 15 16
+f 11 16 17
+f 11 17 12
+f 15 17 16
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_354.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_354.obj
new file mode 100644
index 0000000000000000000000000000000000000000..966773e9bb2cac0bb49da9d886faaa3491a40891
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_354.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.00954578 0.03350085 -0.02160560
+v 0.01044936 0.03350085 -0.00780225
+v 0.01992831 0.03350085 -0.02160560
+v 0.02722967 0.02284887 -0.02160560
+v 0.01069862 0.03350085 -0.00780225
+v 0.02722967 0.02393857 -0.00780225
+v 0.01994562 0.03350085 -0.02140969
+v 0.02011007 0.03339865 -0.02160560
+v 0.02722967 0.02921816 -0.02160560
+v 0.02084921 0.03349876 -0.00780225
+v 0.02084574 0.03350085 -0.00780765
+v 0.02722967 0.02979585 -0.00780225
+v 0.02027105 0.03350085 -0.01712384
+v 0.02026586 0.03331002 -0.02160560
+v 0.02722967 0.02972286 -0.00991410
+v 0.02043377 0.03340804 -0.01712384
+v 0.02722967 0.02979690 -0.00780765
+v 0.02059475 0.03350085 -0.01199351
+v 0.02028317 0.03350085 -0.01694683
+v 0.02056532 0.03350085 -0.01246642
+f 1 2 5
+f 1 5 11
+f 1 11 18
+f 1 18 20
+f 1 20 19
+f 1 19 13
+f 1 13 7
+f 1 7 3
+f 1 3 8
+f 1 8 14
+f 1 14 9
+f 1 9 4
+f 1 4 2
+f 2 4 6
+f 2 6 12
+f 2 12 10
+f 2 10 5
+f 3 7 8
+f 4 9 15
+f 4 15 17
+f 4 17 12
+f 4 12 6
+f 5 10 11
+f 7 13 14
+f 7 14 8
+f 9 14 16
+f 9 16 15
+f 10 12 17
+f 10 17 11
+f 11 17 18
+f 13 19 16
+f 13 16 14
+f 15 16 20
+f 15 20 18
+f 15 18 17
+f 16 19 20
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_355.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_355.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9ce32f959453a3484e7af764dd483c608fcdbf9
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_355.obj
@@ -0,0 +1,153 @@
+# https://github.com/mikedh/trimesh
+v -0.03357969 0.02418278 -0.02453261
+v -0.03368355 0.02418400 -0.02457825
+v -0.03353621 0.02418400 -0.02902185
+v -0.03347703 0.02418400 -0.02933404
+v -0.03336593 0.02418400 -0.02990729
+v -0.02585296 0.02418278 -0.02453261
+v -0.03358452 0.02418278 -0.02054177
+v -0.03353017 0.02444532 -0.02453261
+v -0.03167156 0.02762869 -0.02457825
+v -0.03029963 0.02972651 -0.02902185
+v -0.03338404 0.02444532 -0.02902185
+v -0.03336593 0.02418278 -0.01163084
+v -0.03331400 0.02444409 -0.01569105
+v -0.03153267 0.02739302 -0.02990729
+v -0.02535661 0.02418400 -0.02990729
+v -0.02546409 0.02418278 -0.01125658
+v -0.03037330 0.02985106 -0.02457825
+v -0.03151214 0.02734295 -0.01125658
+v -0.02807872 0.03300268 -0.02902185
+v -0.02799176 0.03288668 -0.02990729
+v -0.03024408 0.02952869 -0.02990729
+v -0.03335627 0.02418278 -0.01125658
+v -0.03320893 0.02443677 -0.01125658
+v -0.02134591 0.02847246 -0.02990729
+v -0.02139543 0.02853107 -0.01125658
+v -0.02814997 0.03310159 -0.02457825
+v -0.03020906 0.02957265 -0.01125658
+v -0.02799297 0.03286958 -0.01125658
+v -0.02809683 0.03302710 -0.02013465
+v -0.02814997 0.03310159 -0.02453261
+v -0.02584934 0.03522506 -0.02902185
+v -0.02609329 0.03532397 -0.02457825
+v -0.02556433 0.03511760 -0.02990729
+v -0.02134591 0.03637654 -0.02990729
+v -0.02134591 0.02887419 -0.02453261
+v -0.02139543 0.03635578 -0.01125658
+v -0.02798210 0.03288302 -0.01125658
+v -0.02611503 0.03529955 -0.02453261
+v -0.02362601 0.03592596 -0.02902185
+v -0.02341829 0.03587101 -0.02990729
+v -0.02387117 0.03599068 -0.02457825
+v -0.02609209 0.03532275 -0.02453261
+v -0.02572375 0.03517499 -0.01569105
+v -0.02331443 0.03584903 -0.01125658
+v -0.02386996 0.03599068 -0.02453261
+v -0.02134591 0.03652796 -0.02902185
+v -0.02134591 0.03665617 -0.02453261
+v -0.02139543 0.03645225 -0.01569105
+v -0.02554139 0.03509929 -0.01125658
+v -0.02134591 0.03657314 -0.02747554
+v -0.02134591 0.03665617 -0.02457825
+v -0.02139543 0.03664396 -0.02453261
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 15
+f 1 15 6
+f 1 6 16
+f 1 16 22
+f 1 22 12
+f 1 12 7
+f 1 7 2
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 3
+f 2 7 12
+f 2 12 13
+f 2 13 8
+f 3 11 14
+f 3 14 4
+f 4 14 5
+f 5 14 21
+f 5 21 20
+f 5 20 33
+f 5 33 40
+f 5 40 34
+f 5 34 24
+f 5 24 15
+f 6 15 16
+f 8 17 9
+f 8 13 18
+f 8 18 17
+f 9 17 10
+f 10 19 20
+f 10 20 21
+f 10 21 14
+f 10 14 11
+f 10 17 19
+f 12 22 23
+f 12 23 13
+f 13 23 18
+f 15 24 25
+f 15 25 16
+f 16 25 36
+f 16 36 44
+f 16 44 49
+f 16 49 37
+f 16 37 28
+f 16 28 27
+f 16 27 18
+f 16 18 23
+f 16 23 22
+f 17 26 19
+f 17 18 27
+f 17 27 28
+f 17 28 29
+f 17 29 30
+f 17 30 26
+f 19 31 20
+f 19 26 32
+f 19 32 31
+f 20 31 33
+f 24 34 46
+f 24 46 50
+f 24 50 51
+f 24 51 47
+f 24 47 35
+f 24 35 25
+f 25 35 47
+f 25 47 36
+f 26 30 32
+f 28 37 29
+f 29 37 38
+f 29 38 30
+f 30 38 32
+f 31 39 40
+f 31 40 33
+f 31 32 39
+f 32 41 39
+f 32 38 37
+f 32 37 42
+f 32 42 43
+f 32 43 44
+f 32 44 45
+f 32 45 41
+f 34 40 46
+f 36 47 48
+f 36 48 44
+f 37 49 42
+f 39 41 50
+f 39 50 46
+f 39 46 40
+f 41 51 50
+f 41 45 52
+f 41 52 51
+f 42 49 43
+f 43 49 44
+f 44 48 45
+f 45 48 52
+f 47 51 52
+f 47 52 48
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_356.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_356.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e8b2f8f21f78667458862e980338f8892c32fda
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_356.obj
@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
+v 0.03019524 -0.02755153 -0.00384334
+v 0.03014471 -0.02755153 -0.00313597
+v 0.02880383 -0.02991772 -0.00314827
+v 0.02917114 -0.02935623 -0.00384334
+v 0.02838190 -0.02755153 -0.00384334
+v 0.02953435 -0.02755153 -0.00044971
+v 0.02860037 -0.03029849 -0.00384334
+v 0.02882294 -0.02995106 -0.00384334
+v 0.02904961 -0.02956503 -0.00384334
+v 0.02826720 -0.02899739 0.00150965
+v 0.02725676 -0.03224619 -0.00314827
+v 0.02409570 -0.02755679 -0.00384334
+v 0.02409707 -0.02755153 -0.00382454
+v 0.02906873 -0.02755153 0.00150965
+v 0.02728270 -0.03227953 -0.00384334
+v 0.02845017 -0.02755153 0.00354568
+v 0.02794768 -0.02845081 0.00354568
+v 0.02762680 -0.02886930 0.00354568
+v 0.02647844 -0.03132673 0.00150965
+v 0.02442614 -0.03252782 0.00354568
+v 0.02368470 -0.03322092 0.00354568
+v 0.02414896 -0.03350254 0.00150965
+v 0.02492727 -0.03394472 -0.00314827
+v 0.02530141 -0.03372539 -0.00384334
+v 0.01624701 -0.03133814 -0.00384334
+v 0.02087047 -0.02755153 0.00354568
+v 0.02596639 -0.03090649 0.00354568
+v 0.02263465 -0.03358764 0.00354568
+v 0.02084316 -0.03465537 0.00150965
+v 0.02084316 -0.03537391 -0.00314827
+v 0.02495458 -0.03395701 -0.00384334
+v 0.01624701 -0.03650218 -0.00384334
+v 0.01624701 -0.03005547 0.00354568
+v 0.02079810 -0.03412721 0.00354568
+v 0.01624701 -0.03517563 0.00354568
+v 0.01624701 -0.03564326 0.00150965
+v 0.01624701 -0.03644515 -0.00300578
+v 0.01624701 -0.03651358 -0.00344626
+v 0.02084316 -0.03537918 -0.00384334
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 8
+f 1 8 7
+f 1 7 15
+f 1 15 24
+f 1 24 31
+f 1 31 39
+f 1 39 32
+f 1 32 25
+f 1 25 12
+f 1 12 5
+f 1 5 13
+f 1 13 26
+f 1 26 16
+f 1 16 14
+f 1 14 6
+f 1 6 2
+f 2 6 3
+f 3 7 8
+f 3 8 9
+f 3 9 4
+f 3 6 10
+f 3 10 11
+f 3 11 7
+f 5 12 13
+f 6 14 10
+f 7 11 15
+f 10 16 17
+f 10 17 18
+f 10 18 19
+f 10 19 11
+f 10 14 16
+f 11 19 20
+f 11 20 21
+f 11 21 22
+f 11 22 23
+f 11 23 24
+f 11 24 15
+f 12 25 13
+f 13 25 26
+f 16 26 33
+f 16 33 35
+f 16 35 34
+f 16 34 28
+f 16 28 21
+f 16 21 20
+f 16 20 27
+f 16 27 18
+f 16 18 17
+f 18 27 19
+f 19 27 20
+f 21 28 22
+f 22 28 29
+f 22 29 30
+f 22 30 23
+f 23 31 24
+f 23 30 31
+f 25 32 38
+f 25 38 37
+f 25 37 36
+f 25 36 35
+f 25 35 33
+f 25 33 26
+f 28 34 29
+f 29 34 35
+f 29 35 36
+f 29 36 37
+f 29 37 38
+f 29 38 30
+f 30 38 39
+f 30 39 31
+f 32 39 38
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_357.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_357.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35b96fa6ed17925f0de25ae1fd46b73f65f2dc1a
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_357.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v -0.00003886 0.03225329 0.00825694
+v 0.00187723 0.03230825 0.00825694
+v -0.00003886 0.03774314 0.00825694
+v -0.00017470 0.03368136 0.00354483
+v -0.00017470 0.03516782 -0.00315039
+v 0.00416851 0.03325801 0.00633078
+v 0.00416851 0.03291022 0.00825694
+v 0.00454553 0.03476078 -0.00085240
+v 0.00454553 0.03426615 0.00163542
+v 0.00220759 0.03829444 0.00825694
+v -0.00003886 0.03828843 0.00621465
+v -0.00017470 0.03890156 0.00354483
+v -0.00017470 0.04022143 -0.00315039
+v 0.00454553 0.03538937 -0.00315039
+v 0.00416851 0.03805314 0.00825694
+v 0.00454553 0.03392610 0.00354483
+v 0.00416851 0.03919009 0.00420698
+v 0.00220713 0.03884488 0.00616775
+v -0.00017470 0.03942539 0.00151035
+v -0.00017470 0.04021713 -0.00302645
+v 0.00261558 0.04102605 -0.00315039
+v 0.00454553 0.04100373 -0.00315039
+v 0.00454553 0.03932492 0.00354483
+v 0.00220759 0.03996123 0.00151035
+v -0.00017470 0.03983929 -0.00059223
+v 0.00280409 0.04102605 -0.00315039
+f 1 2 7
+f 1 7 15
+f 1 15 10
+f 1 10 3
+f 1 3 12
+f 1 12 4
+f 1 4 5
+f 1 5 2
+f 2 6 7
+f 2 5 8
+f 2 8 9
+f 2 9 6
+f 3 10 11
+f 3 11 12
+f 4 12 19
+f 4 19 25
+f 4 25 20
+f 4 20 13
+f 4 13 5
+f 5 13 21
+f 5 21 26
+f 5 26 22
+f 5 22 14
+f 5 14 8
+f 6 9 7
+f 7 9 16
+f 7 16 23
+f 7 23 15
+f 8 14 22
+f 8 22 23
+f 8 23 16
+f 8 16 9
+f 10 15 17
+f 10 17 18
+f 10 18 11
+f 11 18 19
+f 11 19 12
+f 13 20 21
+f 15 23 17
+f 17 23 22
+f 17 22 18
+f 18 24 19
+f 18 22 24
+f 19 24 21
+f 19 21 25
+f 20 25 21
+f 21 24 26
+f 22 26 24
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_358.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_358.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90e711919f14236f78378a2153ebbec4bcd00547
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_358.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.00222273 -0.01885186 -0.07315233
+v -0.00001593 -0.01885186 -0.07291649
+v -0.00336842 -0.01885186 -0.07313161
+v -0.00605846 -0.01555467 -0.07361119
+v -0.00222273 -0.01555467 -0.07367928
+v -0.00001593 -0.01555467 -0.07366843
+v -0.00001593 -0.01885186 -0.06360909
+v -0.00605846 -0.01885186 -0.07277637
+v -0.00605846 -0.01616195 -0.07351349
+v -0.00605846 -0.01177345 -0.07368421
+v -0.00605846 -0.01171858 -0.07368520
+v -0.00605846 -0.01117369 -0.07368618
+v -0.00001593 -0.01117369 -0.07368618
+v -0.00605846 -0.01770946 -0.06360614
+v -0.00289583 -0.01885186 -0.06360614
+v -0.00001593 -0.01117369 -0.06694741
+v -0.00605846 -0.01885186 -0.06360614
+v -0.00605846 -0.01117369 -0.06688721
+f 1 2 7
+f 1 7 15
+f 1 15 17
+f 1 17 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 13
+f 2 13 16
+f 2 16 7
+f 3 8 9
+f 3 9 4
+f 4 9 8
+f 4 8 17
+f 4 17 14
+f 4 14 18
+f 4 18 12
+f 4 12 11
+f 4 11 10
+f 4 10 5
+f 5 10 11
+f 5 11 12
+f 5 12 13
+f 5 13 6
+f 7 14 15
+f 7 16 14
+f 12 18 16
+f 12 16 13
+f 14 17 15
+f 14 16 18
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_359.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_359.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77d29c2acbf3c1aa584d6de51c45250a2b56dc05
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_359.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v -0.00222158 -0.04284959 -0.02457661
+v -0.00001593 -0.04227012 -0.02457661
+v -0.00001593 -0.04217475 -0.02013478
+v -0.00222158 -0.04265804 -0.01569102
+v -0.00344032 -0.04274219 -0.02135024
+v -0.00404397 -0.04279189 -0.02458629
+v -0.00222158 -0.04271975 -0.02902231
+v -0.00001593 -0.04214108 -0.02902231
+v -0.00001593 -0.04198239 -0.01124725
+v -0.00222158 -0.04256186 -0.01124725
+v -0.00344032 -0.04264521 -0.01691034
+v -0.00404397 -0.03601857 -0.02458629
+v -0.00404397 -0.04266044 -0.02902231
+v -0.00344032 -0.04254743 -0.01246658
+v -0.00344032 -0.04251938 -0.01124725
+v -0.00344032 -0.04247370 -0.01124145
+v -0.00222158 -0.04237912 -0.03101194
+v -0.00001593 -0.04180045 -0.03101194
+v -0.00001593 -0.04198159 -0.01124145
+v -0.00222158 -0.04256106 -0.01124145
+v -0.00404397 -0.03573485 -0.03101194
+v -0.00344032 -0.03966050 -0.01124145
+v -0.00344032 -0.03588232 -0.01124725
+v -0.00404397 -0.04230218 -0.03101194
+v -0.00001593 -0.03466247 -0.03101194
+v -0.00001593 -0.03498226 -0.01124145
+v -0.00166327 -0.03507523 -0.03101194
+v -0.00335200 -0.03588232 -0.01124145
+v -0.00112901 -0.03527079 -0.01124145
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 8 18
+f 2 18 25
+f 2 25 26
+f 2 26 19
+f 2 19 9
+f 2 9 3
+f 3 9 10
+f 3 10 4
+f 4 10 5
+f 5 10 11
+f 5 11 6
+f 6 12 21
+f 6 21 24
+f 6 24 13
+f 6 13 7
+f 6 11 14
+f 6 14 15
+f 6 15 16
+f 6 16 22
+f 6 22 12
+f 7 13 17
+f 7 17 18
+f 7 18 8
+f 9 19 20
+f 9 20 10
+f 10 15 14
+f 10 14 11
+f 10 20 15
+f 12 22 23
+f 12 23 21
+f 13 24 17
+f 15 20 16
+f 16 20 19
+f 16 19 26
+f 16 26 29
+f 16 29 28
+f 16 28 22
+f 17 24 21
+f 17 21 27
+f 17 27 25
+f 17 25 18
+f 21 23 27
+f 22 28 23
+f 23 28 29
+f 23 29 27
+f 25 27 26
+f 26 27 29
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_36.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a046c2e267606978a162a9afc186e943f9c0161f
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_36.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v -0.01505759 -0.02498832 -0.04661396
+v -0.02422500 -0.01885187 -0.04661396
+v -0.01505759 -0.03353193 -0.04661396
+v -0.01505759 -0.01885187 -0.05531827
+v -0.03312534 -0.01885187 -0.04661396
+v -0.01837222 -0.03165794 -0.04661396
+v -0.01850488 -0.03152285 -0.04680022
+v -0.01505759 -0.03347014 -0.04680022
+v -0.01505759 -0.01885187 -0.06873965
+v -0.03307051 -0.01885187 -0.04680022
+v -0.03276451 -0.02000012 -0.04680022
+v -0.03281758 -0.02000012 -0.04661396
+v -0.01868175 -0.03148262 -0.04661396
+v -0.02635104 -0.02648579 -0.04853502
+v -0.01782745 -0.03113627 -0.04906347
+v -0.02531455 -0.02770302 -0.04661396
+v -0.01505759 -0.03227733 -0.04944898
+v -0.02469903 -0.02553586 -0.05134188
+v -0.02692765 -0.02242883 -0.05374807
+v -0.01755860 -0.01885187 -0.06653272
+v -0.01505759 -0.03194680 -0.05008789
+v -0.02339015 -0.02730638 -0.04992545
+v -0.03219498 -0.01885187 -0.04900716
+v -0.03123101 -0.02239721 -0.04922157
+v -0.03173864 -0.02284128 -0.04661396
+v -0.02877599 -0.02537634 -0.04695183
+v -0.02859911 -0.02323361 -0.05091955
+v -0.02839571 -0.02576867 -0.04661396
+v -0.02888742 -0.02542808 -0.04661396
+v -0.02209543 -0.01885187 -0.06231376
+v -0.01979252 -0.01885187 -0.06450770
+v -0.03174041 -0.01885187 -0.05000776
+v -0.03158476 -0.02000012 -0.04977385
+v -0.02713636 -0.01885187 -0.05646614
+v -0.03158299 -0.02309565 -0.04661396
+v -0.03163782 -0.02296631 -0.04680022
+v -0.03166612 -0.02300223 -0.04661396
+f 1 2 5
+f 1 5 12
+f 1 12 25
+f 1 25 37
+f 1 37 35
+f 1 35 29
+f 1 29 28
+f 1 28 16
+f 1 16 13
+f 1 13 6
+f 1 6 3
+f 1 3 8
+f 1 8 17
+f 1 17 21
+f 1 21 9
+f 1 9 4
+f 1 4 2
+f 2 4 9
+f 2 9 20
+f 2 20 31
+f 2 31 30
+f 2 30 34
+f 2 34 32
+f 2 32 23
+f 2 23 10
+f 2 10 5
+f 3 6 7
+f 3 7 8
+f 5 10 11
+f 5 11 12
+f 6 13 7
+f 7 14 15
+f 7 15 8
+f 7 13 16
+f 7 16 14
+f 8 15 17
+f 9 18 19
+f 9 19 20
+f 9 21 15
+f 9 15 22
+f 9 22 18
+f 10 23 24
+f 10 24 11
+f 11 24 12
+f 12 24 25
+f 14 26 24
+f 14 24 27
+f 14 27 19
+f 14 19 18
+f 14 18 22
+f 14 22 15
+f 14 16 28
+f 14 28 29
+f 14 29 26
+f 15 21 17
+f 19 30 31
+f 19 31 20
+f 19 27 24
+f 19 24 30
+f 23 32 33
+f 23 33 24
+f 24 33 34
+f 24 34 30
+f 24 26 29
+f 24 29 35
+f 24 35 36
+f 24 36 25
+f 25 36 37
+f 32 34 33
+f 35 37 36
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_360.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_360.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4051f5ad6a32cde6cc1fc8cfce5240d840527bf
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_360.obj
@@ -0,0 +1,117 @@
+# https://github.com/mikedh/trimesh
+v 0.01174873 -0.03409287 -0.03563547
+v 0.01174873 -0.03406407 -0.03575075
+v 0.01412055 -0.03296097 -0.03826038
+v 0.01465080 -0.03350607 -0.03563547
+v 0.01174873 -0.02908175 -0.03563547
+v 0.01174873 -0.03320125 -0.03896271
+v 0.01174873 -0.03235134 -0.04109102
+v 0.01587797 -0.03183900 -0.04005525
+v 0.01805943 -0.03271473 -0.03563547
+v 0.01584529 -0.03326380 -0.03563547
+v 0.02008810 -0.02530479 -0.03563547
+v 0.02009464 -0.02529684 -0.03564256
+v 0.01174873 -0.02395048 -0.04487585
+v 0.01174873 -0.03226992 -0.04129144
+v 0.02009464 -0.03191049 -0.03616577
+v 0.01618354 -0.02957620 -0.04463997
+v 0.01973188 -0.02897451 -0.04374253
+v 0.01913872 -0.03238609 -0.03563547
+v 0.02009464 -0.03174269 -0.03563547
+v 0.02009464 -0.02395048 -0.03836856
+v 0.01174873 -0.02395048 -0.05375265
+v 0.01174873 -0.03099306 -0.04356517
+v 0.02009464 -0.03209418 -0.03563547
+v 0.02009464 -0.02917409 -0.04291782
+v 0.01174873 -0.02989790 -0.04549484
+v 0.01174873 -0.02964174 -0.04589921
+v 0.01378231 -0.02820701 -0.04738016
+v 0.01618354 -0.02784560 -0.04696691
+v 0.01479623 -0.02395048 -0.05251824
+v 0.01730123 -0.02395048 -0.05111179
+v 0.01874573 -0.02395048 -0.05008665
+v 0.01949167 -0.02464650 -0.04863941
+v 0.02009464 -0.02828346 -0.04411499
+v 0.02009464 -0.02395048 -0.04848333
+v 0.01471862 -0.02395048 -0.05255016
+v 0.01174873 -0.02580421 -0.05128028
+v 0.01174873 -0.02727667 -0.04930804
+v 0.01174873 -0.02694604 -0.04975144
+v 0.01977927 -0.02395048 -0.04887529
+v 0.02009464 -0.02522436 -0.04740144
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 9
+f 1 9 18
+f 1 18 23
+f 1 23 19
+f 1 19 11
+f 1 11 5
+f 1 5 13
+f 1 13 21
+f 1 21 36
+f 1 36 38
+f 1 38 37
+f 1 37 26
+f 1 26 25
+f 1 25 22
+f 1 22 14
+f 1 14 7
+f 1 7 6
+f 1 6 2
+f 2 6 3
+f 3 6 7
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 5 11 12
+f 5 12 13
+f 7 14 8
+f 8 15 9
+f 8 14 16
+f 8 16 17
+f 8 17 15
+f 9 15 18
+f 11 19 12
+f 12 19 23
+f 12 23 15
+f 12 15 24
+f 12 24 33
+f 12 33 40
+f 12 40 34
+f 12 34 20
+f 12 20 13
+f 13 20 34
+f 13 34 39
+f 13 39 31
+f 13 31 30
+f 13 30 29
+f 13 29 35
+f 13 35 21
+f 14 22 16
+f 15 23 18
+f 15 17 24
+f 16 22 25
+f 16 25 26
+f 16 26 27
+f 16 27 28
+f 16 28 17
+f 17 28 29
+f 17 29 30
+f 17 30 31
+f 17 31 32
+f 17 32 33
+f 17 33 24
+f 21 35 28
+f 21 28 27
+f 21 27 36
+f 26 37 27
+f 27 37 38
+f 27 38 36
+f 28 35 29
+f 31 39 32
+f 32 39 40
+f 32 40 33
+f 34 40 39
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_361.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_361.obj
new file mode 100644
index 0000000000000000000000000000000000000000..887d098dd334e1e1f437c4fca003260077e95c1a
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_361.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.00689290 -0.03135008 -0.03116274
+v -0.00232688 -0.03226311 -0.03116274
+v -0.00689290 -0.02833020 -0.04016592
+v -0.00689290 -0.03725133 -0.03116274
+v -0.00232688 -0.02941001 -0.04017297
+v -0.00232688 -0.03784400 -0.03116274
+v -0.00543750 -0.02884843 -0.04017297
+v -0.00689290 -0.03134348 -0.04017297
+v -0.00689290 -0.03702802 -0.03204127
+v -0.00560735 -0.03795047 -0.03116274
+v -0.00232688 -0.03515296 -0.04017297
+v -0.00273275 -0.03795612 -0.03116274
+v -0.00233493 -0.03530089 -0.04017297
+v -0.00232688 -0.03654559 -0.03551129
+v -0.00689290 -0.03448020 -0.04017297
+v -0.00495385 -0.03764424 -0.03376217
+v -0.00689290 -0.03611216 -0.03550247
+v -0.00276136 -0.03795612 -0.03116274
+v -0.00434281 -0.03764424 -0.03376217
+v -0.00246098 -0.03532633 -0.04017297
+v -0.00689290 -0.03576918 -0.03660946
+v -0.00689290 -0.03607070 -0.03565330
+f 1 2 3
+f 1 3 8
+f 1 8 15
+f 1 15 21
+f 1 21 22
+f 1 22 17
+f 1 17 9
+f 1 9 4
+f 1 4 10
+f 1 10 18
+f 1 18 12
+f 1 12 6
+f 1 6 2
+f 2 5 3
+f 2 6 14
+f 2 14 11
+f 2 11 5
+f 3 5 7
+f 3 7 8
+f 4 9 10
+f 5 11 13
+f 5 13 20
+f 5 20 15
+f 5 15 8
+f 5 8 7
+f 6 12 13
+f 6 13 14
+f 9 16 10
+f 9 17 16
+f 10 16 18
+f 11 14 13
+f 12 19 13
+f 12 18 16
+f 12 16 19
+f 13 19 20
+f 15 20 16
+f 15 16 21
+f 16 20 19
+f 16 17 22
+f 16 22 21
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_362.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_362.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75f2fba68deebd78f4f9b27d304372140002b30c
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_362.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v -0.01640390 -0.01047237 -0.07319385
+v -0.01903577 -0.01047237 -0.07229076
+v -0.02000007 -0.00222236 -0.07276585
+v -0.02000007 0.00013583 -0.07294347
+v -0.01640390 -0.01021381 -0.07320883
+v -0.01640390 -0.01047237 -0.06306733
+v -0.01919463 -0.01047237 -0.07223512
+v -0.02253615 -0.00222236 -0.07156744
+v -0.02152396 0.00013583 -0.07229504
+v -0.01903577 0.00013583 -0.07313821
+v -0.01640390 -0.00581726 -0.07344209
+v -0.01640390 0.00013583 -0.06551764
+v -0.02455815 -0.01047237 -0.05170175
+v -0.01951872 -0.01047237 -0.07195906
+v -0.02222802 -0.00447151 -0.07125071
+v -0.02417259 -0.00222236 -0.06901869
+v -0.02455815 0.00004341 -0.06901869
+v -0.02380459 0.00013583 -0.07021495
+v -0.02271416 0.00013583 -0.07173222
+v -0.01791262 0.00013583 -0.07336290
+v -0.01640390 -0.00137399 -0.07355551
+v -0.02455815 0.00013583 -0.05557516
+v -0.01640390 0.00013583 -0.07356407
+v -0.02455815 -0.01047237 -0.06449471
+v -0.02135473 -0.01047237 -0.06987683
+v -0.02150161 -0.01047237 -0.06964143
+v -0.02269102 -0.01047237 -0.06771115
+v -0.02455815 -0.00222236 -0.06836385
+v -0.02455815 -0.00148718 -0.06860353
+v -0.02455815 0.00011714 -0.06903795
+v -0.02455815 0.00013583 -0.06904223
+v -0.02455815 -0.01036645 -0.06454608
+v -0.02428435 -0.01047237 -0.06496766
+v -0.02307817 -0.01047237 -0.06704774
+v -0.02455815 -0.00423683 -0.06742652
+v -0.02455815 -0.00833017 -0.06550694
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 21
+f 1 21 23
+f 1 23 12
+f 1 12 6
+f 1 6 13
+f 1 13 24
+f 1 24 33
+f 1 33 34
+f 1 34 27
+f 1 27 26
+f 1 26 25
+f 1 25 14
+f 1 14 7
+f 1 7 2
+f 2 7 3
+f 3 7 8
+f 3 8 9
+f 3 9 4
+f 4 10 11
+f 4 11 5
+f 4 9 19
+f 4 19 18
+f 4 18 31
+f 4 31 22
+f 4 22 12
+f 4 12 23
+f 4 23 20
+f 4 20 10
+f 6 12 13
+f 7 14 15
+f 7 15 8
+f 8 15 16
+f 8 16 17
+f 8 17 18
+f 8 18 19
+f 8 19 9
+f 10 20 11
+f 11 20 21
+f 12 22 13
+f 13 22 31
+f 13 31 30
+f 13 30 17
+f 13 17 29
+f 13 29 28
+f 13 28 35
+f 13 35 36
+f 13 36 32
+f 13 32 24
+f 14 25 15
+f 15 25 26
+f 15 26 27
+f 15 27 16
+f 16 27 28
+f 16 28 29
+f 16 29 17
+f 17 30 18
+f 18 30 31
+f 20 23 21
+f 24 32 33
+f 27 34 35
+f 27 35 28
+f 32 36 34
+f 32 34 33
+f 34 36 35
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_363.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_363.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d3e8fe999b216ce38fb244b09417696c7c22a8f
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_363.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.01866241 0.01078742 0.04546350
+v 0.01866139 0.01291371 0.04546350
+v 0.01866241 0.00821137 0.04546350
+v 0.01866241 0.01078742 0.02963749
+v 0.00817016 0.01291371 0.04546350
+v 0.01866139 0.01291371 0.02783399
+v 0.01339523 0.00821137 0.04546350
+v 0.01866241 0.00821137 0.03142892
+v 0.01866241 0.00889037 0.03095259
+v 0.01866139 0.01143971 0.02885396
+v 0.00969341 0.01291371 0.04229140
+v 0.01765376 0.00821137 0.03317375
+v 0.01589529 0.00821137 0.03728472
+v 0.01747298 0.01291371 0.02873833
+v 0.01238555 0.01291371 0.03721051
+f 1 2 5
+f 1 5 7
+f 1 7 3
+f 1 3 8
+f 1 8 9
+f 1 9 4
+f 1 4 6
+f 1 6 2
+f 2 6 14
+f 2 14 15
+f 2 15 11
+f 2 11 5
+f 3 7 13
+f 3 13 12
+f 3 12 8
+f 4 9 10
+f 4 10 6
+f 5 11 12
+f 5 12 13
+f 5 13 7
+f 6 10 14
+f 8 12 15
+f 8 15 14
+f 8 14 10
+f 8 10 9
+f 11 15 12
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_364.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_364.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7bb6f63dd000831aea41b4d8876830d8c3e2b45
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_364.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v 0.02016958 -0.03426149 0.00354628
+v 0.02079759 -0.03412724 0.00354628
+v 0.02016958 -0.03360641 0.00610578
+v 0.02016958 -0.02813460 0.00354628
+v 0.02263453 -0.03358777 0.00354628
+v 0.02074133 -0.03346595 0.00609686
+v 0.02016958 -0.03332549 0.00714539
+v 0.02016958 -0.02625141 0.00741525
+v 0.02582852 -0.02156395 0.00354628
+v 0.02368618 -0.03322107 0.00354628
+v 0.02347034 -0.03308931 0.00449554
+v 0.02222696 -0.03255108 0.00760070
+v 0.02016958 -0.03289291 0.00857553
+v 0.02016958 -0.02530298 0.00961811
+v 0.02352890 -0.02156395 0.00961811
+v 0.03189732 -0.02156395 0.00354628
+v 0.02442785 -0.03252746 0.00354628
+v 0.02466780 -0.02985619 0.00961811
+v 0.02360696 -0.03075117 0.00961811
+v 0.02126142 -0.03217817 0.00961811
+v 0.02058749 -0.03239943 0.00961811
+v 0.02016958 -0.03253616 0.00961811
+v 0.02997886 -0.02156395 0.00961811
+v 0.02794789 -0.02844908 0.00354628
+v 0.03087208 -0.02156395 0.00680182
+v 0.02859656 -0.02406243 0.00961811
+v 0.02833365 -0.02452857 0.00961811
+v 0.02871137 -0.02593444 0.00579431
+v 0.02596859 -0.03090531 0.00354628
+v 0.02762643 -0.02886799 0.00354628
+v 0.02537502 -0.02896618 0.00961811
+v 0.02787786 -0.02832975 0.00399148
+v 0.02710405 -0.02654974 0.00961811
+f 1 2 3
+f 1 3 7
+f 1 7 13
+f 1 13 22
+f 1 22 14
+f 1 14 8
+f 1 8 4
+f 1 4 9
+f 1 9 16
+f 1 16 24
+f 1 24 30
+f 1 30 29
+f 1 29 17
+f 1 17 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 7
+f 4 8 9
+f 5 10 11
+f 5 11 6
+f 6 11 12
+f 6 12 13
+f 6 13 7
+f 8 14 9
+f 9 14 15
+f 9 15 23
+f 9 23 25
+f 9 25 16
+f 10 17 11
+f 11 17 18
+f 11 18 19
+f 11 19 12
+f 12 20 21
+f 12 21 13
+f 12 19 20
+f 13 21 22
+f 14 22 21
+f 14 21 20
+f 14 20 19
+f 14 19 18
+f 14 18 31
+f 14 31 33
+f 14 33 27
+f 14 27 26
+f 14 26 23
+f 14 23 15
+f 16 25 26
+f 16 26 27
+f 16 27 28
+f 16 28 24
+f 17 29 18
+f 18 30 31
+f 18 29 30
+f 23 26 25
+f 24 32 31
+f 24 31 30
+f 24 28 27
+f 24 27 32
+f 27 33 32
+f 31 32 33
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_365.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_365.obj
new file mode 100644
index 0000000000000000000000000000000000000000..547102ac49ae17031a9ab4930eba8933e8426e81
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_365.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.02510550 0.01291371 0.01478341
+v 0.02223953 0.01291371 0.02020564
+v 0.01967499 0.01967191 0.01590040
+v 0.02510550 0.01934839 0.00686828
+v 0.02510550 0.01291371 0.03144216
+v 0.02031878 0.01291371 0.02423348
+v 0.02488275 0.01967191 0.00687568
+v 0.01967499 0.01291371 0.02576842
+v 0.01967499 0.01967191 0.03271450
+v 0.02510550 0.01967191 0.00658719
+v 0.02510550 0.01561765 0.02969639
+v 0.01967499 0.01291371 0.04437266
+v 0.01967499 0.01916910 0.03372793
+v 0.02011783 0.01967191 0.03222997
+v 0.02510550 0.01967191 0.02503239
+v 0.02268875 0.01822434 0.03180833
+v 0.01967499 0.01534507 0.04048907
+v 0.01967499 0.01889520 0.03427533
+v 0.02415177 0.01967191 0.02676336
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 15
+f 1 15 11
+f 1 11 5
+f 1 5 12
+f 1 12 8
+f 1 8 6
+f 1 6 2
+f 2 6 3
+f 3 7 4
+f 3 6 8
+f 3 8 12
+f 3 12 17
+f 3 17 18
+f 3 18 13
+f 3 13 9
+f 3 9 14
+f 3 14 19
+f 3 19 15
+f 3 15 10
+f 3 10 7
+f 4 7 10
+f 5 11 12
+f 9 13 14
+f 11 15 12
+f 12 15 16
+f 12 16 17
+f 13 18 14
+f 14 18 16
+f 14 16 19
+f 15 19 16
+f 16 18 17
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_366.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_366.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e41e8a623ac6d41afc5c8a636ca7b610af3c13a
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_366.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.00911217 0.00214061 0.09758469
+v -0.00774922 0.00214061 0.09623455
+v -0.00911217 0.00214061 0.09568797
+v -0.00911217 -0.00039985 0.09655371
+v -0.00883303 -0.00039985 0.09641037
+v -0.00742738 -0.00039985 0.09568797
+v -0.00725565 0.00214061 0.09568797
+v -0.00911217 -0.00039985 0.09568797
+f 1 2 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 3 7 6
+f 3 6 8
+f 4 8 6
+f 4 6 5
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_367.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_367.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3ee242aef99638908d215de7cb0b25c646892e8
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_367.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v 0.03794745 -0.00005971 0.00961811
+v 0.03773735 -0.00005971 0.01037539
+v 0.03808456 -0.00224886 0.01121017
+v 0.03810034 -0.00063981 0.00961811
+v 0.03206364 -0.00005971 0.00961811
+v 0.03719188 -0.00005971 0.01227224
+v 0.03852252 -0.00236805 0.00961811
+v 0.03831735 -0.00152802 0.00961811
+v 0.03708042 -0.00044391 0.01301807
+v 0.03750851 -0.00354916 0.01426426
+v 0.03211986 -0.00653649 0.00961811
+v 0.03083854 -0.00653649 0.01084557
+v 0.03085729 -0.00005971 0.01087002
+v 0.03703307 -0.00005971 0.01277726
+v 0.03822167 -0.00632474 0.00961811
+v 0.03750851 -0.00574274 0.01426426
+v 0.03609600 -0.00005971 0.01493156
+v 0.03699657 -0.00293863 0.01493156
+v 0.03820194 -0.00653649 0.00961811
+v 0.03044695 -0.00653649 0.01128871
+v 0.02844556 -0.00006795 0.01401565
+v 0.02844556 -0.00005971 0.01402709
+v 0.03730433 -0.00653649 0.01365209
+v 0.03770677 -0.00653649 0.01234505
+v 0.03682494 -0.00646992 0.01493156
+v 0.02844556 -0.00005971 0.01493156
+v 0.02844556 -0.00653649 0.01394335
+v 0.03694134 -0.00653649 0.01454980
+v 0.03678647 -0.00653649 0.01493156
+v 0.02844556 -0.00653649 0.01493156
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 7
+f 1 7 15
+f 1 15 19
+f 1 19 11
+f 1 11 5
+f 1 5 13
+f 1 13 22
+f 1 22 26
+f 1 26 17
+f 1 17 14
+f 1 14 6
+f 1 6 2
+f 2 6 3
+f 3 7 8
+f 3 8 4
+f 3 6 9
+f 3 9 10
+f 3 10 7
+f 5 11 12
+f 5 12 13
+f 6 14 9
+f 7 10 16
+f 7 16 15
+f 9 14 17
+f 9 17 10
+f 10 17 18
+f 10 18 16
+f 11 19 24
+f 11 24 23
+f 11 23 28
+f 11 28 29
+f 11 29 30
+f 11 30 27
+f 11 27 20
+f 11 20 12
+f 12 20 13
+f 13 20 21
+f 13 21 22
+f 15 16 19
+f 16 23 24
+f 16 24 19
+f 16 18 25
+f 16 25 23
+f 17 26 30
+f 17 30 29
+f 17 29 25
+f 17 25 18
+f 20 27 21
+f 21 27 30
+f 21 30 26
+f 21 26 22
+f 23 25 28
+f 25 29 28
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_368.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_368.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0774424802a2a115c3e38c2231037db7c78eab4
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_368.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.02657554 0.00222213 0.03659263
+v -0.02657554 0.00048660 0.03609280
+v -0.02657554 0.00241071 0.03648711
+v -0.03156327 0.00241071 0.02644318
+v -0.02657554 0.00027645 0.03603171
+v -0.02657554 0.00241071 0.01982591
+v -0.03156327 0.00080137 0.02578229
+v -0.02657554 0.00004101 0.03593729
+v -0.03156327 0.00241071 0.00964314
+v -0.02657554 0.00018088 0.01914002
+v -0.03156327 0.00004101 0.00822416
+v -0.03156230 0.00241071 0.00960981
+v -0.03156327 0.00008021 0.02540464
+v -0.03107939 0.00011593 0.02647928
+v -0.03110332 0.00004101 0.02638765
+v -0.02657554 0.00004101 0.01910115
+v -0.03156327 0.00004101 0.02538242
+f 1 2 5
+f 1 5 8
+f 1 8 16
+f 1 16 10
+f 1 10 6
+f 1 6 3
+f 1 3 4
+f 1 4 2
+f 2 4 5
+f 3 6 12
+f 3 12 9
+f 3 9 4
+f 4 7 8
+f 4 8 5
+f 4 9 11
+f 4 11 17
+f 4 17 13
+f 4 13 7
+f 6 10 11
+f 6 11 12
+f 7 13 14
+f 7 14 8
+f 8 14 15
+f 8 15 17
+f 8 17 11
+f 8 11 16
+f 9 12 11
+f 10 16 11
+f 13 17 15
+f 13 15 14
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_369.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_369.obj
new file mode 100644
index 0000000000000000000000000000000000000000..015e9dd969eaa4ffae00b53262f4c3724475dacf
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_369.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v 0.02017039 -0.03253665 0.00961852
+v 0.02126230 -0.03217835 0.00961852
+v 0.02017039 -0.03207773 0.01096509
+v 0.02017039 -0.02530189 0.00961852
+v 0.02360731 -0.03075005 0.00961852
+v 0.02264663 -0.02994019 0.01379475
+v 0.02080788 -0.03083104 0.01379475
+v 0.02074227 -0.03197466 0.01070714
+v 0.02017039 -0.03105191 0.01379475
+v 0.02017039 -0.02184157 0.01379475
+v 0.02538288 -0.01216004 0.01379475
+v 0.02567610 -0.01169376 0.01379475
+v 0.02844475 -0.00746529 0.01379475
+v 0.02785182 -0.01428286 0.00961852
+v 0.02466601 -0.02985429 0.00961852
+v 0.02443353 -0.02967024 0.01082773
+v 0.02396048 -0.02913278 0.01379475
+v 0.02844556 -0.02025620 0.01379475
+v 0.02844556 -0.02025620 0.00961852
+v 0.02844475 -0.01345336 0.00961852
+v 0.02537315 -0.02896590 0.00961852
+v 0.02710336 -0.02654859 0.00961852
+v 0.02499407 -0.02767012 0.01379475
+v 0.02844556 -0.02195691 0.01379475
+v 0.02844556 -0.02433005 0.00961852
+v 0.02833378 -0.02452638 0.00961852
+v 0.02695431 -0.02593505 0.01125615
+v 0.02779350 -0.02355700 0.01309408
+v 0.02709607 -0.02424907 0.01379475
+v 0.02818069 -0.02244283 0.01379475
+v 0.02844556 -0.02279868 0.01233945
+v 0.02844556 -0.02422944 0.00980697
+v 0.02829652 -0.02439141 0.00998929
+v 0.02806566 -0.02265143 0.01379475
+f 1 2 3
+f 1 3 9
+f 1 9 10
+f 1 10 4
+f 1 4 14
+f 1 14 20
+f 1 20 19
+f 1 19 25
+f 1 25 26
+f 1 26 22
+f 1 22 21
+f 1 21 15
+f 1 15 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 3 8 9
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 5 15 16
+f 5 16 17
+f 5 17 6
+f 6 17 23
+f 6 23 29
+f 6 29 34
+f 6 34 30
+f 6 30 24
+f 6 24 18
+f 6 18 13
+f 6 13 12
+f 6 12 11
+f 6 11 10
+f 6 10 9
+f 6 9 7
+f 7 9 8
+f 13 18 19
+f 13 19 20
+f 13 20 14
+f 15 17 16
+f 15 21 17
+f 17 21 22
+f 17 22 23
+f 18 24 31
+f 18 31 32
+f 18 32 25
+f 18 25 19
+f 22 26 27
+f 22 27 23
+f 23 27 28
+f 23 28 29
+f 24 30 31
+f 25 32 26
+f 26 32 33
+f 26 33 27
+f 27 33 28
+f 28 32 31
+f 28 31 30
+f 28 30 34
+f 28 34 29
+f 28 33 32
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_37.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c991142c243d670e631990a15bb3831e9a4a36d
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_37.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.00801626 -0.00272919 0.09673083
+v -0.01003096 -0.00272919 0.09985418
+v -0.00731136 -0.00348890 0.09673083
+v -0.01471477 -0.00272919 0.09673083
+v -0.00755215 -0.00635780 0.09985418
+v -0.00731136 -0.00636100 0.09952733
+v -0.01539346 -0.00272919 0.09985418
+v -0.00547434 -0.00636100 0.09673083
+v -0.01415551 -0.00490842 0.09673083
+v -0.01531190 -0.00272919 0.09923807
+v -0.00756089 -0.00636100 0.09985418
+v -0.00754730 -0.00636100 0.09985052
+v -0.01533423 -0.00272919 0.09934173
+v -0.01441184 -0.00610789 0.09934173
+v -0.01457495 -0.00572465 0.09985418
+v -0.01355158 -0.00636100 0.09673083
+v -0.01404288 -0.00521309 0.09673083
+v -0.01413609 -0.00509364 0.09684946
+v -0.01439824 -0.00636100 0.09985418
+v -0.01432348 -0.00636100 0.09934173
+v -0.01433222 -0.00636100 0.09939493
+v -0.01437980 -0.00636100 0.09969916
+v -0.01444097 -0.00621454 0.09985418
+v -0.01393316 -0.00636100 0.09779426
+f 1 2 3
+f 1 3 8
+f 1 8 16
+f 1 16 17
+f 1 17 9
+f 1 9 4
+f 1 4 10
+f 1 10 13
+f 1 13 7
+f 1 7 2
+f 2 5 6
+f 2 6 3
+f 2 7 15
+f 2 15 23
+f 2 23 19
+f 2 19 11
+f 2 11 5
+f 3 6 8
+f 4 9 10
+f 5 11 12
+f 5 12 6
+f 6 12 11
+f 6 11 19
+f 6 19 22
+f 6 22 21
+f 6 21 20
+f 6 20 24
+f 6 24 16
+f 6 16 8
+f 7 13 14
+f 7 14 15
+f 9 17 18
+f 9 18 10
+f 10 18 14
+f 10 14 13
+f 14 20 21
+f 14 21 22
+f 14 22 19
+f 14 19 23
+f 14 23 15
+f 14 18 24
+f 14 24 20
+f 16 24 17
+f 17 24 18
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_370.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_370.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5822273c5fd7a8b8f04d2d6a648649a55973918
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_370.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v -0.00344035 -0.04281166 -0.02457855
+v -0.00344035 -0.04264522 -0.01691034
+v -0.00666610 -0.04271067 -0.02457661
+v -0.00666610 -0.04271067 -0.02458435
+v -0.00404449 -0.04265977 -0.02902231
+v -0.00404449 -0.04230185 -0.03101194
+v -0.00344035 -0.04022707 -0.02458435
+v -0.00344035 -0.04254746 -0.01246658
+v -0.00666610 -0.04261048 -0.02013478
+v -0.00685212 -0.04263068 -0.02457661
+v -0.00344035 -0.04251999 -0.01124725
+v -0.00685212 -0.04263068 -0.02458629
+v -0.00685212 -0.04262502 -0.02479338
+v -0.00666610 -0.04257493 -0.02902231
+v -0.00666610 -0.04221459 -0.03101194
+v -0.00404449 -0.03573494 -0.03101194
+v -0.00344035 -0.03601934 -0.02458242
+v -0.00666610 -0.04240769 -0.01124725
+v -0.00685212 -0.04232851 -0.01124725
+v -0.00685212 -0.04242950 -0.01569102
+v -0.00344035 -0.04247232 -0.01124145
+v -0.00666610 -0.04240688 -0.01124145
+v -0.00685212 -0.04249495 -0.02902231
+v -0.00685212 -0.04245051 -0.02928746
+v -0.00685212 -0.04213864 -0.03101194
+v -0.00685212 -0.03455778 -0.03101194
+v -0.00344035 -0.03588199 -0.01124725
+v -0.00685212 -0.04232770 -0.01124145
+v -0.00344035 -0.03966071 -0.01124145
+v -0.00685212 -0.03491650 -0.01124725
+v -0.00684744 -0.03491812 -0.01124145
+v -0.00502834 -0.03588199 -0.01124145
+v -0.00685212 -0.04222590 -0.01124145
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 17
+f 1 17 27
+f 1 27 29
+f 1 29 21
+f 1 21 11
+f 1 11 8
+f 1 8 2
+f 2 8 3
+f 3 9 10
+f 3 10 12
+f 3 12 4
+f 3 8 11
+f 3 11 9
+f 4 12 13
+f 4 13 14
+f 4 14 5
+f 5 14 6
+f 6 15 25
+f 6 25 26
+f 6 26 16
+f 6 16 7
+f 6 14 15
+f 7 16 17
+f 9 11 18
+f 9 18 19
+f 9 19 20
+f 9 20 10
+f 10 20 19
+f 10 19 28
+f 10 28 33
+f 10 33 30
+f 10 30 26
+f 10 26 25
+f 10 25 24
+f 10 24 23
+f 10 23 13
+f 10 13 12
+f 11 21 22
+f 11 22 18
+f 13 23 14
+f 14 23 24
+f 14 24 25
+f 14 25 15
+f 16 26 27
+f 16 27 17
+f 18 22 28
+f 18 28 19
+f 21 29 32
+f 21 32 31
+f 21 31 33
+f 21 33 28
+f 21 28 22
+f 26 30 27
+f 27 30 31
+f 27 31 32
+f 27 32 29
+f 30 33 31
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_371.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_371.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41cc566eaf2ffb9d2f3dd183fdad3f12438dea60
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_371.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v -0.01640365 -0.01885186 -0.06754817
+v -0.01640365 -0.01843439 -0.06819855
+v -0.01640365 -0.01885186 -0.05424169
+v -0.01755866 -0.01885186 -0.06653029
+v -0.01822756 -0.01803906 -0.06720447
+v -0.01654493 -0.01705565 -0.07016822
+v -0.01640365 -0.01723363 -0.07002016
+v -0.01640365 -0.01047362 -0.06306421
+v -0.02455656 -0.01047362 -0.05170625
+v -0.02455656 -0.01885186 -0.04618854
+v -0.01979205 -0.01885186 -0.06450775
+v -0.02209408 -0.01885186 -0.06231335
+v -0.02258658 -0.01812764 -0.06288443
+v -0.01640365 -0.01709666 -0.07022374
+v -0.01845185 -0.01409394 -0.07184971
+v -0.01640365 -0.01047362 -0.07319543
+v -0.02455656 -0.01047362 -0.06449453
+v -0.02455656 -0.01885186 -0.05933639
+v -0.02416304 -0.01885186 -0.05981492
+v -0.02455656 -0.01873130 -0.05946857
+v -0.02229523 -0.01351243 -0.06692422
+v -0.01640365 -0.01503880 -0.07205329
+v -0.02126873 -0.01111091 -0.06972934
+v -0.02135334 -0.01047362 -0.06987475
+v -0.01951906 -0.01047362 -0.07195810
+v -0.01904812 -0.01111091 -0.07224628
+v -0.01640365 -0.01111091 -0.07315577
+v -0.01919499 -0.01047362 -0.07223571
+v -0.02452543 -0.01047362 -0.06455005
+v -0.02455656 -0.01111091 -0.06420635
+v -0.02455656 -0.01543249 -0.06201989
+v -0.02263686 -0.01111091 -0.06750587
+v -0.02269034 -0.01047362 -0.06771209
+v -0.02150101 -0.01047362 -0.06964209
+v -0.02307748 -0.01047362 -0.06704848
+f 1 2 7
+f 1 7 14
+f 1 14 22
+f 1 22 27
+f 1 27 16
+f 1 16 8
+f 1 8 3
+f 1 3 10
+f 1 10 18
+f 1 18 19
+f 1 19 12
+f 1 12 11
+f 1 11 4
+f 1 4 2
+f 2 4 5
+f 2 5 6
+f 2 6 7
+f 3 8 9
+f 3 9 10
+f 4 11 5
+f 5 11 12
+f 5 12 13
+f 5 13 6
+f 6 14 7
+f 6 13 15
+f 6 15 14
+f 8 16 28
+f 8 28 25
+f 8 25 24
+f 8 24 34
+f 8 34 33
+f 8 33 35
+f 8 35 29
+f 8 29 17
+f 8 17 9
+f 9 17 30
+f 9 30 31
+f 9 31 20
+f 9 20 18
+f 9 18 10
+f 12 19 13
+f 13 19 18
+f 13 18 20
+f 13 20 21
+f 13 21 15
+f 14 15 22
+f 15 23 24
+f 15 24 25
+f 15 25 26
+f 15 26 27
+f 15 27 22
+f 15 21 23
+f 16 27 28
+f 17 29 30
+f 20 31 21
+f 21 31 30
+f 21 30 32
+f 21 32 23
+f 23 32 33
+f 23 33 34
+f 23 34 24
+f 25 28 26
+f 26 28 27
+f 29 35 30
+f 30 35 32
+f 32 35 33
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_372.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_372.obj
new file mode 100644
index 0000000000000000000000000000000000000000..665414b559f254e2490a0d08f163518ec6167919
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_372.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.00510249 0.00817095 0.09985449
+v -0.00235947 0.00985105 0.09985449
+v -0.00235004 0.00985035 0.09985955
+v -0.00235004 0.00981337 0.10125209
+v -0.00510249 0.00919869 0.10125209
+v -0.00510249 0.01446503 0.09985449
+v -0.00235004 0.01439316 0.09985449
+v -0.00235004 0.01529810 0.10125209
+v -0.00510249 0.01460736 0.10125209
+v -0.00245107 0.01529391 0.10125209
+v -0.00245107 0.01513693 0.09985449
+v -0.00235004 0.01514041 0.09985449
+v -0.00238425 0.01529670 0.10125209
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 6
+f 1 6 11
+f 1 11 12
+f 1 12 7
+f 1 7 2
+f 2 7 3
+f 3 7 12
+f 3 12 8
+f 3 8 4
+f 4 8 13
+f 4 13 10
+f 4 10 9
+f 4 9 5
+f 6 9 10
+f 6 10 11
+f 8 12 11
+f 8 11 13
+f 10 13 11
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_373.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_373.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ffc8d8130fc9efd46d1209368020cf1350b758f
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_373.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.00001593 0.03685094 -0.04877141
+v -0.00001593 0.03629788 -0.05018817
+v -0.00495281 0.03567649 -0.04922861
+v -0.00222264 0.03640465 -0.04877141
+v -0.00001593 0.03236667 -0.04877141
+v -0.00222264 0.03601601 -0.04976907
+v -0.00001593 0.03484583 -0.05241069
+v -0.00221304 0.02726955 -0.06318599
+v -0.00222264 0.03456823 -0.05199017
+v -0.01228130 0.03236667 -0.05129308
+v -0.00763136 0.03505937 -0.04877141
+v -0.00524456 0.03575336 -0.04877141
+v -0.00658564 0.02615275 -0.06318599
+v -0.01228130 0.02465372 -0.06318599
+v -0.00002194 0.02874722 -0.04877141
+v -0.00001593 0.02874508 -0.04877847
+v -0.00001593 0.03115591 -0.05798038
+v -0.00022724 0.02766459 -0.06318599
+v -0.01228130 0.03356034 -0.04877141
+v -0.01228130 0.01503816 -0.06318599
+v -0.01228130 0.02565521 -0.04877141
+v -0.00001593 0.02401524 -0.05583829
+v -0.00001593 0.02770516 -0.06318599
+v -0.00001593 0.01915729 -0.06318599
+f 1 2 3
+f 1 3 4
+f 1 4 12
+f 1 12 11
+f 1 11 19
+f 1 19 21
+f 1 21 15
+f 1 15 5
+f 1 5 16
+f 1 16 22
+f 1 22 24
+f 1 24 23
+f 1 23 17
+f 1 17 7
+f 1 7 2
+f 2 6 3
+f 2 7 8
+f 2 8 9
+f 2 9 6
+f 3 10 11
+f 3 11 12
+f 3 12 4
+f 3 6 9
+f 3 9 8
+f 3 8 13
+f 3 13 14
+f 3 14 10
+f 5 15 16
+f 7 17 8
+f 8 18 23
+f 8 23 24
+f 8 24 20
+f 8 20 14
+f 8 14 13
+f 8 17 18
+f 10 19 11
+f 10 14 20
+f 10 20 21
+f 10 21 19
+f 15 21 20
+f 15 20 22
+f 15 22 16
+f 17 23 18
+f 20 24 22
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_374.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_374.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cdcaeb8f2100886f89f06b045f609e648fab55a1
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_374.obj
@@ -0,0 +1,138 @@
+# https://github.com/mikedh/trimesh
+v 0.02310838 0.03038757 -0.02801158
+v 0.02712546 0.02811796 -0.02801158
+v 0.02776847 0.02758923 -0.02864746
+v 0.02310838 0.03029340 -0.02836471
+v 0.02310838 0.02432540 -0.02801158
+v 0.02859239 0.02720849 -0.02801158
+v 0.02388275 0.02805876 -0.03487911
+v 0.02482422 0.02859556 -0.03110086
+v 0.02851058 0.02362447 -0.03955872
+v 0.02546262 0.02673762 -0.03616323
+v 0.02310838 0.02954672 -0.03106999
+v 0.02310838 0.01909062 -0.04062552
+v 0.02458569 0.01664476 -0.04062552
+v 0.02476891 0.01664476 -0.04013780
+v 0.02954308 0.01664476 -0.02801158
+v 0.03020107 0.02599498 -0.02801158
+v 0.02312451 0.02757174 -0.03798568
+v 0.02310838 0.02837627 -0.03526064
+v 0.02310838 0.02873682 -0.03398147
+v 0.02635108 0.02459312 -0.04062552
+v 0.02571959 0.02499000 -0.04062552
+v 0.03127736 0.02506400 -0.02801158
+v 0.03291024 0.02360429 -0.02801158
+v 0.03269360 0.02330427 -0.02945373
+v 0.03212549 0.02196430 -0.03256030
+v 0.02908329 0.02150149 -0.04062552
+v 0.02310838 0.02650756 -0.04062552
+v 0.03069428 0.01664476 -0.04062552
+v 0.03487960 0.01664476 -0.02801158
+v 0.02310838 0.02757578 -0.03799803
+v 0.02310838 0.02657080 -0.04051193
+v 0.02409709 0.02594386 -0.04062552
+v 0.03347949 0.02204233 -0.02801158
+v 0.03305313 0.02051400 -0.03104529
+v 0.03245621 0.01989514 -0.03343202
+v 0.02928495 0.02105887 -0.04062552
+v 0.03056752 0.01704836 -0.04062552
+v 0.03087980 0.01664476 -0.04019090
+v 0.03475630 0.01664476 -0.02844250
+v 0.03465835 0.01754480 -0.02801158
+v 0.03389780 0.02061490 -0.02801158
+v 0.03407641 0.01989514 -0.02801158
+v 0.03334582 0.01989514 -0.03055881
+v 0.03399229 0.01664476 -0.03109345
+v 0.03282842 0.01664476 -0.03504333
+v 0.03261985 0.01885787 -0.03387034
+v 0.02974590 0.01963280 -0.04062552
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 19
+f 1 19 18
+f 1 18 30
+f 1 30 31
+f 1 31 27
+f 1 27 12
+f 1 12 5
+f 1 5 15
+f 1 15 29
+f 1 29 40
+f 1 40 42
+f 1 42 41
+f 1 41 33
+f 1 33 23
+f 1 23 22
+f 1 22 16
+f 1 16 6
+f 1 6 2
+f 2 6 3
+f 3 7 8
+f 3 8 4
+f 3 6 9
+f 3 9 10
+f 3 10 7
+f 4 8 11
+f 5 12 13
+f 5 13 14
+f 5 14 15
+f 6 16 9
+f 7 10 17
+f 7 17 18
+f 7 18 19
+f 7 19 8
+f 8 19 11
+f 9 20 21
+f 9 21 17
+f 9 17 10
+f 9 16 22
+f 9 22 23
+f 9 23 24
+f 9 24 25
+f 9 25 26
+f 9 26 20
+f 12 27 32
+f 12 32 21
+f 12 21 20
+f 12 20 26
+f 12 26 36
+f 12 36 47
+f 12 47 37
+f 12 37 28
+f 12 28 13
+f 13 28 38
+f 13 38 45
+f 13 45 44
+f 13 44 39
+f 13 39 29
+f 13 29 15
+f 13 15 14
+f 17 30 18
+f 17 21 31
+f 17 31 30
+f 21 32 31
+f 23 33 24
+f 24 33 34
+f 24 34 25
+f 25 34 35
+f 25 35 36
+f 25 36 26
+f 27 31 32
+f 28 37 38
+f 29 39 40
+f 33 41 34
+f 34 41 42
+f 34 42 40
+f 34 40 43
+f 34 43 44
+f 34 44 45
+f 34 45 46
+f 34 46 35
+f 35 46 38
+f 35 38 47
+f 35 47 36
+f 37 47 38
+f 38 46 45
+f 39 44 43
+f 39 43 40
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_375.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_375.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81fdd34dce728be000b5dde83818f9e5fce8fa35
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_375.obj
@@ -0,0 +1,138 @@
+# https://github.com/mikedh/trimesh
+v -0.01957406 0.03384731 0.00354569
+v -0.01957406 0.02835663 0.00354569
+v -0.01957406 0.03401880 0.00289695
+v -0.02104133 0.03353337 0.00354569
+v -0.01984828 0.02809372 0.00354569
+v -0.01957406 0.03003119 -0.00995231
+v -0.01957406 0.03438518 0.00150962
+v -0.02108635 0.03406061 0.00150962
+v -0.02287696 0.03299338 0.00354569
+v -0.02800832 0.02809372 0.00354569
+v -0.02392062 0.02809372 -0.00994967
+v -0.02235819 0.02887749 -0.00995231
+v -0.01957406 0.03528446 -0.00995231
+v -0.01957406 0.03466652 0.00005360
+v -0.01957406 0.03519305 -0.00317953
+v -0.02108635 0.03481888 -0.00314914
+v -0.02439334 0.03290905 0.00150962
+v -0.02392983 0.03262700 0.00354569
+v -0.02786916 0.02827372 0.00354569
+v -0.02672215 0.03073205 0.00150962
+v -0.02850969 0.02840269 0.00150962
+v -0.02832858 0.02809372 0.00266176
+v -0.02625864 0.02809372 -0.00995231
+v -0.02108635 0.03488833 -0.00995231
+v -0.01957406 0.03533265 -0.00780659
+v -0.01957406 0.03525683 -0.00476637
+v -0.02108635 0.03493510 -0.00780659
+v -0.02536743 0.03349936 -0.00780659
+v -0.02517712 0.03338385 -0.00314914
+v -0.02750592 0.03165260 -0.00314914
+v -0.02467063 0.03193393 0.00354569
+v -0.02621055 0.03031182 0.00354569
+v -0.02904687 0.02932324 -0.00314914
+v -0.02974469 0.02809372 -0.00314254
+v -0.02878083 0.02809372 0.00108946
+v -0.02868056 0.02809372 0.00150962
+v -0.02850559 0.02809372 0.00208305
+v -0.02994729 0.02809372 -0.00995231
+v -0.02339674 0.03411376 -0.00995231
+v -0.02769624 0.03187440 -0.00780659
+v -0.02531013 0.03346463 -0.00995231
+v -0.02917681 0.02954576 -0.00780659
+v -0.02985008 0.02809372 -0.00466991
+v -0.02913793 0.02947914 -0.00995231
+v -0.02999742 0.02809372 -0.00857556
+v -0.02763894 0.03180779 -0.00995231
+v -0.03002505 0.02809372 -0.00780659
+f 1 2 6
+f 1 6 13
+f 1 13 25
+f 1 25 26
+f 1 26 15
+f 1 15 14
+f 1 14 7
+f 1 7 3
+f 1 3 4
+f 1 4 9
+f 1 9 18
+f 1 18 31
+f 1 31 32
+f 1 32 19
+f 1 19 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 3 7 4
+f 4 7 8
+f 4 8 9
+f 5 10 22
+f 5 22 37
+f 5 37 36
+f 5 36 35
+f 5 35 34
+f 5 34 43
+f 5 43 47
+f 5 47 45
+f 5 45 38
+f 5 38 23
+f 5 23 11
+f 5 11 6
+f 6 11 12
+f 6 12 23
+f 6 23 38
+f 6 38 44
+f 6 44 46
+f 6 46 41
+f 6 41 39
+f 6 39 24
+f 6 24 13
+f 7 14 8
+f 8 14 15
+f 8 15 16
+f 8 16 17
+f 8 17 18
+f 8 18 9
+f 10 19 20
+f 10 20 21
+f 10 21 22
+f 11 23 12
+f 13 24 25
+f 15 26 16
+f 16 26 27
+f 16 27 28
+f 16 28 29
+f 16 29 17
+f 17 29 30
+f 17 30 18
+f 18 30 31
+f 19 32 20
+f 20 32 31
+f 20 31 30
+f 20 30 21
+f 21 30 33
+f 21 33 34
+f 21 34 35
+f 21 35 36
+f 21 36 37
+f 21 37 22
+f 24 39 27
+f 24 27 25
+f 25 27 26
+f 27 39 28
+f 28 40 29
+f 28 39 41
+f 28 41 40
+f 29 40 30
+f 30 40 33
+f 33 40 42
+f 33 42 43
+f 33 43 34
+f 38 45 44
+f 40 41 46
+f 40 46 44
+f 40 44 42
+f 42 47 43
+f 42 44 45
+f 42 45 47
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_376.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_376.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3bdd6b5a87bb9c06825095c858bc33968ac3b6b1
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_376.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.03195485 -0.00917900 0.02154353
+v 0.03157362 -0.00986961 0.02154353
+v 0.02730708 -0.00917900 0.02154353
+v 0.02072602 -0.00917900 0.04546116
+v 0.03031740 -0.01202252 0.02154353
+v 0.02322595 -0.00918619 0.02154353
+v 0.02322595 -0.00917900 0.02154821
+v 0.01233253 -0.00917900 0.04546116
+v 0.01953023 -0.01122597 0.04546116
+v 0.02823830 -0.01558020 0.02154353
+v 0.01930940 -0.01585945 0.02154353
+v 0.01952398 -0.00917900 0.02855912
+v 0.01067216 -0.01585945 0.03462166
+v 0.01527827 -0.00917900 0.03746910
+v 0.01067216 -0.01459857 0.03732158
+v 0.01067216 -0.01120897 0.04546116
+v 0.01827610 -0.01337169 0.04546116
+v 0.02807372 -0.01585945 0.02154353
+v 0.01802819 -0.00917900 0.03146745
+v 0.01067216 -0.01585945 0.04546116
+v 0.01685322 -0.00917900 0.03382315
+v 0.01779486 -0.01416628 0.04546116
+v 0.01676364 -0.01583198 0.04546116
+v 0.01674281 -0.01585945 0.04546116
+f 1 2 5
+f 1 5 10
+f 1 10 18
+f 1 18 11
+f 1 11 6
+f 1 6 3
+f 1 3 7
+f 1 7 12
+f 1 12 19
+f 1 19 21
+f 1 21 14
+f 1 14 8
+f 1 8 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 4 8 16
+f 4 16 20
+f 4 20 24
+f 4 24 23
+f 4 23 22
+f 4 22 17
+f 4 17 9
+f 4 9 5
+f 5 9 10
+f 6 11 7
+f 7 11 13
+f 7 13 12
+f 8 14 15
+f 8 15 16
+f 9 17 10
+f 10 17 18
+f 11 18 24
+f 11 24 20
+f 11 20 13
+f 12 13 19
+f 13 20 16
+f 13 16 15
+f 13 15 14
+f 13 14 21
+f 13 21 19
+f 17 22 18
+f 18 22 23
+f 18 23 24
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_377.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_377.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71ca1a1ffd4e343a01d39f1503aa0e801e9ccc1a
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_377.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.00880778 -0.01115530 -0.07367504
+v 0.00880778 -0.01115530 -0.06681372
+v 0.00880778 -0.01111001 -0.07367733
+v 0.01111109 -0.01115530 -0.07366433
+v 0.01146218 -0.01115530 -0.06587364
+v 0.00880778 -0.00013978 -0.06694758
+v 0.00880778 -0.00666605 -0.07368728
+v 0.01111109 -0.00666605 -0.07368728
+v 0.01111109 -0.01111001 -0.07366662
+v 0.01555428 -0.00666605 -0.07361307
+v 0.01555428 -0.01111001 -0.07314647
+v 0.01555428 -0.01115530 -0.07313577
+v 0.01732638 -0.01115530 -0.06587364
+v 0.01589619 -0.00013978 -0.06587364
+v 0.00880778 -0.00013978 -0.07368728
+v 0.01111109 -0.00013978 -0.07368728
+v 0.01555428 -0.00222210 -0.07368498
+v 0.01732638 -0.00667792 -0.07315489
+v 0.01732638 -0.00222210 -0.07345168
+v 0.01732638 -0.01111001 -0.07247335
+v 0.01732638 -0.01115530 -0.07245958
+v 0.01732638 -0.00013978 -0.06587364
+v 0.01347195 -0.00013978 -0.07368574
+v 0.01555428 -0.00013978 -0.07367504
+v 0.01732638 -0.00013978 -0.07344250
+v 0.01732638 -0.00097012 -0.07344633
+f 1 2 6
+f 1 6 15
+f 1 15 7
+f 1 7 3
+f 1 3 9
+f 1 9 4
+f 1 4 12
+f 1 12 21
+f 1 21 13
+f 1 13 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 3 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 5 13 22
+f 5 22 14
+f 5 14 6
+f 6 14 22
+f 6 22 25
+f 6 25 24
+f 6 24 23
+f 6 23 16
+f 6 16 15
+f 7 15 16
+f 7 16 8
+f 8 16 17
+f 8 17 9
+f 9 17 10
+f 10 18 11
+f 10 17 19
+f 10 19 18
+f 11 18 20
+f 11 20 12
+f 12 20 21
+f 13 21 20
+f 13 20 18
+f 13 18 19
+f 13 19 26
+f 13 26 25
+f 13 25 22
+f 16 23 17
+f 17 23 24
+f 17 24 25
+f 17 25 26
+f 17 26 19
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_378.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_378.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8a71329b2e67b9c78c7ca1ca71ff359dfab3038
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_378.obj
@@ -0,0 +1,15 @@
+# https://github.com/mikedh/trimesh
+v 0.00705711 -0.00557339 0.10278697
+v 0.00853892 -0.00557339 0.10125209
+v 0.00901750 -0.00557339 0.10278697
+v 0.00901750 -0.00265318 0.10278697
+v 0.00901750 -0.00557339 0.10125209
+v 0.00901750 -0.00507944 0.10125209
+f 1 2 5
+f 1 5 3
+f 1 3 4
+f 1 4 2
+f 2 4 6
+f 2 6 5
+f 3 5 6
+f 3 6 4
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_379.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_379.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb888c515daaa159c44e5e622e493a50259c96e1
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_379.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.00911217 -0.00272919 0.09568797
+v -0.00717095 -0.00272919 0.09568797
+v -0.00911217 -0.00272919 0.09830472
+v -0.00911217 -0.00039985 0.09568797
+v -0.00742750 -0.00039985 0.09568797
+v -0.00731101 -0.00272919 0.09599124
+v -0.00911217 -0.00252763 0.09826655
+v -0.00911217 -0.00039985 0.09655373
+v -0.00883300 -0.00039985 0.09641029
+v -0.00911217 -0.00238170 0.09823889
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 10
+f 1 10 8
+f 1 8 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 6 7
+f 4 8 9
+f 4 9 5
+f 5 9 10
+f 5 10 6
+f 6 10 7
+f 8 10 9
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_38.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..acac49bca2369b49e6c56c4923043d8d7c510139
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_38.obj
@@ -0,0 +1,156 @@
+# https://github.com/mikedh/trimesh
+v 0.01999216 0.01661853 -0.06693001
+v 0.02064044 0.01599682 -0.06693001
+v 0.01844996 0.01408740 -0.07185075
+v 0.01681152 0.01661853 -0.07041697
+v -0.00001593 0.01661853 -0.06693001
+v 0.00520070 0.01397421 -0.06633650
+v 0.02228140 0.01350834 -0.06692929
+v 0.02126846 0.01110679 -0.06973354
+v 0.02222822 0.00447466 -0.07124933
+v 0.01904506 0.01110679 -0.07224858
+v 0.01555295 0.01110679 -0.07344639
+v 0.01525666 0.01556376 -0.07216513
+v 0.01450709 0.01661853 -0.07181766
+v -0.00001593 0.01661853 -0.07339099
+v -0.00001593 0.01397421 -0.06665952
+v 0.00330904 0.01397421 -0.06640125
+v -0.00001593 -0.00013814 -0.06694584
+v 0.01221784 -0.00013978 -0.06691562
+v 0.02585454 -0.00013814 -0.06693001
+v 0.02540379 0.00222404 -0.06693001
+v 0.02319558 0.01029480 -0.06693001
+v 0.02297273 0.01110679 -0.06693001
+v 0.02263593 0.01110679 -0.06751129
+v 0.02417306 0.00222404 -0.06902276
+v 0.02253463 0.00222404 -0.07156587
+v 0.01999722 0.00222404 -0.07276583
+v 0.01999722 -0.00013814 -0.07294281
+v 0.01555295 0.00666952 -0.07360250
+v 0.01111627 0.01110679 -0.07366221
+v 0.00666694 0.01555227 -0.07359963
+v 0.01111627 0.01555227 -0.07308165
+v 0.01006282 0.01661853 -0.07291331
+v 0.01381069 0.01661853 -0.07206801
+v 0.00222266 0.01661853 -0.07350754
+v -0.00001593 0.01555227 -0.07366797
+v 0.01178228 -0.00013978 -0.06692857
+v -0.00001593 -0.00013814 -0.07368595
+v 0.01221784 -0.00013978 -0.06692857
+v 0.02540885 -0.00013814 -0.06768683
+v 0.02457317 -0.00013814 -0.06902276
+v 0.02380587 -0.00013814 -0.07021482
+v 0.02270177 -0.00013814 -0.07173276
+v 0.02152423 -0.00013814 -0.07229462
+v 0.01791563 -0.00013814 -0.07336366
+v 0.01555295 0.00222404 -0.07366365
+v 0.01111627 0.00666952 -0.07368595
+v 0.00666694 0.01110679 -0.07368595
+v 0.00222266 0.01555227 -0.07367876
+v 0.00560335 0.01661853 -0.07344711
+v -0.00001593 0.01110679 -0.07368595
+v 0.01111627 -0.00013814 -0.07368595
+v 0.01347136 -0.00013814 -0.07368451
+v 0.01555295 -0.00013814 -0.07367516
+f 1 2 3
+f 1 3 4
+f 1 4 13
+f 1 13 33
+f 1 33 32
+f 1 32 49
+f 1 49 34
+f 1 34 14
+f 1 14 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 4
+f 5 14 35
+f 5 35 50
+f 5 50 37
+f 5 37 17
+f 5 17 15
+f 5 15 16
+f 5 16 6
+f 6 16 17
+f 6 17 18
+f 6 18 19
+f 6 19 20
+f 6 20 21
+f 6 21 22
+f 6 22 7
+f 7 22 23
+f 7 23 8
+f 8 23 9
+f 9 23 24
+f 9 24 25
+f 9 25 10
+f 10 26 11
+f 10 25 26
+f 11 26 27
+f 11 27 28
+f 11 28 29
+f 11 29 30
+f 11 30 31
+f 11 31 12
+f 12 31 32
+f 12 32 33
+f 12 33 13
+f 14 34 35
+f 15 17 16
+f 17 36 18
+f 17 37 36
+f 18 36 38
+f 18 38 19
+f 19 39 24
+f 19 24 20
+f 19 38 39
+f 20 24 23
+f 20 23 21
+f 21 23 22
+f 24 39 40
+f 24 40 41
+f 24 41 25
+f 25 42 43
+f 25 43 26
+f 25 41 42
+f 26 43 27
+f 27 44 28
+f 27 43 38
+f 27 38 44
+f 28 44 45
+f 28 45 29
+f 29 46 47
+f 29 47 48
+f 29 48 30
+f 29 45 46
+f 30 49 31
+f 30 48 34
+f 30 34 49
+f 31 49 32
+f 34 48 35
+f 35 48 50
+f 36 37 51
+f 36 51 38
+f 37 50 47
+f 37 47 46
+f 37 46 51
+f 38 51 52
+f 38 52 53
+f 38 53 44
+f 38 43 42
+f 38 42 41
+f 38 41 40
+f 38 40 39
+f 44 53 45
+f 45 53 46
+f 46 53 52
+f 46 52 51
+f 47 50 48
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_380.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_380.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8026a17f52f9208968ce91a10fb9ca119c60ed9a
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_380.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.02328159 -0.02770018 -0.02474315
+v 0.02328159 -0.02682577 -0.03107113
+v 0.02003559 -0.02965514 -0.02474315
+v 0.02328159 -0.03614247 -0.02474315
+v 0.02003559 -0.02890622 -0.03107113
+v 0.02328159 -0.03572817 -0.03107113
+v 0.02003559 -0.03699895 -0.02474315
+v 0.02003559 -0.03687546 -0.02902271
+v 0.02328159 -0.03601798 -0.02902271
+v 0.02003559 -0.03652589 -0.03107113
+v 0.02328159 -0.03583573 -0.03048826
+v 0.02314462 -0.03579988 -0.03107113
+f 1 2 3
+f 1 3 7
+f 1 7 4
+f 1 4 9
+f 1 9 11
+f 1 11 6
+f 1 6 2
+f 2 5 3
+f 2 6 12
+f 2 12 10
+f 2 10 5
+f 3 5 10
+f 3 10 8
+f 3 8 7
+f 4 7 8
+f 4 8 9
+f 6 11 12
+f 8 10 12
+f 8 12 9
+f 9 12 11
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_381.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_381.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71166775f84e126ad4135673e42eac9218d0a38a
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_381.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v -0.03463634 -0.00005936 0.00354569
+v -0.03491429 0.00352560 0.00354569
+v -0.03986330 -0.00005936 0.00354569
+v -0.03638509 -0.00005936 -0.00995231
+v -0.04028948 0.00352560 0.00354569
+v -0.03691860 0.00195264 -0.00995231
+v -0.03750074 0.00352560 -0.00995231
+v -0.04010341 0.00087733 0.00354569
+v -0.04196180 0.00352560 -0.00000718
+v -0.04042074 -0.00005936 0.00141846
+v -0.04129705 -0.00005936 -0.00995231
+v -0.04042074 0.00211688 0.00354569
+v -0.04248913 0.00352560 -0.00995231
+v -0.04227372 0.00352560 -0.00142490
+v -0.04240884 0.00302304 -0.00314914
+v -0.04119745 -0.00005936 -0.00314914
+v -0.04248913 0.00272578 -0.00995231
+v -0.04136808 -0.00005936 -0.00833509
+v -0.04252310 0.00352560 -0.00780659
+v -0.04240884 0.00352560 -0.00314914
+v -0.04248450 0.00352560 -0.00622636
+v -0.04252310 0.00259769 -0.00780659
+v -0.04138352 -0.00005936 -0.00780659
+f 1 2 5
+f 1 5 12
+f 1 12 8
+f 1 8 3
+f 1 3 10
+f 1 10 16
+f 1 16 23
+f 1 23 18
+f 1 18 11
+f 1 11 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
+f 2 7 13
+f 2 13 19
+f 2 19 21
+f 2 21 20
+f 2 20 14
+f 2 14 9
+f 2 9 5
+f 3 8 9
+f 3 9 10
+f 4 11 17
+f 4 17 13
+f 4 13 7
+f 4 7 6
+f 5 9 12
+f 8 12 9
+f 9 14 10
+f 10 14 15
+f 10 15 16
+f 11 18 17
+f 13 17 22
+f 13 22 19
+f 14 20 15
+f 15 20 21
+f 15 21 22
+f 15 22 16
+f 16 22 23
+f 17 18 22
+f 18 23 22
+f 19 22 21
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_382.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_382.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0459215cee3840aae10cbd33f3dc64c591826ad
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_382.obj
@@ -0,0 +1,117 @@
+# https://github.com/mikedh/trimesh
+v 0.03623286 0.02238779 -0.03104368
+v 0.03609847 0.02285595 -0.03104368
+v 0.02748387 0.02238779 -0.03104368
+v 0.03616745 0.02238779 -0.03152033
+v 0.03592838 0.02344752 -0.03104368
+v 0.02408227 0.02479283 -0.03104368
+v 0.02408227 0.02238779 -0.03904921
+v 0.03596169 0.02238779 -0.03266588
+v 0.03583799 0.02315072 -0.03231741
+v 0.03562153 0.02430632 -0.03104368
+v 0.02408227 0.03280759 -0.03104368
+v 0.02408227 0.02238779 -0.04468353
+v 0.03239953 0.02238779 -0.04468353
+v 0.03471642 0.02455723 -0.03366590
+v 0.03194400 0.02338938 -0.04468353
+v 0.03503279 0.02545172 -0.03104368
+v 0.02629569 0.03167239 -0.03104368
+v 0.02690227 0.03124401 -0.03170724
+v 0.02408227 0.03249855 -0.03269926
+v 0.02408227 0.02900522 -0.04468353
+v 0.03099607 0.02444707 -0.04468353
+v 0.03094255 0.02654715 -0.03980891
+v 0.03395998 0.02675828 -0.03104368
+v 0.02752431 0.03097270 -0.03104368
+v 0.03238050 0.02749876 -0.03346830
+v 0.02858522 0.02981914 -0.03330007
+v 0.02457467 0.03210587 -0.03330007
+v 0.02408227 0.03237310 -0.03334547
+v 0.03274801 0.02772825 -0.03104368
+v 0.02408227 0.02979976 -0.04214275
+v 0.02641819 0.02770581 -0.04468353
+v 0.02952363 0.02572201 -0.04468353
+v 0.03028959 0.02607797 -0.04235504
+v 0.02806785 0.02673278 -0.04468353
+v 0.02745532 0.02711628 -0.04468353
+v 0.02806904 0.02746612 -0.04235504
+v 0.02923224 0.02802811 -0.03816001
+v 0.03161336 0.02700408 -0.03684756
+v 0.02408227 0.03071364 -0.03901984
+v 0.02408227 0.02980996 -0.04210803
+f 1 2 5
+f 1 5 10
+f 1 10 16
+f 1 16 23
+f 1 23 29
+f 1 29 24
+f 1 24 17
+f 1 17 11
+f 1 11 6
+f 1 6 3
+f 1 3 7
+f 1 7 12
+f 1 12 13
+f 1 13 8
+f 1 8 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 4 8 9
+f 4 9 5
+f 5 9 10
+f 6 11 19
+f 6 19 28
+f 6 28 39
+f 6 39 40
+f 6 40 30
+f 6 30 20
+f 6 20 12
+f 6 12 7
+f 8 13 9
+f 9 14 10
+f 9 13 15
+f 9 15 14
+f 10 14 16
+f 11 17 18
+f 11 18 19
+f 12 20 31
+f 12 31 35
+f 12 35 34
+f 12 34 32
+f 12 32 21
+f 12 21 15
+f 12 15 13
+f 14 15 16
+f 15 21 22
+f 15 22 23
+f 15 23 16
+f 17 24 18
+f 18 25 26
+f 18 26 27
+f 18 27 28
+f 18 28 19
+f 18 24 29
+f 18 29 25
+f 20 30 31
+f 21 32 33
+f 21 33 22
+f 22 33 34
+f 22 34 35
+f 22 35 36
+f 22 36 37
+f 22 37 26
+f 22 26 38
+f 22 38 23
+f 23 38 25
+f 23 25 29
+f 25 38 26
+f 26 37 36
+f 26 36 27
+f 27 36 39
+f 27 39 28
+f 30 40 36
+f 30 36 35
+f 30 35 31
+f 32 34 33
+f 36 40 39
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_383.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_383.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e35bfaae605c173144b8239e94c7945ef7ecc5a9
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_383.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.02328298 -0.03614293 -0.02474315
+v 0.02328298 -0.03601763 -0.02902271
+v 0.02362743 -0.03592777 -0.02902271
+v 0.02386244 -0.03598979 -0.02474315
+v 0.02328298 -0.02769977 -0.02474315
+v 0.02328298 -0.03583538 -0.03048826
+v 0.02584977 -0.03522534 -0.02902271
+v 0.02608477 -0.03532153 -0.02474315
+v 0.02643674 -0.02321304 -0.02474315
+v 0.02571134 -0.02321304 -0.03107113
+v 0.02328298 -0.02682647 -0.03107113
+v 0.02328298 -0.03572780 -0.03107113
+v 0.02519197 -0.03497853 -0.03107113
+v 0.02788109 -0.03273454 -0.03107113
+v 0.02807961 -0.03300412 -0.02902271
+v 0.02814936 -0.03309904 -0.02474315
+v 0.03424441 -0.02321304 -0.02474315
+v 0.03370680 -0.02321304 -0.03107113
+v 0.03016888 -0.02926665 -0.03107113
+v 0.03030087 -0.02972481 -0.02902271
+v 0.03037062 -0.02984379 -0.02474315
+v 0.03410384 -0.02321304 -0.02902271
+v 0.03358984 -0.02433441 -0.02474315
+v 0.03338596 -0.02444325 -0.02902271
+v 0.03381840 -0.02321304 -0.03049879
+v 0.03144691 -0.02724414 -0.03107113
+v 0.03162075 -0.02770610 -0.02474315
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 16
+f 1 16 21
+f 1 21 27
+f 1 27 23
+f 1 23 17
+f 1 17 9
+f 1 9 5
+f 1 5 11
+f 1 11 12
+f 1 12 6
+f 1 6 2
+f 2 6 3
+f 3 6 7
+f 3 7 8
+f 3 8 4
+f 5 9 10
+f 5 10 11
+f 6 12 7
+f 7 12 13
+f 7 13 14
+f 7 14 15
+f 7 15 8
+f 8 15 16
+f 9 17 22
+f 9 22 25
+f 9 25 18
+f 9 18 10
+f 10 18 26
+f 10 26 19
+f 10 19 14
+f 10 14 13
+f 10 13 12
+f 10 12 11
+f 14 19 20
+f 14 20 15
+f 15 20 21
+f 15 21 16
+f 17 23 24
+f 17 24 22
+f 18 25 26
+f 19 26 20
+f 20 27 21
+f 20 26 24
+f 20 24 27
+f 22 24 26
+f 22 26 25
+f 23 27 24
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_384.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_384.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f5d9e688101321e3d4ed58e2300ee572c831645
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_384.obj
@@ -0,0 +1,207 @@
+# https://github.com/mikedh/trimesh
+v 0.02084548 0.03350085 -0.00780746
+v 0.02072545 0.03357662 -0.00780746
+v 0.02059423 0.03350085 -0.00508037
+v 0.02071425 0.03350085 -0.01000617
+v 0.02071425 0.03350166 -0.01000861
+v 0.01657101 0.03586700 -0.01000617
+v 0.01424094 0.03719511 -0.01000617
+v 0.01430975 0.03723341 -0.00780746
+v 0.01420733 0.03717474 -0.00409180
+v 0.02059423 0.03350166 -0.01199792
+v 0.02040379 0.03350085 -0.00314219
+v 0.01031694 0.03350085 -0.01000617
+v 0.01770564 0.03350166 -0.02800982
+v 0.01850420 0.03350166 -0.02643931
+v 0.01880826 0.03350166 -0.02550187
+v 0.01991089 0.03350166 -0.02177891
+v 0.01994450 0.03350166 -0.02140637
+v 0.02026936 0.03350166 -0.01712582
+v 0.02028216 0.03350166 -0.01694807
+v 0.01416252 0.03715193 -0.01247029
+v 0.01152679 0.03848737 -0.01712582
+v 0.01152679 0.03869840 -0.01000617
+v 0.01152679 0.03875381 -0.00780746
+v 0.01152679 0.03863485 -0.01247029
+v 0.01193647 0.03826086 -0.00313732
+v 0.01257340 0.03793902 -0.00313732
+v 0.01408571 0.03709082 -0.00313732
+v 0.02032697 0.03354484 -0.00313732
+v 0.01401689 0.03706800 -0.01712582
+v 0.02040059 0.03350085 -0.00313732
+v 0.00992006 0.03350085 -0.00313732
+v 0.00719311 0.03350166 -0.02800982
+v 0.01049298 0.03771902 -0.02800982
+v 0.01085465 0.03792272 -0.02643931
+v 0.01378324 0.03686349 -0.02328611
+v 0.01195087 0.03804738 -0.02175212
+v 0.01391287 0.03700853 -0.02017918
+v 0.00699627 0.04072316 -0.01712582
+v 0.00719951 0.04078590 -0.01247029
+v 0.00934875 0.03979104 -0.01000861
+v 0.00740275 0.04082257 -0.00780746
+v 0.00730833 0.04080546 -0.01000861
+v 0.00496226 0.04178402 -0.00427929
+v 0.00636254 0.04096841 -0.00313732
+v 0.00454777 0.03538464 -0.00313732
+v 0.00449816 0.03410542 -0.02800982
+v 0.00686984 0.03932090 -0.02800982
+v 0.00686984 0.03967045 -0.02643931
+v 0.00641215 0.04069790 -0.02139663
+v 0.00686824 0.04048035 -0.02142585
+v 0.00455417 0.04163573 -0.01958994
+v 0.00466620 0.04167565 -0.01712582
+v 0.00487104 0.04174980 -0.01247029
+v 0.00507268 0.04182476 -0.00780746
+v 0.00454777 0.04178402 -0.00427929
+v 0.00454777 0.04163817 -0.00406258
+v 0.00461979 0.04099204 -0.00313732
+v 0.00454777 0.04099286 -0.00313732
+v 0.00449816 0.03564456 -0.01000861
+v 0.00449816 0.03947979 -0.02800982
+v 0.00686824 0.03932172 -0.02800738
+v 0.00451577 0.04163573 -0.01958994
+v 0.00449816 0.04164062 -0.01930505
+v 0.00449816 0.04164795 -0.01887408
+v 0.00497666 0.04178973 -0.01000617
+v 0.00454777 0.04182476 -0.00780746
+v 0.00449816 0.04178891 -0.01000861
+v 0.00449816 0.04162758 -0.01960698
+v 0.00449816 0.04176528 -0.01150607
+v 0.00454777 0.04178973 -0.01000617
+f 1 2 3
+f 1 3 11
+f 1 11 30
+f 1 30 31
+f 1 31 12
+f 1 12 4
+f 1 4 5
+f 1 5 2
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 2 5 10
+f 2 10 6
+f 3 9 11
+f 4 12 32
+f 4 32 13
+f 4 13 14
+f 4 14 15
+f 4 15 16
+f 4 16 17
+f 4 17 18
+f 4 18 19
+f 4 19 10
+f 4 10 5
+f 6 10 20
+f 6 20 7
+f 7 20 21
+f 7 21 8
+f 8 22 23
+f 8 23 9
+f 8 21 24
+f 8 24 22
+f 9 25 26
+f 9 26 27
+f 9 27 28
+f 9 28 11
+f 9 23 25
+f 10 19 29
+f 10 29 20
+f 11 28 30
+f 12 31 32
+f 13 32 46
+f 13 46 60
+f 13 60 47
+f 13 47 33
+f 13 33 14
+f 14 34 35
+f 14 35 15
+f 14 33 34
+f 15 35 16
+f 16 35 36
+f 16 36 37
+f 16 37 17
+f 17 37 18
+f 18 37 19
+f 19 37 29
+f 20 29 21
+f 21 38 39
+f 21 39 24
+f 21 29 37
+f 21 37 36
+f 21 36 38
+f 22 24 40
+f 22 40 23
+f 23 40 41
+f 23 41 25
+f 24 39 42
+f 24 42 40
+f 25 41 43
+f 25 43 44
+f 25 44 57
+f 25 57 58
+f 25 58 45
+f 25 45 31
+f 25 31 30
+f 25 30 28
+f 25 28 27
+f 25 27 26
+f 31 45 46
+f 31 46 32
+f 33 47 34
+f 34 47 48
+f 34 48 49
+f 34 49 50
+f 34 50 36
+f 34 36 35
+f 36 50 38
+f 38 50 49
+f 38 49 51
+f 38 51 52
+f 38 52 53
+f 38 53 54
+f 38 54 39
+f 39 54 42
+f 40 42 41
+f 41 54 43
+f 41 42 54
+f 43 55 56
+f 43 56 57
+f 43 57 44
+f 43 54 66
+f 43 66 55
+f 45 58 67
+f 45 67 59
+f 45 59 46
+f 46 59 67
+f 46 67 69
+f 46 69 64
+f 46 64 63
+f 46 63 68
+f 46 68 60
+f 47 60 61
+f 47 61 51
+f 47 51 48
+f 48 51 49
+f 51 61 60
+f 51 60 62
+f 51 62 63
+f 51 63 64
+f 51 64 52
+f 52 64 65
+f 52 65 53
+f 53 65 54
+f 54 65 70
+f 54 70 66
+f 55 66 67
+f 55 67 56
+f 56 58 57
+f 56 67 58
+f 60 68 62
+f 62 68 63
+f 64 69 66
+f 64 66 70
+f 64 70 65
+f 66 69 67
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_385.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_385.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1852965b2f31ab1e101c34aed4ed9855f4735af
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_385.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v -0.04100129 0.00232699 -0.03922388
+v -0.04132243 0.00222224 -0.03791057
+v -0.04249930 0.00222224 -0.03346771
+v -0.04235404 0.00666639 -0.03346771
+v -0.04080465 0.00654249 -0.03922388
+v -0.04097263 0.00222269 -0.03922388
+v -0.03365452 0.00222224 -0.03922388
+v -0.04302795 0.00222224 -0.03030409
+v -0.04295581 0.00538498 -0.03030409
+v -0.04291431 0.00666639 -0.03030409
+v -0.04230760 0.00677559 -0.03346771
+v -0.04178883 0.00677559 -0.03534860
+v -0.04089655 0.00677559 -0.03856199
+v -0.04071176 0.00677559 -0.03922388
+v -0.03341539 0.00362087 -0.03922388
+v -0.03591635 0.00222269 -0.03030409
+v -0.03400926 0.00222224 -0.03791057
+v -0.04287874 0.00674395 -0.03030409
+v -0.04286392 0.00677559 -0.03030409
+v -0.03293417 0.00677559 -0.03922388
+v -0.03535114 0.00677559 -0.03031369
+v -0.03535707 0.00676712 -0.03030409
+v -0.03540845 0.00677559 -0.03030409
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 14
+f 1 14 20
+f 1 20 15
+f 1 15 7
+f 1 7 6
+f 1 6 2
+f 2 6 7
+f 2 7 17
+f 2 17 8
+f 2 8 3
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 4 11 12
+f 4 12 5
+f 4 10 11
+f 5 13 14
+f 5 12 13
+f 7 15 16
+f 7 16 17
+f 8 17 16
+f 8 16 22
+f 8 22 23
+f 8 23 19
+f 8 19 18
+f 8 18 10
+f 8 10 9
+f 10 18 11
+f 11 18 19
+f 11 19 23
+f 11 23 21
+f 11 21 20
+f 11 20 14
+f 11 14 13
+f 11 13 12
+f 15 20 16
+f 16 20 21
+f 16 21 22
+f 21 23 22
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_386.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_386.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f2af8e39ca9232acd66a28cce8e5950ba81b6aa
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_386.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.01761508 0.01183880 -0.06687704
+v -0.00911710 0.01183880 -0.06687704
+v -0.01761508 0.01183880 -0.06318741
+v -0.01761508 0.01910821 -0.06687704
+v -0.00911710 0.01183880 -0.06664335
+v -0.00911710 0.02332736 -0.06687704
+v -0.01513540 0.01183880 -0.06318741
+v -0.01761508 0.02270556 -0.06318741
+v -0.01761508 0.02219718 -0.06387802
+v -0.01593562 0.02075211 -0.06687704
+v -0.00911710 0.01289159 -0.06585160
+v -0.01437344 0.01183880 -0.06359592
+v -0.01111100 0.02280964 -0.06687704
+v -0.01256920 0.02457895 -0.06318741
+v -0.00911710 0.02547028 -0.06318741
+v -0.00911710 0.01679983 -0.06318741
+v -0.01536332 0.02375034 -0.06318741
+v -0.01761508 0.02268421 -0.06324484
+v -0.01338190 0.02223854 -0.06682972
+v -0.01343264 0.02217183 -0.06687704
+v -0.01317560 0.02226656 -0.06687704
+v -0.01334363 0.02222120 -0.06687704
+f 1 2 5
+f 1 5 12
+f 1 12 7
+f 1 7 3
+f 1 3 8
+f 1 8 18
+f 1 18 9
+f 1 9 4
+f 1 4 10
+f 1 10 20
+f 1 20 22
+f 1 22 21
+f 1 21 13
+f 1 13 6
+f 1 6 2
+f 2 6 15
+f 2 15 16
+f 2 16 11
+f 2 11 5
+f 3 7 16
+f 3 16 15
+f 3 15 14
+f 3 14 17
+f 3 17 8
+f 4 9 10
+f 5 11 12
+f 6 13 14
+f 6 14 15
+f 7 12 16
+f 8 17 18
+f 9 18 19
+f 9 19 10
+f 10 19 20
+f 11 16 12
+f 13 21 14
+f 14 21 19
+f 14 19 17
+f 17 19 18
+f 19 21 22
+f 19 22 20
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_387.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_387.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cfb470da2a09b01bff4c48e14b6c822682ab5cc0
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_387.obj
@@ -0,0 +1,18 @@
+# https://github.com/mikedh/trimesh
+v 0.01429063 -0.00684919 -0.06587267
+v 0.01732638 -0.00684919 -0.06587267
+v 0.01732638 -0.00684919 -0.06378026
+v 0.01720989 -0.00013978 -0.06495152
+v 0.01589616 -0.00013978 -0.06587267
+v 0.01732638 -0.00013978 -0.06587267
+v 0.01732638 -0.00013978 -0.06487471
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 4
+f 4 7 6
+f 4 6 5
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_388.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_388.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ad601168a382299ec9022bab0944fb92478f923
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_388.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.00709393 0.03025695 0.00869704
+v 0.00723556 0.03016547 0.00869704
+v 0.00709393 0.03809073 0.00869704
+v 0.00709393 0.03281997 -0.00119024
+v 0.01750319 0.02434419 0.00869704
+v 0.01063470 0.03637761 0.00869704
+v 0.00855581 0.03985707 -0.00069955
+v 0.00773558 0.03951944 0.00208681
+v 0.00709393 0.03928825 0.00412214
+v 0.00709393 0.04051904 -0.00119024
+v 0.01967446 0.02577456 -0.00119024
+v 0.01894536 0.02352754 0.00869704
+v 0.01273454 0.03521169 0.00869704
+v 0.01294637 0.03533310 0.00784536
+v 0.01132315 0.03660214 0.00643040
+v 0.00867527 0.03991695 -0.00119024
+v 0.00803732 0.04016477 -0.00119024
+v 0.00709393 0.03977059 0.00208681
+v 0.01967446 0.02352754 0.00755985
+v 0.01940105 0.02352754 0.00798569
+v 0.01967446 0.03369150 -0.00119024
+v 0.01967446 0.02352754 0.00869704
+v 0.01884191 0.03171726 0.00869704
+v 0.01967446 0.03181705 0.00653009
+v 0.01639477 0.03476595 0.00208681
+v 0.01709308 0.03516346 -0.00119024
+v 0.01095245 0.03866288 -0.00119024
+v 0.01967446 0.03122161 0.00869704
+f 1 2 5
+f 1 5 12
+f 1 12 22
+f 1 22 28
+f 1 28 23
+f 1 23 13
+f 1 13 6
+f 1 6 3
+f 1 3 9
+f 1 9 18
+f 1 18 10
+f 1 10 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 3 7 8
+f 3 8 9
+f 4 10 17
+f 4 17 16
+f 4 16 27
+f 4 27 26
+f 4 26 21
+f 4 21 11
+f 4 11 12
+f 4 12 5
+f 6 13 14
+f 6 14 15
+f 6 15 7
+f 7 16 17
+f 7 17 18
+f 7 18 8
+f 7 15 16
+f 8 18 9
+f 10 18 17
+f 11 19 20
+f 11 20 12
+f 11 21 24
+f 11 24 28
+f 11 28 22
+f 11 22 19
+f 12 20 19
+f 12 19 22
+f 13 23 14
+f 14 23 24
+f 14 24 15
+f 15 24 25
+f 15 25 26
+f 15 26 27
+f 15 27 16
+f 21 26 24
+f 23 28 24
+f 24 26 25
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_389.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_389.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5539f84542dd7a02de23e46fa49aa27d4f221851
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_389.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v 0.02837386 -0.01586075 -0.00119024
+v 0.02488510 -0.01586075 0.01085441
+v 0.02487551 -0.01585808 0.01087449
+v 0.03351587 -0.00677107 -0.00119024
+v 0.03636028 -0.01586075 -0.00119024
+v 0.02490429 -0.01586075 0.01087449
+v 0.02997594 -0.00697039 0.01087449
+v 0.04120809 -0.00677107 -0.00119024
+v 0.03000153 -0.00692590 0.01087449
+v 0.03005749 -0.00682891 0.01087449
+v 0.03009106 -0.00677107 0.01087449
+v 0.04021519 -0.00926083 -0.00119024
+v 0.03587902 -0.01586075 0.00075953
+v 0.03324406 -0.01586075 0.01087449
+v 0.03996416 -0.00677107 0.00424337
+v 0.04082276 -0.00776946 -0.00119024
+v 0.03822778 -0.00677107 0.01087449
+v 0.04005530 -0.00898854 0.00010055
+v 0.03555125 -0.01586075 0.00208693
+v 0.03421778 -0.01586075 0.00739655
+v 0.03548729 -0.01323395 0.00852082
+v 0.03325045 -0.01585008 0.01087449
+v 0.03939176 -0.00677107 0.00659940
+v 0.03968915 -0.00815832 0.00306359
+v 0.03649459 -0.01028948 0.01087449
+v 0.03643543 -0.01040783 0.01087449
+v 0.03692629 -0.01149521 0.00683559
+v 0.03862430 -0.01072639 0.00178461
+v 0.03586143 -0.01386040 0.00555779
+v 0.03527304 -0.01586075 0.00321003
+v 0.03438726 -0.01586075 0.00678008
+v 0.03348069 -0.01545855 0.01087449
+v 0.03638427 -0.01049771 0.01087449
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 16
+f 1 16 12
+f 1 12 5
+f 1 5 13
+f 1 13 19
+f 1 19 30
+f 1 30 31
+f 1 31 20
+f 1 20 14
+f 1 14 6
+f 1 6 2
+f 2 6 3
+f 3 6 14
+f 3 14 22
+f 3 22 32
+f 3 32 33
+f 3 33 26
+f 3 26 25
+f 3 25 17
+f 3 17 11
+f 3 11 10
+f 3 10 9
+f 3 9 7
+f 3 7 4
+f 4 7 9
+f 4 9 10
+f 4 10 11
+f 4 11 17
+f 4 17 23
+f 4 23 15
+f 4 15 8
+f 5 12 13
+f 8 15 16
+f 12 16 18
+f 12 18 19
+f 12 19 13
+f 14 20 21
+f 14 21 22
+f 15 23 24
+f 15 24 18
+f 15 18 16
+f 17 25 24
+f 17 24 23
+f 18 24 26
+f 18 26 27
+f 18 27 28
+f 18 28 19
+f 19 28 29
+f 19 29 30
+f 20 31 21
+f 21 32 22
+f 21 31 27
+f 21 27 26
+f 21 26 33
+f 21 33 32
+f 24 25 26
+f 27 31 29
+f 27 29 28
+f 29 31 30
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_39.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7aa49a405058d588de1017c5d8f5362f6d153088
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_39.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v -0.00711048 -0.00262623 0.08902687
+v -0.00711048 0.00203193 0.08903144
+v -0.00700760 -0.00272871 0.08902752
+v -0.00711048 -0.00272871 0.08904187
+v -0.01195406 -0.00228111 0.09087685
+v -0.01206650 0.00176213 0.09086055
+v -0.00711048 0.00214014 0.08904383
+v -0.00274659 0.00214014 0.09049799
+v -0.00256357 0.00214014 0.09055928
+v -0.00257314 -0.00272871 0.09053516
+v -0.01151982 -0.00272871 0.09077252
+v -0.01182247 -0.00272871 0.09091467
+v -0.01414796 -0.00049783 0.09228275
+v -0.01414796 0.00002938 0.09228275
+v -0.01195884 0.00214014 0.09088532
+v -0.00256357 0.00214014 0.09314612
+v -0.00256357 -0.00272871 0.09053842
+v -0.01377593 -0.00272871 0.09333197
+v -0.01438242 -0.00272871 0.09533714
+v -0.01443027 -0.00228111 0.09505087
+v -0.01456784 -0.00233211 0.09568797
+v -0.01461330 -0.00164092 0.09568797
+v -0.01478436 0.00182123 0.09568797
+v -0.01254978 0.00214014 0.09147938
+v -0.01453794 0.00176213 0.09466875
+v -0.01434056 0.00214014 0.09423772
+v -0.00269635 -0.00272871 0.09325502
+v -0.00256357 -0.00272871 0.09318133
+v -0.00702196 0.00214014 0.09561428
+v -0.01446855 -0.00272013 0.09568797
+v -0.01398408 -0.00272871 0.09568797
+v -0.01469464 0.00214014 0.09568797
+v -0.01451042 0.00214014 0.09486437
+v -0.00717149 -0.00272871 0.09568797
+v -0.00725642 0.00214014 0.09568797
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 2 6 7
+f 3 9 10
+f 3 10 17
+f 3 17 28
+f 3 28 27
+f 3 27 34
+f 3 34 31
+f 3 31 19
+f 3 19 18
+f 3 18 12
+f 3 12 11
+f 3 11 4
+f 4 11 5
+f 5 11 12
+f 5 12 13
+f 5 13 6
+f 6 13 14
+f 6 14 15
+f 6 15 7
+f 7 15 24
+f 7 24 26
+f 7 26 33
+f 7 33 32
+f 7 32 35
+f 7 35 29
+f 7 29 16
+f 7 16 9
+f 7 9 8
+f 9 16 28
+f 9 28 17
+f 9 17 10
+f 12 18 13
+f 13 19 20
+f 13 20 21
+f 13 21 22
+f 13 22 23
+f 13 23 14
+f 13 18 19
+f 14 24 15
+f 14 23 25
+f 14 25 26
+f 14 26 24
+f 16 27 28
+f 16 29 27
+f 19 30 20
+f 19 31 30
+f 20 30 21
+f 21 30 31
+f 21 31 34
+f 21 34 35
+f 21 35 32
+f 21 32 23
+f 21 23 22
+f 23 32 33
+f 23 33 25
+f 25 33 26
+f 27 29 34
+f 29 35 34
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_390.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_390.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46bf18365cb8fef5da2d05449fbe7e44632b76c1
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_390.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.03972904 0.00503989 -0.04515004
+v -0.04021927 0.00503989 -0.04349124
+v -0.03948096 0.00766550 -0.04235502
+v -0.03898837 0.00674311 -0.04515004
+v -0.03174186 0.00503989 -0.04515004
+v -0.04020621 0.00808648 -0.03922533
+v -0.03987267 0.00859594 -0.03971948
+v -0.04081988 0.00503989 -0.03922533
+v -0.04080445 0.00654307 -0.03922533
+v -0.03707140 0.01051850 -0.04515004
+v -0.02869488 0.01051850 -0.04515004
+v -0.03235078 0.00503989 -0.04227265
+v -0.03994626 0.00873538 -0.03922533
+v -0.03797944 0.01051850 -0.04235502
+v -0.03321015 0.00503989 -0.03922533
+v -0.03088842 0.01051850 -0.03922533
+v -0.03281370 0.00503989 -0.04055759
+v -0.03960560 0.00933064 -0.03922533
+v -0.03891596 0.01051850 -0.03922533
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 11
+f 1 11 5
+f 1 5 12
+f 1 12 17
+f 1 17 15
+f 1 15 8
+f 1 8 2
+f 2 6 7
+f 2 7 3
+f 2 8 9
+f 2 9 6
+f 3 10 4
+f 3 7 10
+f 5 11 12
+f 6 13 7
+f 6 9 8
+f 6 8 15
+f 6 15 16
+f 6 16 19
+f 6 19 18
+f 6 18 13
+f 7 13 14
+f 7 14 10
+f 10 14 19
+f 10 19 16
+f 10 16 11
+f 11 16 15
+f 11 15 17
+f 11 17 12
+f 13 18 14
+f 14 18 19
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_391.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_391.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24bbf80bae67009d2b9a51142fa1aff631da034b
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_391.obj
@@ -0,0 +1,165 @@
+# https://github.com/mikedh/trimesh
+v 0.03545532 0.01967290 -0.00119024
+v 0.02755176 0.01967290 -0.00119024
+v 0.03514325 0.02081593 -0.00119024
+v 0.03365400 0.02000085 0.00653308
+v 0.03374360 0.01967290 0.00652976
+v 0.01967446 0.02577499 -0.00119024
+v 0.02488531 0.01967290 0.00687162
+v 0.01967601 0.01967427 0.01589599
+v 0.03328941 0.02450984 -0.00119024
+v 0.03152980 0.02281383 0.01097723
+v 0.03118375 0.02233219 0.01336027
+v 0.03340836 0.02000085 0.00753210
+v 0.03349642 0.01967427 0.00753210
+v 0.03264520 0.01967427 0.01097723
+v 0.03349488 0.01967290 0.00753210
+v 0.01967446 0.03368974 -0.00119024
+v 0.01967446 0.02353971 0.00753210
+v 0.02476481 0.01967290 0.00753210
+v 0.01967601 0.01967427 0.03271670
+v 0.03187894 0.02640071 -0.00119024
+v 0.03208132 0.02358224 0.00653308
+v 0.03148500 0.02691802 -0.00119024
+v 0.03122855 0.02674787 0.00021038
+v 0.03062296 0.02631975 0.00317093
+v 0.02866097 0.02521789 0.01096395
+v 0.02624789 0.02642678 0.01243759
+v 0.02879383 0.02331055 0.01507619
+v 0.02725051 0.02268484 0.01851800
+v 0.02610885 0.02171196 0.02147855
+v 0.02415459 0.01967427 0.02676240
+v 0.02779894 0.01967427 0.02103712
+v 0.03145719 0.01967427 0.01440907
+v 0.03152671 0.01999948 0.01407717
+v 0.03255714 0.01999948 0.01097723
+v 0.02990769 0.02580381 0.00653308
+v 0.03156379 0.01967427 0.01418670
+v 0.02011938 0.01967427 0.03222880
+v 0.01967446 0.03365681 -0.00105084
+v 0.01981813 0.03361016 -0.00119024
+v 0.01967446 0.03153953 0.00753210
+v 0.02455471 0.02360009 0.01994517
+v 0.02463659 0.02580656 0.01567030
+v 0.01967601 0.02865521 0.01562715
+v 0.02892824 0.02841370 -0.00119024
+v 0.02903947 0.02761235 0.00184997
+v 0.02768616 0.02724597 0.00653308
+v 0.02746524 0.02711973 0.00753210
+v 0.02703114 0.02687274 0.00947372
+v 0.01967601 0.03056803 0.01110335
+v 0.01967601 0.03041434 0.01160784
+v 0.02328482 0.02726930 0.01434933
+v 0.01967446 0.03213918 0.00519552
+v 0.02037429 0.03243008 0.00236441
+v 0.02273485 0.03139957 0.00106668
+v 0.02269932 0.03196766 -0.00119024
+v 0.01967446 0.03181397 0.00653308
+f 1 2 6
+f 1 6 16
+f 1 16 39
+f 1 39 55
+f 1 55 44
+f 1 44 22
+f 1 22 20
+f 1 20 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 15
+f 1 15 18
+f 1 18 7
+f 1 7 2
+f 2 7 8
+f 2 8 6
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 4 11 12
+f 4 12 5
+f 5 12 13
+f 5 13 14
+f 5 14 15
+f 6 8 17
+f 6 17 40
+f 6 40 56
+f 6 56 52
+f 6 52 38
+f 6 38 16
+f 7 18 8
+f 8 19 17
+f 8 18 19
+f 9 20 21
+f 9 21 10
+f 10 21 22
+f 10 22 23
+f 10 23 24
+f 10 24 11
+f 11 25 26
+f 11 26 27
+f 11 27 28
+f 11 28 29
+f 11 29 30
+f 11 30 31
+f 11 31 32
+f 11 32 33
+f 11 33 14
+f 11 14 34
+f 11 34 12
+f 11 24 35
+f 11 35 25
+f 12 34 14
+f 12 14 13
+f 14 33 36
+f 14 36 15
+f 15 36 32
+f 15 32 31
+f 15 31 30
+f 15 30 37
+f 15 37 19
+f 15 19 18
+f 16 38 39
+f 17 19 40
+f 19 37 41
+f 19 41 42
+f 19 42 43
+f 19 43 40
+f 20 22 21
+f 22 44 23
+f 23 44 45
+f 23 45 46
+f 23 46 47
+f 23 47 48
+f 23 48 24
+f 24 48 35
+f 25 48 26
+f 25 35 48
+f 26 48 49
+f 26 49 50
+f 26 50 51
+f 26 51 42
+f 26 42 28
+f 26 28 27
+f 28 42 41
+f 28 41 37
+f 28 37 29
+f 29 37 30
+f 32 36 33
+f 38 52 39
+f 39 53 54
+f 39 54 55
+f 39 52 53
+f 40 43 50
+f 40 50 49
+f 40 49 56
+f 42 51 43
+f 43 51 50
+f 44 55 45
+f 45 55 54
+f 45 54 46
+f 46 56 47
+f 46 54 53
+f 46 53 56
+f 47 56 48
+f 48 56 49
+f 52 56 53
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_392.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_392.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e08e991cc1ca01a03d02fd33fa267867d8e4bbdd
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_392.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.01850849 -0.00848784 0.04546350
+v -0.02102620 -0.00848784 0.04546350
+v -0.01850849 -0.01424202 0.04546350
+v -0.01850849 -0.00848784 0.03157119
+v -0.02030516 -0.01108686 0.04546350
+v -0.02715333 -0.00848784 0.02977106
+v -0.02715333 -0.01249241 0.02750070
+v -0.02715333 -0.01424992 0.02649712
+v -0.01851864 -0.01424992 0.04546350
+v -0.01850849 -0.01424992 0.04350195
+v -0.01850849 -0.01163228 0.02883414
+v -0.01897564 -0.00848784 0.03055006
+v -0.01879623 -0.01424992 0.04546350
+v -0.02715333 -0.00848784 0.01335925
+v -0.02715333 -0.01424992 0.00961510
+v -0.01850849 -0.01424992 0.02674275
+v -0.01956466 -0.01424992 0.02428291
+v -0.01979146 -0.00848784 0.02880256
+v -0.02064198 -0.00848784 0.02700593
+v -0.02146204 -0.01424992 0.02028962
+f 1 2 5
+f 1 5 13
+f 1 13 9
+f 1 9 3
+f 1 3 10
+f 1 10 16
+f 1 16 11
+f 1 11 4
+f 1 4 12
+f 1 12 18
+f 1 18 19
+f 1 19 14
+f 1 14 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 5
+f 3 9 10
+f 4 11 12
+f 5 8 13
+f 6 14 15
+f 6 15 8
+f 6 8 7
+f 8 15 20
+f 8 20 17
+f 8 17 16
+f 8 16 10
+f 8 10 9
+f 8 9 13
+f 11 16 17
+f 11 17 12
+f 12 17 18
+f 14 19 20
+f 14 20 15
+f 17 20 19
+f 17 19 18
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_393.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_393.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1bd53185b954aa0a1815f2bf5b2fc1ce49a91388
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_393.obj
@@ -0,0 +1,135 @@
+# https://github.com/mikedh/trimesh
+v -0.03800306 -0.01701373 -0.02902442
+v -0.03719552 -0.02000015 -0.02902043
+v -0.03800306 -0.01701373 -0.02902043
+v -0.03722625 -0.01701373 -0.03352971
+v -0.03583732 -0.02315082 -0.03231698
+v -0.03606963 -0.02391927 -0.02902442
+v -0.03607086 -0.02391475 -0.02902043
+v -0.03107809 -0.01701373 -0.02902043
+v -0.03614092 -0.01701373 -0.03760145
+v -0.03584961 -0.01885953 -0.03680128
+v -0.03631546 -0.02020507 -0.03366657
+v -0.03471511 -0.02455513 -0.03366657
+v -0.03527683 -0.02613725 -0.02902442
+v -0.03542556 -0.02182335 -0.03527688
+v -0.03436849 -0.02114832 -0.03922475
+v -0.03527683 -0.02613725 -0.02902043
+v -0.03088388 -0.01701373 -0.02902442
+v -0.03088265 -0.01701674 -0.02902043
+v -0.03568736 -0.01701373 -0.03922475
+v -0.03482205 -0.02015234 -0.03922475
+v -0.03267720 -0.02457171 -0.03922475
+v -0.03160785 -0.02593232 -0.03922475
+v -0.03161522 -0.02700213 -0.03684523
+v -0.03237975 -0.02749636 -0.03346777
+v -0.03305454 -0.02791976 -0.02902442
+v -0.03305700 -0.02791825 -0.02902043
+v -0.03011198 -0.01701373 -0.03191340
+v -0.02544617 -0.02436829 -0.02902043
+v -0.02824000 -0.01701373 -0.03922475
+v -0.03033691 -0.02707145 -0.03922475
+v -0.02858662 -0.02981829 -0.03330095
+v -0.02748900 -0.03074797 -0.03226303
+v -0.02690270 -0.03124370 -0.03170761
+v -0.02941752 -0.03014225 -0.02902442
+v -0.02941752 -0.03014225 -0.02902043
+v -0.02890374 -0.01701373 -0.03662846
+v -0.02544617 -0.02127036 -0.03921476
+v -0.02544617 -0.03240693 -0.02902043
+v -0.02544617 -0.02129899 -0.03922475
+v -0.02893815 -0.02788510 -0.03922475
+v -0.02923438 -0.02802674 -0.03815986
+v -0.02749023 -0.03026430 -0.03391631
+v -0.02544617 -0.03178313 -0.03270457
+v -0.02544617 -0.03226982 -0.03011828
+v -0.02544617 -0.02987555 -0.03922475
+v -0.02749023 -0.02871081 -0.03922475
+f 1 2 3
+f 1 3 8
+f 1 8 17
+f 1 17 27
+f 1 27 36
+f 1 36 29
+f 1 29 19
+f 1 19 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 16
+f 2 16 26
+f 2 26 35
+f 2 35 38
+f 2 38 28
+f 2 28 18
+f 2 18 8
+f 2 8 3
+f 4 9 10
+f 4 10 11
+f 4 11 5
+f 5 12 13
+f 5 13 6
+f 5 11 14
+f 5 14 15
+f 5 15 12
+f 6 13 16
+f 6 16 7
+f 8 18 17
+f 9 19 20
+f 9 20 10
+f 10 20 14
+f 10 14 11
+f 12 15 21
+f 12 21 13
+f 13 21 22
+f 13 22 23
+f 13 23 24
+f 13 24 25
+f 13 25 26
+f 13 26 16
+f 14 20 15
+f 15 20 19
+f 15 19 29
+f 15 29 39
+f 15 39 45
+f 15 45 46
+f 15 46 40
+f 15 40 30
+f 15 30 22
+f 15 22 21
+f 17 18 27
+f 18 28 27
+f 22 30 23
+f 23 30 31
+f 23 31 24
+f 24 31 32
+f 24 32 33
+f 24 33 25
+f 25 33 34
+f 25 34 35
+f 25 35 26
+f 27 28 36
+f 28 37 29
+f 28 29 36
+f 28 38 44
+f 28 44 43
+f 28 43 45
+f 28 45 39
+f 28 39 37
+f 29 37 39
+f 30 40 41
+f 30 41 31
+f 31 41 40
+f 31 40 42
+f 31 42 32
+f 32 42 43
+f 32 43 33
+f 33 43 44
+f 33 44 38
+f 33 38 34
+f 34 38 35
+f 40 46 42
+f 42 46 45
+f 42 45 43
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_394.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_394.obj
new file mode 100644
index 0000000000000000000000000000000000000000..972f84ace7e858adf1f49a1bf93b195bd9e5799b
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_394.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.00911710 0.01183880 -0.06687704
+v -0.00630550 0.01183880 -0.06687704
+v -0.00911710 0.01183880 -0.06664335
+v -0.00911710 0.02332710 -0.06687704
+v -0.00911710 0.01289039 -0.06585160
+v -0.00001593 0.01337192 -0.06687704
+v -0.00911710 0.01680008 -0.06318741
+v -0.00911710 0.02546911 -0.06318741
+v -0.00658613 0.02615102 -0.06318741
+v -0.00232241 0.02510719 -0.06687704
+v -0.00001593 0.02549396 -0.06687704
+v -0.00001593 0.01915645 -0.06318741
+v -0.00221283 0.02727095 -0.06318741
+v -0.00222263 0.02592889 -0.06550702
+v -0.00001593 0.02770743 -0.06318741
+v -0.00001593 0.02612150 -0.06585449
+f 1 2 3
+f 1 3 5
+f 1 5 7
+f 1 7 8
+f 1 8 4
+f 1 4 10
+f 1 10 11
+f 1 11 6
+f 1 6 2
+f 2 5 3
+f 2 6 7
+f 2 7 5
+f 4 8 9
+f 4 9 10
+f 6 11 16
+f 6 16 15
+f 6 15 12
+f 6 12 7
+f 7 12 15
+f 7 15 13
+f 7 13 9
+f 7 9 8
+f 9 13 14
+f 9 14 10
+f 10 14 15
+f 10 15 16
+f 10 16 11
+f 13 15 14
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_395.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_395.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bca0e90635022e4f0c792f669ad39cb8fb43b671
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_395.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v -0.01228130 0.03356139 -0.04877000
+v -0.01228130 0.03236921 -0.05129192
+v -0.01555435 0.03203699 -0.05047622
+v -0.01761508 0.03177386 -0.05006977
+v -0.01555435 0.03278522 -0.04877000
+v -0.01228130 0.02565569 -0.04877000
+v -0.01228130 0.02465314 -0.06318600
+v -0.01256950 0.02457964 -0.06318600
+v -0.01761508 0.03100063 -0.05126087
+v -0.01761508 0.03225896 -0.04877141
+v -0.01761352 0.03226043 -0.04877000
+v -0.01761508 0.02371969 -0.04877000
+v -0.01761508 0.02123537 -0.05100967
+v -0.01760725 0.01854526 -0.05418641
+v -0.01617408 0.01854526 -0.05531118
+v -0.01228130 0.02178516 -0.05436846
+v -0.01228130 0.01854526 -0.06318600
+v -0.01536378 0.02375203 -0.06318600
+v -0.01761508 0.02663618 -0.05783733
+v -0.01761508 0.02913961 -0.04877000
+v -0.01761508 0.01918030 -0.05354570
+v -0.01761508 0.01854526 -0.05724743
+v -0.01228130 0.01854526 -0.05937560
+v -0.01228130 0.02072234 -0.05595189
+v -0.01761508 0.01854526 -0.06318600
+v -0.01761508 0.02661560 -0.05786697
+v -0.01761508 0.02270685 -0.06318600
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 20
+f 1 20 12
+f 1 12 6
+f 1 6 16
+f 1 16 24
+f 1 24 23
+f 1 23 17
+f 1 17 7
+f 1 7 2
+f 2 4 3
+f 2 7 8
+f 2 8 4
+f 4 9 19
+f 4 19 26
+f 4 26 27
+f 4 27 25
+f 4 25 22
+f 4 22 21
+f 4 21 13
+f 4 13 12
+f 4 12 20
+f 4 20 10
+f 4 10 11
+f 4 11 5
+f 4 8 9
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 7 17 25
+f 7 25 27
+f 7 27 18
+f 7 18 8
+f 8 18 19
+f 8 19 9
+f 10 20 11
+f 13 21 14
+f 14 21 22
+f 14 22 25
+f 14 25 17
+f 14 17 23
+f 14 23 15
+f 15 23 24
+f 15 24 16
+f 18 26 19
+f 18 27 26
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_396.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_396.obj
new file mode 100644
index 0000000000000000000000000000000000000000..885612d5d7f67cd827774c195efdee70b78590c0
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_396.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v -0.02730436 -0.02100680 -0.00118665
+v -0.02730436 -0.01998427 -0.00118665
+v -0.02649026 -0.02100680 -0.00118665
+v -0.02730436 -0.02100680 0.02028176
+v -0.02730436 -0.01425058 0.00911661
+v -0.02425624 -0.01425058 0.01545514
+v -0.02346168 -0.02100680 0.00683976
+v -0.02276749 -0.01425058 0.01877344
+v -0.02699613 -0.02100680 0.02079172
+v -0.02276749 -0.01829769 0.03152952
+v -0.02721021 -0.01874745 0.02321939
+v -0.02730436 -0.01889494 0.02287104
+v -0.02730436 -0.01425058 0.02617498
+v -0.02276749 -0.02100680 0.00911661
+v -0.02276749 -0.01425058 0.03549424
+v -0.02543232 -0.02100680 0.02311884
+v -0.02276749 -0.02100680 0.02622885
+v -0.02276749 -0.01787837 0.03199638
+v -0.02707785 -0.01846569 0.02375090
+v -0.02725506 -0.01846569 0.02334150
+v -0.02730436 -0.01846503 0.02322299
+v -0.02730436 -0.01492190 0.02579072
+v -0.02692685 -0.01425058 0.02696505
+v -0.02647294 -0.01717530 0.02618216
+v -0.02276749 -0.01453630 0.03526799
+v -0.02730436 -0.01614086 0.02507965
+v -0.02730436 -0.01815814 0.02347078
+f 1 2 3
+f 1 3 7
+f 1 7 14
+f 1 14 17
+f 1 17 16
+f 1 16 9
+f 1 9 4
+f 1 4 12
+f 1 12 21
+f 1 21 27
+f 1 27 26
+f 1 26 22
+f 1 22 13
+f 1 13 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 8
+f 3 8 7
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 5 13 23
+f 5 23 15
+f 5 15 8
+f 5 8 6
+f 7 8 14
+f 8 15 25
+f 8 25 18
+f 8 18 10
+f 8 10 17
+f 8 17 14
+f 9 16 10
+f 10 18 11
+f 10 16 17
+f 11 18 19
+f 11 19 20
+f 11 20 21
+f 11 21 12
+f 13 22 23
+f 15 23 24
+f 15 24 25
+f 18 25 24
+f 18 24 19
+f 19 24 20
+f 20 24 26
+f 20 26 27
+f 20 27 21
+f 22 26 23
+f 23 26 24
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_397.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_397.obj
new file mode 100644
index 0000000000000000000000000000000000000000..337c67fb3d20f5b63a5786f784576273ff6c520c
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_397.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v -0.03170419 0.00013631 -0.04402115
+v -0.03170419 0.00503989 -0.04525790
+v -0.03235042 0.00503989 -0.04227426
+v -0.03281370 0.00503989 -0.04055938
+v -0.03321053 0.00503989 -0.03922475
+v -0.03314136 0.00013631 -0.03922475
+v -0.03170419 0.00013631 -0.05778349
+v -0.03170419 0.00503989 -0.05838022
+v -0.04081961 0.00503989 -0.03922475
+v -0.04040457 0.00013631 -0.03922475
+v -0.03191990 0.00013631 -0.05747478
+v -0.03561704 0.00419599 -0.05355559
+v -0.03170419 0.00044833 -0.05788326
+v -0.03170419 0.00223599 -0.05845363
+v -0.03561704 0.00458098 -0.05355559
+v -0.03502998 0.00503989 -0.05403560
+v -0.04100164 0.00232720 -0.03922475
+v -0.04021980 0.00503989 -0.04349219
+v -0.04019795 0.00013631 -0.04000219
+v -0.03430638 0.00013631 -0.05394525
+v -0.03524114 0.00123367 -0.05299463
+v -0.03662187 0.00251777 -0.05140587
+v -0.04005051 0.00424735 -0.04476847
+v -0.04005051 0.00458674 -0.04476847
+v -0.03584276 0.00503989 -0.05290992
+v -0.04032174 0.00254898 -0.04200884
+v -0.03970919 0.00503989 -0.04521648
+v -0.04007053 0.00013631 -0.04048032
+v -0.03509369 0.00013631 -0.05277815
+v -0.03642710 0.00013631 -0.05074326
+v -0.03903020 0.00254898 -0.04647017
+v -0.03896831 0.00013631 -0.04441834
+v -0.03943796 0.00013631 -0.04280323
+v -0.03965731 0.00013631 -0.04200884
+v -0.03831298 0.00013631 -0.04663770
+v -0.03761579 0.00013631 -0.04829988
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 10
+f 1 10 19
+f 1 19 28
+f 1 28 34
+f 1 34 33
+f 1 33 32
+f 1 32 35
+f 1 35 36
+f 1 36 30
+f 1 30 29
+f 1 29 20
+f 1 20 11
+f 1 11 7
+f 1 7 13
+f 1 13 14
+f 1 14 8
+f 1 8 2
+f 2 8 16
+f 2 16 25
+f 2 25 27
+f 2 27 18
+f 2 18 9
+f 2 9 5
+f 2 5 4
+f 2 4 3
+f 5 9 17
+f 5 17 10
+f 5 10 6
+f 7 11 12
+f 7 12 13
+f 8 14 15
+f 8 15 16
+f 9 18 17
+f 10 17 19
+f 11 20 21
+f 11 21 12
+f 12 15 14
+f 12 14 13
+f 12 21 22
+f 12 22 23
+f 12 23 24
+f 12 24 15
+f 15 24 25
+f 15 25 16
+f 17 26 19
+f 17 18 24
+f 17 24 23
+f 17 23 26
+f 18 27 24
+f 19 26 23
+f 19 23 28
+f 20 29 21
+f 21 29 22
+f 22 29 30
+f 22 30 31
+f 22 31 23
+f 23 32 33
+f 23 33 34
+f 23 34 28
+f 23 31 35
+f 23 35 32
+f 24 27 25
+f 30 36 31
+f 31 36 35
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_398.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_398.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1483de4c3644b3044b310bd542557a22f8d8ff59
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_398.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.01107906 0.01661853 -0.06169907
+v 0.01745998 0.01661853 -0.06169907
+v 0.01537452 0.01318545 -0.06169907
+v 0.02087333 0.01204706 -0.05615043
+v 0.02176905 0.01204706 -0.05516592
+v 0.02176905 0.01613436 -0.05216214
+v 0.02176905 0.01661853 -0.05182881
+v 0.01745998 0.01204706 -0.06169907
+v 0.02176905 0.01661853 -0.06169811
+v 0.01698283 0.01204706 -0.06169907
+v 0.02176905 0.01204706 -0.06169811
+f 1 2 8
+f 1 8 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 9
+f 1 9 2
+f 2 9 11
+f 2 11 8
+f 3 10 4
+f 4 10 8
+f 4 8 11
+f 4 11 5
+f 5 11 9
+f 5 9 7
+f 5 7 6
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_399.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_399.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52d56ce9ca87482a4d8bd4b560de4ee790e6e4bc
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_399.obj
@@ -0,0 +1,15 @@
+# https://github.com/mikedh/trimesh
+v -0.01247587 0.00415065 -0.06687716
+v -0.01339906 0.00013622 -0.06687716
+v -0.01761508 0.00415065 -0.06687716
+v -0.01761508 0.00415065 -0.06439833
+v -0.01761508 0.00013622 -0.06468370
+v -0.01761508 0.00013622 -0.06687716
+f 1 2 6
+f 1 6 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 6 5
+f 3 5 4
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_4.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3724b0cba7831ea214415059f12200ac833bacd5
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_4.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.00249113 0.00237485 0.12545252
+v 0.00452646 0.00432392 0.12471392
+v 0.00249113 0.00514316 0.12333917
+v 0.00249113 0.00216752 0.12543249
+v 0.00372638 -0.00063940 0.12517008
+v 0.00476181 -0.00063940 0.12517008
+v 0.00476181 0.00121817 0.12517008
+v 0.00506528 0.00247558 0.12295099
+v 0.00514836 0.00239919 0.12209777
+v 0.00455825 0.00437764 0.12209777
+v 0.00387331 0.00467058 0.12209777
+v 0.00266745 0.00516415 0.12295099
+v 0.00249113 0.00517002 0.12294015
+v 0.00249113 0.00212639 0.12542099
+v 0.00249113 0.00208107 0.12540818
+v 0.00249113 -0.00245248 0.12307349
+v 0.00249113 -0.00271773 0.12293621
+v 0.00249113 -0.00336490 0.12209777
+v 0.00507115 -0.00196228 0.12209777
+v 0.00517694 -0.00160218 0.12263538
+v 0.00522022 -0.00118248 0.12209777
+v 0.00258864 0.00520695 0.12209777
+v 0.00249113 0.00521031 0.12209777
+v 0.00521514 -0.00169283 0.12209777
+f 1 2 3
+f 1 3 13
+f 1 13 23
+f 1 23 18
+f 1 18 17
+f 1 17 16
+f 1 16 15
+f 1 15 14
+f 1 14 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 12
+f 2 12 3
+f 2 7 8
+f 3 12 13
+f 4 14 5
+f 5 14 15
+f 5 15 16
+f 5 16 17
+f 5 17 6
+f 6 17 18
+f 6 18 19
+f 6 19 20
+f 6 20 7
+f 7 20 8
+f 8 20 21
+f 8 21 9
+f 9 21 24
+f 9 24 19
+f 9 19 18
+f 9 18 23
+f 9 23 22
+f 9 22 11
+f 9 11 10
+f 11 22 12
+f 12 22 23
+f 12 23 13
+f 19 24 20
+f 20 24 21
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_40.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c678474b0420db7b9c06730220b83c743508b9e
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_40.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v -0.00715032 -0.01547977 0.06632010
+v -0.00990178 -0.01391436 0.06632010
+v -0.00715032 -0.00671578 0.06632010
+v -0.00715032 -0.01469188 0.08651051
+v -0.00921635 -0.01351912 0.08651051
+v -0.01212381 -0.01247464 0.06632010
+v -0.00715032 -0.00667950 0.06681226
+v -0.01009191 -0.00224114 0.06632010
+v -0.00943378 -0.00224114 0.07711599
+v -0.00715032 -0.00581127 0.08651051
+v -0.01143156 -0.01199906 0.08651051
+v -0.01433122 -0.01025352 0.06632010
+v -0.01144716 -0.01198610 0.08651051
+v -0.01397729 -0.00977145 0.08651051
+v -0.00715032 -0.00651622 0.06902994
+v -0.01710998 -0.00224114 0.06632010
+v -0.00929728 -0.00224114 0.08208108
+v -0.00715032 -0.00566094 0.08208108
+v -0.00715032 -0.00596159 0.07735713
+v -0.00715520 -0.00564928 0.08651051
+v -0.00715032 -0.00565835 0.08519809
+v -0.01591852 -0.00666654 0.06632010
+v -0.01522530 -0.00667691 0.08651051
+v -0.01522920 -0.00666654 0.08651051
+v -0.01640602 -0.00225669 0.08651051
+v -0.01640993 -0.00224114 0.08651051
+v -0.00929533 -0.00224114 0.08651051
+f 1 2 6
+f 1 6 12
+f 1 12 22
+f 1 22 16
+f 1 16 8
+f 1 8 3
+f 1 3 7
+f 1 7 15
+f 1 15 19
+f 1 19 18
+f 1 18 21
+f 1 21 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 8 9
+f 3 9 7
+f 4 10 20
+f 4 20 27
+f 4 27 26
+f 4 26 25
+f 4 25 24
+f 4 24 23
+f 4 23 14
+f 4 14 13
+f 4 13 11
+f 4 11 5
+f 5 11 6
+f 6 11 13
+f 6 13 14
+f 6 14 12
+f 7 9 15
+f 8 16 26
+f 8 26 27
+f 8 27 17
+f 8 17 9
+f 9 17 18
+f 9 18 19
+f 9 19 15
+f 10 21 20
+f 12 14 22
+f 14 23 22
+f 16 22 24
+f 16 24 25
+f 16 25 26
+f 17 27 20
+f 17 20 18
+f 18 20 21
+f 22 23 24
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_400.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_400.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8dff0aa58410adcbf0d419d8f95dcb72a1d86e7
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_400.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.00001514 0.01397578 -0.06692749
+v -0.00001514 0.01397578 -0.06665932
+v -0.00001514 0.01661827 -0.06692749
+v 0.00811469 0.01397578 -0.06692749
+v -0.00001514 0.01661827 -0.06519768
+v 0.00664377 0.01397578 -0.06556598
+v 0.00811469 0.01601372 -0.06374760
+v 0.00811469 0.01661827 -0.06335094
+v 0.00811469 0.01661827 -0.06692749
+v 0.00811469 0.01397578 -0.06539058
+f 1 2 5
+f 1 5 3
+f 1 3 9
+f 1 9 4
+f 1 4 10
+f 1 10 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 5
+f 3 5 8
+f 3 8 9
+f 4 9 8
+f 4 8 7
+f 4 7 10
+f 6 10 7
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_401.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_401.obj
new file mode 100644
index 0000000000000000000000000000000000000000..071806ee191cc0d3ef84d7da42c9e946975dcac5
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_401.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v -0.04040473 0.00013244 -0.03922475
+v -0.03939035 -0.00357150 -0.03922475
+v -0.03313965 0.00013244 -0.03922475
+v -0.04006971 0.00013244 -0.04048096
+v -0.03586017 -0.01445472 -0.04129015
+v -0.03730575 -0.01118009 -0.03922475
+v -0.03010891 0.00013244 -0.04724988
+v -0.02748920 -0.01885001 -0.03922475
+v -0.02456083 -0.01885001 -0.04618221
+v -0.02456083 -0.01834822 -0.04656874
+v -0.03965558 0.00013244 -0.04200899
+v -0.03770747 -0.00666772 -0.04235702
+v -0.03617038 -0.01532262 -0.03922475
+v -0.03635496 -0.01136222 -0.04260528
+v -0.03432619 -0.01885001 -0.04242537
+v -0.03610989 -0.01554007 -0.03922475
+v -0.02456083 -0.01757881 -0.04725066
+v -0.02580166 -0.01554007 -0.04725066
+v -0.03805335 0.00013244 -0.04724988
+v -0.03517461 -0.01885001 -0.03922475
+v -0.02456083 -0.01885001 -0.04725066
+v -0.03943688 0.00013244 -0.04280326
+v -0.03587103 -0.01005014 -0.04566999
+v -0.03340177 -0.01885001 -0.04565663
+v -0.03465191 -0.01885001 -0.04120608
+v -0.03510792 -0.01885001 -0.03948322
+v -0.02678037 -0.01554378 -0.04725066
+v -0.03831082 0.00013244 -0.04663552
+v -0.02678037 -0.01885001 -0.04725066
+v -0.03619675 -0.00705985 -0.04724988
+v -0.03896691 0.00013244 -0.04441771
+v -0.03306985 -0.01885001 -0.04679814
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+f 8 25 15
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+f 8 29 21
+f 8 21 9
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+f 22 31 23
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+f 23 28 30
+f 23 30 32
+f 23 32 24
+f 29 33 34
+f 29 34 30
+f 30 34 32
+f 32 34 33
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_402.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_402.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8798ac3ede2a389b2303538f637fb36906423826
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_402.obj
@@ -0,0 +1,174 @@
+# https://github.com/mikedh/trimesh
+v 0.03677924 0.02175570 -0.02263643
+v 0.03611432 0.02406538 -0.02263643
+v 0.03603851 0.02380145 -0.01569157
+v 0.03652943 0.02175570 -0.01124671
+v 0.02853541 0.02175570 -0.02263643
+v 0.03623239 0.02238891 -0.03104092
+v 0.03650955 0.02238891 -0.02902035
+v 0.03656050 0.02238891 -0.02728510
+v 0.03663756 0.02238891 -0.02457742
+v 0.03613421 0.02413788 -0.02457742
+v 0.03539222 0.02636034 -0.02457742
+v 0.03598879 0.02363494 -0.01124671
+v 0.03598755 0.02363041 -0.01121371
+v 0.03652570 0.02175570 -0.01121371
+v 0.02824458 0.02175570 -0.01124671
+v 0.02748396 0.02238891 -0.03104092
+v 0.03609816 0.02285674 -0.03104092
+v 0.03606958 0.02391926 -0.02902035
+v 0.03527664 0.02614172 -0.02902035
+v 0.03305442 0.02792014 -0.02902035
+v 0.03317000 0.02799264 -0.02457742
+v 0.03299103 0.02788616 -0.01569157
+v 0.03290279 0.02783179 -0.01124671
+v 0.03512625 0.02585740 -0.01124671
+v 0.03512501 0.02584834 -0.01121371
+v 0.02833904 0.02175570 -0.01121371
+v 0.02823713 0.02176023 -0.01121371
+v 0.02408352 0.02479374 -0.03104092
+v 0.03592665 0.02344803 -0.03104092
+v 0.03562091 0.02430779 -0.03104092
+v 0.03503180 0.02545187 -0.03104092
+v 0.03395921 0.02675907 -0.03104092
+v 0.02941659 0.03014261 -0.02902035
+v 0.02954336 0.03021397 -0.02457742
+v 0.03274743 0.02772871 -0.03104092
+v 0.02752497 0.03097178 -0.03104092
+v 0.02950235 0.03019131 -0.02263643
+v 0.02926124 0.03005425 -0.01124671
+v 0.03290155 0.02783066 -0.01121371
+v 0.02408227 0.02521513 -0.01121371
+v 0.02408352 0.03280684 -0.03104092
+v 0.02408227 0.02552890 -0.02263643
+v 0.02408352 0.03318405 -0.02902035
+v 0.02697563 0.03128555 -0.03104092
+v 0.02408352 0.03319991 -0.02852733
+v 0.02731990 0.03148152 -0.02457742
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+v 0.02444519 0.03301414 -0.02013450
+v 0.02408227 0.03311382 -0.01569157
+v 0.02408227 0.03300621 -0.01124671
+v 0.02703653 0.03131954 -0.01121371
+v 0.02925502 0.03005312 -0.01121371
+v 0.02408227 0.03300168 -0.01121371
+v 0.02408227 0.03327920 -0.02263643
+v 0.02629579 0.03167182 -0.03104092
+v 0.02408352 0.03332564 -0.02457742
+v 0.02444395 0.03312062 -0.02457742
+v 0.02408352 0.03328033 -0.02263643
+v 0.02441412 0.03281364 -0.01121371
+f 1 2 3
+f 1 3 4
+f 1 4 14
+f 1 14 26
+f 1 26 15
+f 1 15 5
+f 1 5 16
+f 1 16 6
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+f 1 7 8
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+f 2 10 11
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+f 6 17 7
+f 6 16 28
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+f 6 55 44
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+f 10 18 11
+f 11 18 19
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+f 23 38 39
+f 23 39 24
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+f 28 54 41
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+f 33 36 44
+f 33 44 43
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+f 34 45 46
+f 34 46 47
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+f 37 47 48
+f 38 48 49
+f 38 49 50
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+f 40 50 49
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+f 45 57 46
+f 46 57 47
+f 47 54 49
+f 47 49 58
+f 47 58 48
+f 47 57 56
+f 47 56 54
+f 48 58 49
+f 50 53 59
+f 50 59 51
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_403.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_403.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4e8b9e5426b895172fc9650d6b06f194903f507
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_403.obj
@@ -0,0 +1,132 @@
+# https://github.com/mikedh/trimesh
+v -0.00222262 -0.04237916 -0.03101274
+v -0.00026216 -0.04186468 -0.03101274
+v -0.00666477 -0.04221374 -0.03101274
+v -0.00222262 -0.04195845 -0.03346881
+v -0.00001727 -0.04179955 -0.03101274
+v -0.00001727 -0.04175657 -0.03126256
+v -0.00685145 -0.04213820 -0.03101274
+v -0.00666477 -0.04176960 -0.03346881
+v -0.00001727 -0.04040980 -0.03715893
+v -0.00001727 -0.04135931 -0.03354707
+v -0.00515997 -0.04025741 -0.04113800
+v -0.00343302 -0.04025741 -0.04113800
+v -0.00001593 -0.03983020 -0.03922973
+v -0.00001727 -0.03466325 -0.03101274
+v -0.00685145 -0.03455905 -0.03101274
+v -0.00685145 -0.04169275 -0.03346881
+v -0.00685145 -0.04164195 -0.03367047
+v -0.00685145 -0.04012586 -0.03922672
+v -0.00662663 -0.03997217 -0.04010861
+v -0.00001593 -0.03897707 -0.04243827
+v -0.00662663 -0.03928185 -0.04249244
+v -0.00662663 -0.03792597 -0.04679959
+v -0.00222396 -0.03829718 -0.04679959
+v -0.00001593 -0.03773711 -0.04679959
+v -0.00001593 -0.03265873 -0.03922973
+v -0.00001593 -0.02907430 -0.04823530
+v -0.00662663 -0.02907430 -0.04760323
+v -0.00685145 -0.03253499 -0.03837191
+v -0.00685145 -0.03237739 -0.03922672
+v -0.00662663 -0.02907430 -0.06033504
+v -0.00662663 -0.02941685 -0.06000094
+v -0.00662663 -0.03102672 -0.05780373
+v -0.00662663 -0.03322271 -0.05474268
+v -0.00662663 -0.03484430 -0.05246720
+v -0.00662663 -0.03638122 -0.05026697
+v -0.00222396 -0.03658571 -0.05061010
+v -0.00001593 -0.03630308 -0.05019173
+v -0.00001593 -0.02907430 -0.06106042
+v -0.00685145 -0.03249462 -0.03852843
+v -0.00337548 -0.02907430 -0.06150589
+v -0.00508904 -0.03144351 -0.05838162
+v -0.00001593 -0.03485211 -0.05241302
+v -0.00222396 -0.03512693 -0.05283140
+v -0.00001593 -0.03116348 -0.05798432
+v -0.00222396 -0.02907430 -0.06176173
+f 1 2 5
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+f 1 15 7
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+f 3 7 8
+f 3 8 4
+f 4 9 10
+f 4 10 6
+f 4 8 11
+f 4 11 12
+f 4 12 9
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+f 5 13 25
+f 5 25 14
+f 6 10 13
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+f 8 16 17
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+f 11 22 23
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+f 13 44 38
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+f 18 30 31
+f 18 31 32
+f 18 32 33
+f 18 33 34
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+f 23 35 36
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+f 26 40 30
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+f 43 45 44
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_404.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_404.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c25a72878ea0da5e4e2961254a35203c545b70a4
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_404.obj
@@ -0,0 +1,144 @@
+# https://github.com/mikedh/trimesh
+v 0.00709270 0.02795679 0.01392694
+v -0.00005470 0.02795679 0.01537640
+v -0.00005470 0.03057716 0.00909859
+v 0.00709270 0.03026894 0.00866588
+v 0.00709270 0.02795679 0.03053063
+v -0.00005470 0.02795679 0.03193280
+v -0.00005470 0.03089064 0.00866588
+v 0.00709270 0.03809747 0.00866588
+v 0.00709270 0.02998282 0.02668119
+v 0.00663090 0.02795679 0.03102482
+v 0.00218853 0.02795679 0.03282186
+v 0.00389928 0.03568432 0.01791117
+v 0.00078913 0.03095060 0.02620828
+v -0.00005470 0.02867210 0.03047625
+v -0.00005470 0.03808905 0.00866588
+v 0.00687999 0.03820161 0.00866588
+v 0.00709270 0.03750944 0.01097838
+v 0.00470743 0.03124304 0.02679468
+v 0.00633213 0.02795679 0.03134403
+v 0.00709270 0.03102739 0.02466661
+v 0.00375165 0.03124304 0.02679468
+v 0.00301417 0.02795679 0.03254521
+v 0.00234036 0.03641963 0.01557265
+v 0.00223471 0.03633757 0.01569324
+v 0.00223471 0.03548130 0.01748792
+v -0.00005470 0.03040780 0.02692237
+v 0.00473822 0.03568432 0.01791117
+v 0.00222211 0.03811009 0.01097602
+v 0.00223471 0.03793757 0.01144892
+v -0.00005470 0.03805118 0.00882903
+v 0.00010833 0.03813113 0.00866588
+v 0.00652594 0.03837413 0.00866588
+v 0.00666588 0.03771246 0.01097838
+v 0.00709270 0.03611667 0.01477108
+v 0.00709270 0.03450089 0.01793954
+v 0.00709270 0.03555493 0.01588241
+v 0.00223471 0.03641016 0.01553718
+v 0.00223471 0.03640911 0.01553955
+v 0.00093677 0.03532245 0.01715688
+v -0.00005470 0.03617978 0.01478290
+v -0.00005470 0.03466394 0.01800811
+v 0.00639790 0.03624500 0.01518014
+v 0.00223471 0.03811325 0.01096656
+v 0.00223471 0.03817847 0.01071356
+v -0.00005470 0.03752732 0.01097602
+v -0.00005470 0.03700976 0.01256261
+v 0.00232846 0.03870233 0.00866588
+v 0.00430721 0.03857294 0.00866588
+v -0.00005470 0.03519517 0.01688496
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 17
+f 1 17 34
+f 1 34 36
+f 1 36 35
+f 1 35 20
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+f 1 9 5
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+f 30 45 47
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+f 32 43 33
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+f 39 40 49
+f 39 49 41
+f 43 48 47
+f 43 47 44
+f 44 47 45
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_405.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_405.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5dc2e31dea11e43b2bf1ba19ea14bd2988bf42e
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_405.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.02196243 0.01352903 0.01917945
+v -0.02196243 0.02270622 0.00764941
+v -0.02099709 0.02270622 0.00924104
+v -0.01745146 0.02057701 0.01813934
+v -0.01745146 0.01352903 0.02762988
+v -0.02196243 0.01352903 0.03562503
+v -0.02196243 0.02270622 0.02481307
+v -0.01745146 0.02270622 0.01560755
+v -0.01745146 0.01352903 0.04546350
+v -0.01821587 0.01352903 0.04537467
+v -0.02196243 0.02168025 0.02661198
+v -0.02196243 0.02206476 0.02612339
+v -0.02160606 0.02270622 0.02578285
+v -0.01745146 0.02270622 0.03244178
+v -0.01745146 0.01472211 0.04546350
+v -0.01818143 0.01352903 0.04546350
+v -0.02196243 0.02196324 0.02627515
+v -0.01828918 0.02270622 0.03188656
+v -0.01779458 0.01416780 0.04546350
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 16
+f 1 16 10
+f 1 10 6
+f 1 6 11
+f 1 11 17
+f 1 17 12
+f 1 12 7
+f 1 7 2
+f 2 7 13
+f 2 13 18
+f 2 18 14
+f 2 14 8
+f 2 8 3
+f 3 8 4
+f 4 8 14
+f 4 14 15
+f 4 15 9
+f 4 9 5
+f 6 10 11
+f 7 12 13
+f 9 15 19
+f 9 19 16
+f 10 16 11
+f 11 16 17
+f 12 17 15
+f 12 15 18
+f 12 18 13
+f 14 18 15
+f 15 17 19
+f 16 19 17
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_406.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_406.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75fd7fe99e2bb2e92c9cf999c80b664da8e99f1f
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_406.obj
@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
+v 0.03731013 0.01291371 -0.00119024
+v 0.03591244 0.01801817 -0.00119024
+v 0.03561737 0.01801089 0.00015795
+v 0.03661129 0.01291371 0.00197578
+v 0.03014966 0.01291371 -0.00119024
+v 0.03545730 0.01967290 -0.00119024
+v 0.03374423 0.01967290 0.00652833
+v 0.03583599 0.01291371 0.00548044
+v 0.03595903 0.01542260 0.00181923
+v 0.02510603 0.01934804 0.00686378
+v 0.02755258 0.01967290 -0.00119024
+v 0.02510722 0.01291371 0.01478362
+v 0.03529722 0.01291371 0.00778068
+v 0.03264639 0.01967290 0.01097865
+v 0.02510603 0.01843168 0.00973268
+v 0.02510603 0.01967290 0.00658903
+v 0.02510722 0.01291371 0.03144755
+v 0.03447533 0.01291371 0.01101059
+v 0.03156407 0.01967290 0.01418620
+v 0.02510603 0.01967290 0.00973268
+v 0.02514784 0.01291371 0.03136768
+v 0.02647505 0.01717525 0.02618257
+v 0.02510722 0.01461079 0.03034855
+v 0.03349575 0.01291371 0.01362072
+v 0.03145775 0.01967290 0.01440983
+v 0.03279452 0.01291371 0.01548327
+v 0.02510722 0.01561778 0.02969362
+v 0.02510722 0.01967290 0.02503245
+v 0.02663512 0.01291371 0.02833265
+v 0.02690749 0.01421315 0.02703238
+v 0.02770908 0.01563962 0.02454365
+v 0.02721093 0.01874728 0.02322101
+v 0.02583235 0.01967290 0.02403248
+v 0.02516815 0.01967290 0.02496855
+v 0.02780226 0.01967290 0.02103898
+v 0.03128812 0.01398886 0.01801673
+v 0.03143505 0.01291371 0.01832343
+v 0.02708549 0.01291371 0.02739977
+v 0.02748210 0.01291371 0.02657552
+f 1 2 3
+f 1 3 4
+f 1 4 8
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+f 1 18 24
+f 1 24 26
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+f 22 31 25
+f 22 25 32
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+f 22 33 34
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+f 22 27 23
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+f 25 31 36
+f 25 36 26
+f 26 36 37
+f 27 34 28
+f 29 38 30
+f 30 39 36
+f 30 36 31
+f 30 38 39
+f 32 35 33
+f 36 39 37
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_407.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_407.obj
new file mode 100644
index 0000000000000000000000000000000000000000..840594aa7de943509fdaeff329abf9c12adf8672
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_407.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.02822102 0.02175301 -0.01107389
+v 0.03057675 0.01739406 -0.01107389
+v 0.02597725 0.02175301 -0.00273625
+v 0.03651040 0.02175301 -0.01107389
+v 0.02884494 0.01739406 -0.00251084
+v 0.03772908 0.01739406 -0.01107389
+v 0.02581514 0.02175301 -0.00119024
+v 0.02867934 0.01739406 -0.00160528
+v 0.02860354 0.01739406 -0.00119024
+v 0.03609639 0.02175301 -0.00700182
+v 0.03700953 0.02001370 -0.01107389
+v 0.03706201 0.01982679 -0.01107389
+v 0.03746552 0.01739406 -0.00864071
+v 0.03466430 0.02175301 -0.00119024
+v 0.03608357 0.01739406 -0.00119024
+v 0.03636112 0.02041311 -0.00639812
+v 0.03723578 0.01739406 -0.00664869
+v 0.03573137 0.02175301 -0.00506495
+v 0.03514477 0.02081380 -0.00119024
+v 0.03542233 0.02175301 -0.00361375
+v 0.03622234 0.01739406 -0.00181522
+v 0.03591330 0.01801835 -0.00119024
+v 0.03666200 0.01739406 -0.00388754
+v 0.03634246 0.01739406 -0.00235798
+v 0.03576636 0.01855474 -0.00119024
+v 0.03528472 0.02124777 -0.00235798
+v 0.03589464 0.01902626 -0.00235798
+f 1 2 3
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+f 1 10 4
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+f 1 11 12
+f 1 12 6
+f 1 6 2
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+f 2 17 23
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+f 18 24 23
+f 19 25 26
+f 19 26 20
+f 20 26 27
+f 20 27 24
+f 21 24 22
+f 22 24 25
+f 24 27 25
+f 25 27 26
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_408.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_408.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b09c5d4c68e1edad0774f09aa415ece8074f03cd
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_408.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v -0.02196287 0.02270712 0.00765110
+v -0.02196287 0.02315462 0.00604682
+v -0.02099710 0.02270712 0.00924241
+v -0.02196287 0.02270712 0.02480875
+v -0.02196287 0.02377040 0.00390779
+v -0.01824430 0.02270712 0.01486224
+v -0.02160612 0.02270712 0.02578103
+v -0.02196287 0.02384519 0.02374247
+v -0.02196287 0.02442067 0.00208961
+v -0.01824430 0.02270712 0.03191941
+v -0.02196287 0.02493548 0.00066035
+v -0.02196287 0.02512121 0.00014504
+v -0.02036041 0.02695152 -0.00114163
+v -0.01824430 0.02514532 0.00869793
+v -0.01828908 0.02270712 0.03188700
+v -0.01828835 0.02270961 0.03188700
+v -0.02196287 0.02565763 0.02193725
+v -0.01824430 0.02271792 0.03190969
+v -0.02196287 0.02574572 -0.00119024
+v -0.02038444 0.02695152 -0.00119024
+v -0.01888499 0.02695152 0.00265354
+v -0.01824430 0.02695152 0.00470831
+v -0.01892067 0.02695152 0.02321419
+v -0.01940556 0.02695152 0.02277990
+v -0.02111286 0.02695152 0.02098117
+v -0.02174919 0.02623893 0.02161964
+v -0.02196287 0.02606857 0.02145111
+v -0.01824430 0.02695152 0.02359015
+v -0.02196287 0.02695152 -0.00119024
+v -0.02196287 0.02695152 0.01952274
+f 1 2 3
+f 1 3 6
+f 1 6 10
+f 1 10 15
+f 1 15 7
+f 1 7 4
+f 1 4 8
+f 1 8 17
+f 1 17 27
+f 1 27 30
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+f 1 29 19
+f 1 19 12
+f 1 12 11
+f 1 11 9
+f 1 9 5
+f 1 5 2
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+f 4 7 8
+f 5 9 6
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+f 7 17 8
+f 10 18 16
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+f 12 20 13
+f 13 20 29
+f 13 29 30
+f 13 30 25
+f 13 25 24
+f 13 24 23
+f 13 23 28
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+f 13 22 21
+f 13 21 14
+f 14 21 22
+f 16 18 23
+f 16 23 24
+f 16 24 25
+f 16 25 26
+f 16 26 27
+f 16 27 17
+f 18 28 23
+f 19 29 20
+f 25 30 26
+f 26 30 27
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_409.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_409.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c5aa6d31d14ef36596fecc3f2b9bd95b0ac904c
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_409.obj
@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
+v 0.00689695 -0.01115638 -0.06688548
+v 0.01146152 -0.01115784 -0.06587440
+v 0.01732638 -0.01115784 -0.06587440
+v 0.00689695 -0.01115638 -0.07368315
+v -0.00001526 -0.01115638 -0.06694820
+v -0.00001526 -0.01561530 -0.06587440
+v 0.01732638 -0.02027338 -0.06587440
+v 0.01732638 -0.01115784 -0.07245945
+v 0.01555249 -0.01115784 -0.07313555
+v 0.01111014 -0.01115784 -0.07366403
+v 0.00666609 -0.01115638 -0.07368622
+v -0.00001526 -0.01115638 -0.07368698
+v -0.00001526 -0.02611610 -0.06587440
+v 0.01732638 -0.01707379 -0.06953021
+v 0.01637238 -0.02129402 -0.06587440
+v 0.01732638 -0.01414803 -0.07166175
+v 0.01557286 -0.01533122 -0.07219788
+v 0.01111014 -0.01555526 -0.07343000
+v 0.00666609 -0.01555673 -0.07359137
+v 0.00222374 -0.01555673 -0.07365791
+v -0.00001526 -0.01555673 -0.07366785
+v 0.00222374 -0.01115638 -0.07368698
+v -0.00001526 -0.02412753 -0.06919599
+v 0.00121203 -0.02253725 -0.07158527
+v 0.00250553 -0.02359890 -0.06939484
+v 0.00224920 -0.02570902 -0.06587440
+v 0.01732638 -0.01646608 -0.07006176
+v 0.01410283 -0.01840927 -0.07183001
+v 0.01706666 -0.01666231 -0.07026596
+v 0.01636220 -0.02129988 -0.06587440
+v 0.01111014 -0.01897597 -0.07222848
+v -0.00001526 -0.02017526 -0.07270419
+v -0.00001526 -0.02260168 -0.07164569
+v 0.00417417 -0.02211405 -0.07112332
+v -0.00001526 -0.02162936 -0.07208011
+v 0.00250553 -0.02037881 -0.07240286
+v 0.00689695 -0.02309224 -0.06829810
+v 0.01111014 -0.02338364 -0.06587440
+v 0.01111014 -0.02253872 -0.06735126
+v 0.01410113 -0.02254457 -0.06587440
+v 0.01338139 -0.02223706 -0.06683118
+v 0.01111014 -0.02119738 -0.06957304
+f 1 2 3
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+f 1 4 11
+f 1 11 22
+f 1 22 12
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+f 14 29 27
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+f 18 32 19
+f 19 32 20
+f 20 32 21
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+f 24 34 25
+f 24 33 35
+f 24 35 36
+f 24 36 31
+f 24 31 34
+f 25 34 37
+f 25 37 26
+f 26 37 39
+f 26 39 38
+f 28 30 40
+f 28 40 41
+f 28 41 42
+f 28 42 34
+f 28 34 31
+f 31 36 32
+f 32 36 35
+f 34 42 39
+f 34 39 37
+f 38 39 41
+f 38 41 40
+f 39 42 41
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_41.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..378054ff3f6368244c74b67aed7866f6eaa823dd
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_41.obj
@@ -0,0 +1,126 @@
+# https://github.com/mikedh/trimesh
+v -0.00235004 0.00978510 0.10234270
+v -0.00235004 0.00669279 0.10443828
+v -0.00235004 0.01542007 0.10234270
+v 0.00629188 0.00669279 0.10234270
+v -0.00235004 0.00669279 0.11343986
+v -0.00235004 0.01560686 0.10400157
+v 0.00220914 0.01582225 0.10400157
+v 0.00220914 0.01562474 0.10234270
+v 0.01438789 0.00669279 0.10234270
+v -0.00235004 0.00803339 0.11343986
+v 0.00461114 0.00669279 0.11343986
+v -0.00235004 0.01483379 0.10855776
+v 0.00220914 0.01496785 0.10865879
+v 0.00542670 0.01417779 0.10865879
+v 0.00607848 0.01455405 0.10400157
+v 0.00589651 0.01445038 0.10234270
+v 0.00340352 0.01526725 0.10234270
+v 0.01408019 0.00831402 0.10234270
+v 0.01454835 0.00669279 0.10400048
+v -0.00138890 0.00803875 0.11343986
+v 0.00220914 0.01388554 0.11112482
+v -0.00235004 0.01384085 0.11109441
+v 0.00469055 0.00669279 0.11342030
+v 0.00468558 0.01375327 0.11104009
+v 0.00284438 0.00780191 0.11343986
+v -0.00235004 0.01481502 0.10865879
+v -0.00235004 0.01386409 0.11104118
+v 0.01387837 0.00905582 0.10646434
+v 0.00840604 0.01315000 0.10400157
+v 0.00822407 0.01306241 0.10234270
+v 0.01387506 0.00905046 0.10234270
+v 0.01388499 0.00906476 0.10400157
+v 0.01410832 0.00669279 0.10800045
+v 0.00220914 0.00796100 0.11343986
+v 0.00689404 0.00669279 0.11286843
+v 0.00971292 0.00934628 0.11111396
+v 0.01136884 0.00995759 0.10827313
+v 0.01281964 0.00754541 0.10956916
+v 0.01152434 0.01086562 0.10400157
+v 0.01314222 0.00960904 0.10234270
+v 0.01370964 0.00669279 0.10870116
+v 0.01114386 0.00669279 0.11118349
+v 0.01184858 0.00669279 0.11065769
+f 1 2 5
+f 1 5 10
+f 1 10 22
+f 1 22 27
+f 1 27 26
+f 1 26 12
+f 1 12 6
+f 1 6 3
+f 1 3 8
+f 1 8 17
+f 1 17 16
+f 1 16 30
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+f 1 40 31
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+f 5 20 10
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+f 7 13 14
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+f 9 18 19
+f 10 20 21
+f 10 21 22
+f 11 23 24
+f 11 24 25
+f 12 26 13
+f 13 26 27
+f 13 27 22
+f 13 22 21
+f 13 21 24
+f 13 24 14
+f 14 24 28
+f 14 28 29
+f 14 29 15
+f 15 29 30
+f 15 30 16
+f 18 31 19
+f 19 31 32
+f 19 32 28
+f 19 28 33
+f 20 34 21
+f 21 34 24
+f 23 35 24
+f 24 35 36
+f 24 36 37
+f 24 37 28
+f 24 34 25
+f 28 38 33
+f 28 32 39
+f 28 39 29
+f 28 37 36
+f 28 36 38
+f 29 39 40
+f 29 40 30
+f 31 40 39
+f 31 39 32
+f 33 38 41
+f 35 42 36
+f 36 42 38
+f 38 42 43
+f 38 43 41
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_410.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_410.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5cc673b5c43410bcf2dcad2b33b865d71ac77bb9
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_410.obj
@@ -0,0 +1,120 @@
+# https://github.com/mikedh/trimesh
+v 0.02182810 -0.03653146 -0.02457833
+v 0.02182810 -0.03652885 -0.02466409
+v 0.02387203 -0.03599173 -0.02457833
+v 0.02182810 -0.03643499 -0.02013338
+v 0.02182810 -0.03652624 -0.02474315
+v 0.02386231 -0.03598913 -0.02474315
+v 0.02609349 -0.03532425 -0.02457833
+v 0.02331880 -0.03584702 -0.01124616
+v 0.02182810 -0.03624204 -0.01124616
+v 0.02182810 -0.02857639 -0.02474315
+v 0.02608498 -0.03532034 -0.02474315
+v 0.02814838 -0.03309886 -0.02474315
+v 0.02815081 -0.03310277 -0.02457833
+v 0.02809731 -0.03302846 -0.02013338
+v 0.02798909 -0.03287854 -0.01124616
+v 0.02554147 -0.03510001 -0.01124616
+v 0.02590868 -0.03524994 -0.02013338
+v 0.02572386 -0.03517563 -0.01569111
+v 0.02329326 -0.03584051 -0.01105320
+v 0.02189376 -0.03621075 -0.01105320
+v 0.02182810 -0.03622770 -0.01105320
+v 0.02643760 -0.02321434 -0.02474315
+v 0.02182810 -0.02825047 -0.01105320
+v 0.02605580 -0.02321434 -0.01105320
+v 0.03036984 -0.02984617 -0.02474315
+v 0.03037348 -0.02985008 -0.02457833
+v 0.03021055 -0.02957110 -0.01124616
+v 0.02797815 -0.03286290 -0.01105320
+v 0.02563510 -0.03498790 -0.01105320
+v 0.02549284 -0.03508958 -0.01105320
+v 0.02537976 -0.03513913 -0.01105320
+v 0.03424371 -0.02321434 -0.02474315
+v 0.03389961 -0.02321434 -0.01105320
+v 0.03166842 -0.02762339 -0.02474315
+v 0.03353119 -0.02444371 -0.02457833
+v 0.03418778 -0.02321434 -0.02205635
+v 0.03392393 -0.02321434 -0.01124616
+v 0.03027621 -0.02943030 -0.01105320
+v 0.03010234 -0.02969886 -0.01105320
+v 0.03424858 -0.02321434 -0.02457833
+v 0.03309954 -0.02459494 -0.01105320
+f 1 2 3
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+f 19 30 29
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+f 19 21 20
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+f 22 40 32
+f 25 34 26
+f 26 34 32
+f 26 32 35
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+f 26 36 37
+f 26 37 27
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+f 27 39 28
+f 32 40 35
+f 33 41 37
+f 35 40 36
+f 37 41 38
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_411.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_411.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba7e4bdfddf1ca3a37d252ecaab66105562a983b
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_411.obj
@@ -0,0 +1,117 @@
+# https://github.com/mikedh/trimesh
+v 0.00709270 0.03026800 0.00866588
+v 0.00709270 0.03809784 0.00866588
+v 0.00223256 0.03131606 0.00866588
+v 0.00222159 0.03553472 -0.01097131
+v 0.00673843 0.03495126 -0.01097131
+v 0.00709270 0.03282152 -0.00118924
+v 0.00687956 0.03820229 0.00866588
+v 0.00709270 0.03928877 0.00412180
+v 0.00223256 0.03867650 0.00866588
+v 0.00222159 0.04091428 -0.00118924
+v 0.00222159 0.03370151 -0.00119116
+v 0.00222159 0.04253140 -0.01097131
+v 0.00673843 0.04234531 -0.01097131
+v 0.00709270 0.04051811 -0.00118924
+v 0.00652625 0.03837517 0.00866588
+v 0.00709270 0.03977018 0.00208619
+v 0.00471913 0.04009673 0.00476573
+v 0.00638702 0.03903666 0.00635924
+v 0.00232792 0.03870051 0.00866588
+v 0.00405541 0.04009673 0.00476573
+v 0.00223256 0.03919393 0.00654569
+v 0.00223256 0.03923595 0.00636693
+v 0.00223256 0.03984341 0.00367585
+v 0.00223256 0.04030802 0.00160948
+v 0.00222159 0.04117000 -0.00235794
+v 0.00222159 0.04225047 -0.00833790
+v 0.00222255 0.04253140 -0.01097131
+v 0.00666595 0.04237653 -0.01097131
+v 0.00673843 0.04187351 -0.00680014
+v 0.00673843 0.04158778 -0.00545845
+v 0.00673843 0.04077622 -0.00171592
+v 0.00430717 0.03857325 0.00866588
+v 0.00656821 0.04072340 -0.00118924
+v 0.00666595 0.04190352 -0.00680014
+v 0.00222255 0.04208480 -0.00680014
+v 0.00228263 0.04093229 -0.00118924
+v 0.00222159 0.04208480 -0.00680014
+v 0.00223256 0.04091308 -0.00116233
+v 0.00376074 0.04219765 -0.00833790
+v 0.00639226 0.04238733 -0.01097131
+f 1 2 7
+f 1 7 15
+f 1 15 32
+f 1 32 19
+f 1 19 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 14
+f 1 14 16
+f 1 16 8
+f 1 8 2
+f 2 8 7
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 4 11 10
+f 4 10 25
+f 4 25 37
+f 4 37 26
+f 4 26 12
+f 4 12 27
+f 4 27 40
+f 4 40 28
+f 4 28 13
+f 4 13 5
+f 5 13 14
+f 5 14 6
+f 7 8 15
+f 8 16 17
+f 8 17 18
+f 8 18 15
+f 9 19 20
+f 9 20 21
+f 9 21 10
+f 10 21 22
+f 10 22 23
+f 10 23 24
+f 10 24 25
+f 12 26 27
+f 13 28 29
+f 13 29 14
+f 14 29 30
+f 14 30 31
+f 14 31 17
+f 14 17 16
+f 15 18 17
+f 15 17 32
+f 17 20 19
+f 17 19 32
+f 17 31 33
+f 17 33 30
+f 17 30 34
+f 17 34 35
+f 17 35 37
+f 17 37 20
+f 20 36 24
+f 20 24 23
+f 20 23 22
+f 20 22 21
+f 20 37 25
+f 20 25 36
+f 24 36 38
+f 24 38 25
+f 25 38 36
+f 26 37 35
+f 26 35 39
+f 26 39 27
+f 27 39 40
+f 28 40 39
+f 28 39 34
+f 28 34 29
+f 29 34 30
+f 30 33 31
+f 34 39 35
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_412.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_412.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42dffadc7953fd60f9f5d7b7c888e159ae0eea25
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_412.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.00359360 -0.04251350 -0.01123951
+v -0.00666615 -0.04240672 -0.01123951
+v -0.00359360 -0.03588209 -0.01123951
+v -0.00359360 -0.04218474 -0.00817043
+v -0.00685212 -0.04232804 -0.01123951
+v -0.00359360 -0.04203019 -0.00680115
+v -0.00666615 -0.04190468 -0.00680115
+v -0.00685212 -0.04182694 -0.00680115
+v -0.00684733 -0.03491829 -0.01123951
+v -0.00359360 -0.03449025 -0.00551253
+v -0.00685212 -0.04222595 -0.01123951
+v -0.00359360 -0.04139702 -0.00372912
+v -0.00656853 -0.04072358 -0.00119024
+v -0.00685212 -0.04081350 -0.00206965
+v -0.00685212 -0.04108981 -0.00334843
+v -0.00685212 -0.03487240 -0.01078013
+v -0.00685212 -0.03294573 -0.00119024
+v -0.00359360 -0.03346182 -0.00119024
+v -0.00359360 -0.04084347 -0.00119024
+v -0.00685212 -0.04061212 -0.00119024
+f 1 2 5
+f 1 5 11
+f 1 11 9
+f 1 9 3
+f 1 3 10
+f 1 10 18
+f 1 18 19
+f 1 19 12
+f 1 12 6
+f 1 6 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
+f 2 7 8
+f 2 8 5
+f 3 9 10
+f 5 8 15
+f 5 15 14
+f 5 14 20
+f 5 20 17
+f 5 17 16
+f 5 16 11
+f 6 12 7
+f 7 12 13
+f 7 13 14
+f 7 14 15
+f 7 15 8
+f 9 11 16
+f 9 16 17
+f 9 17 18
+f 9 18 10
+f 12 19 13
+f 13 19 18
+f 13 18 17
+f 13 17 20
+f 13 20 14
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_413.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_413.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62cff9aed114a311b17b11780ffde87a768e8d4c
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_413.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.02257059 0.01925268 -0.04715728
+v -0.02257059 0.01992778 -0.04643248
+v -0.02257059 0.03151559 -0.04715728
+v -0.01761557 0.02453955 -0.04715728
+v -0.01761557 0.02480731 -0.04663287
+v -0.01761557 0.02661897 -0.04440567
+v -0.01991336 0.02446976 -0.04440567
+v -0.02257059 0.02201575 -0.04440567
+v -0.02257059 0.03164377 -0.04679959
+v -0.01999922 0.03251542 -0.04679959
+v -0.01999922 0.03238154 -0.04715728
+v -0.01761557 0.03296691 -0.04715728
+v -0.01761557 0.03380153 -0.04440567
+v -0.02257059 0.03217217 -0.04440567
+v -0.01999922 0.03319052 -0.04440567
+v -0.01761557 0.03312358 -0.04679959
+f 1 2 8
+f 1 8 14
+f 1 14 9
+f 1 9 3
+f 1 3 11
+f 1 11 12
+f 1 12 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 7 8
+f 2 6 7
+f 3 9 10
+f 3 10 11
+f 4 12 16
+f 4 16 13
+f 4 13 6
+f 4 6 5
+f 6 13 15
+f 6 15 14
+f 6 14 8
+f 6 8 7
+f 9 14 15
+f 9 15 10
+f 10 15 13
+f 10 13 16
+f 10 16 11
+f 11 16 12
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_414.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_414.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce761da9eef2b68b1097ac96c5ee40d475095fc8
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_414.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v -0.03335804 0.02418278 -0.01125658
+v -0.02546445 0.02418278 -0.01125658
+v -0.03335687 0.02418278 -0.01124574
+v -0.03135683 0.02709057 -0.00787683
+v -0.03021044 0.02957172 -0.01124574
+v -0.03150555 0.02735513 -0.01125658
+v -0.02329580 0.02418278 -0.00119123
+v -0.02139646 0.02853016 -0.01125658
+v -0.03277606 0.02418278 -0.00659686
+v -0.03240018 0.02481201 -0.00655843
+v -0.03012613 0.02869820 -0.00655843
+v -0.02771976 0.03251288 -0.00680083
+v -0.02798792 0.03287874 -0.01124574
+v -0.02799377 0.03287040 -0.01125658
+v -0.03021044 0.02957172 -0.01125658
+v -0.02266464 0.02485848 -0.00119123
+v -0.03149735 0.02418278 -0.00119123
+v -0.02139646 0.02630880 -0.00119123
+v -0.02139646 0.03635736 -0.01125658
+v -0.03187675 0.02418278 -0.00272936
+v -0.03102661 0.02653881 -0.00491585
+v -0.02903360 0.02888768 -0.00235788
+v -0.02816239 0.02986250 -0.00119123
+v -0.02706050 0.03162744 -0.00119123
+v -0.02720453 0.03181811 -0.00235788
+v -0.02440120 0.03482600 -0.00667864
+v -0.02554057 0.03510129 -0.01124574
+v -0.02798323 0.03288470 -0.01125658
+v -0.03157346 0.02418278 -0.00149668
+v -0.02870924 0.02895441 -0.00119123
+v -0.02139646 0.03449947 -0.00119123
+v -0.02331336 0.03584969 -0.01125658
+v -0.02289181 0.03573409 -0.00807784
+v -0.02139646 0.03624653 -0.00971648
+v -0.03178658 0.02418278 -0.00235788
+v -0.02539771 0.03271905 -0.00119123
+v -0.02182387 0.03543378 -0.00511588
+v -0.02451713 0.03328392 -0.00119123
+v -0.02331804 0.03584730 -0.01124574
+v -0.02554057 0.03510129 -0.01125658
+v -0.02139646 0.03536943 -0.00429705
+v -0.02139646 0.03597839 -0.00729843
+v -0.02139646 0.03549217 -0.00484983
+v -0.02139646 0.03562922 -0.00552972
+f 1 2 7
+f 1 7 17
+f 1 17 29
+f 1 29 35
+f 1 35 20
+f 1 20 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 15
+f 1 15 14
+f 1 14 28
+f 1 28 40
+f 1 40 32
+f 1 32 19
+f 1 19 8
+f 1 8 2
+f 2 8 7
+f 3 9 4
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 5
+f 5 12 13
+f 5 13 14
+f 5 14 15
+f 5 15 6
+f 7 8 16
+f 7 16 18
+f 7 18 31
+f 7 31 38
+f 7 38 36
+f 7 36 24
+f 7 24 23
+f 7 23 30
+f 7 30 17
+f 8 18 16
+f 8 19 34
+f 8 34 42
+f 8 42 44
+f 8 44 43
+f 8 43 41
+f 8 41 31
+f 8 31 18
+f 9 20 21
+f 9 21 10
+f 10 21 11
+f 11 22 23
+f 11 23 24
+f 11 24 25
+f 11 25 12
+f 11 21 22
+f 12 25 26
+f 12 26 27
+f 12 27 28
+f 12 28 13
+f 13 28 14
+f 17 30 29
+f 19 32 33
+f 19 33 34
+f 20 35 22
+f 20 22 21
+f 22 30 23
+f 22 35 30
+f 24 36 26
+f 24 26 25
+f 26 37 33
+f 26 33 27
+f 26 36 38
+f 26 38 37
+f 27 33 39
+f 27 39 32
+f 27 32 40
+f 27 40 28
+f 29 30 35
+f 31 41 37
+f 31 37 38
+f 32 39 33
+f 33 42 34
+f 33 37 42
+f 37 41 43
+f 37 43 44
+f 37 44 42
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_42.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34ceb1b21d5c87d2af273f0d33d9ae17ca739c6b
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_42.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.03037981 0.02397056 -0.02801045
+v -0.03059554 0.02397056 -0.02736423
+v -0.02824465 0.02774300 -0.02801045
+v -0.02420001 0.02397056 -0.02801045
+v -0.03082455 0.02397056 -0.02667822
+v -0.02890401 0.02774300 -0.02600358
+v -0.02055586 0.02774300 -0.02801045
+v -0.02418674 0.02397056 -0.02800639
+v -0.03138544 0.02397056 -0.02367766
+v -0.03172286 0.02397056 -0.02178363
+v -0.02962310 0.02774300 -0.02178363
+v -0.02234474 0.02774300 -0.02145565
+v -0.02583845 0.02397056 -0.01971669
+v -0.03185673 0.02397056 -0.01971669
+v -0.02971271 0.02774300 -0.01971669
+v -0.02345105 0.02774300 -0.01972400
+v -0.02575326 0.02410498 -0.01971669
+v -0.02366456 0.02774300 -0.01971669
+v -0.02345990 0.02773931 -0.01971669
+f 1 2 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 13
+f 1 13 14
+f 1 14 10
+f 1 10 9
+f 1 9 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 3 6 11
+f 3 11 15
+f 3 15 18
+f 3 18 16
+f 3 16 12
+f 3 12 7
+f 4 7 8
+f 5 9 6
+f 6 9 10
+f 6 10 11
+f 7 12 13
+f 7 13 8
+f 10 14 11
+f 11 14 15
+f 12 16 17
+f 12 17 13
+f 13 17 19
+f 13 19 18
+f 13 18 15
+f 13 15 14
+f 16 18 19
+f 16 19 17
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_43.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ddf8b48a78d87abc7b4e1d2f1fa6bbbe5040102
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_43.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.01067070 -0.02683674 0.01203006
+v 0.01067070 -0.02683674 0.02866986
+v 0.00662675 -0.02683674 0.01444224
+v 0.01067070 -0.01648516 0.03322257
+v 0.01067070 -0.02026717 0.04546023
+v 0.00662675 -0.02133201 0.04546023
+v 0.00662675 -0.02683674 0.03091185
+v 0.00662675 -0.02600292 0.01622274
+v 0.00662675 -0.02599374 0.01624237
+v 0.00662675 -0.02015702 0.02874842
+v 0.01067070 -0.01460028 0.03732034
+v 0.01067070 -0.01120840 0.04546023
+v 0.00662675 -0.01396535 0.04546023
+v 0.00662675 -0.01844961 0.03250252
+v 0.00662675 -0.01746432 0.03472487
+v 0.00662675 -0.01646374 0.03764109
+f 1 2 7
+f 1 7 3
+f 1 3 4
+f 1 4 11
+f 1 11 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 3 8 4
+f 3 7 6
+f 3 6 13
+f 3 13 16
+f 3 16 15
+f 3 15 14
+f 3 14 10
+f 3 10 9
+f 3 9 8
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 5 12 13
+f 5 13 6
+f 10 14 11
+f 11 14 15
+f 11 15 12
+f 12 15 16
+f 12 16 13
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_44.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..867a17bf322c708d585b2c1e05452280053eed39
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_44.obj
@@ -0,0 +1,135 @@
+# https://github.com/mikedh/trimesh
+v 0.03092186 -0.02267057 -0.04234836
+v 0.02783972 -0.02267057 -0.04234836
+v 0.03000494 -0.02423984 -0.04234836
+v 0.02762546 -0.02831025 -0.04235663
+v 0.03060380 -0.02267057 -0.04341652
+v 0.02274674 -0.02267057 -0.04235663
+v 0.02267754 -0.02278489 -0.04234836
+v 0.02762546 -0.02831141 -0.04234836
+v 0.02616823 -0.03053541 -0.04234836
+v 0.02616956 -0.03053079 -0.04235663
+v 0.02708516 -0.02738531 -0.04584830
+v 0.02944334 -0.02267057 -0.04693713
+v 0.01732771 -0.02676985 -0.04270992
+v 0.01732771 -0.02701811 -0.04234836
+v 0.01732771 -0.02267057 -0.05032343
+v 0.02395112 -0.03215895 -0.04234836
+v 0.02394978 -0.03215780 -0.04235663
+v 0.02291309 -0.03152847 -0.04680077
+v 0.02231423 -0.03116358 -0.04911478
+v 0.02539104 -0.02887376 -0.04711894
+v 0.02658344 -0.02652735 -0.04881106
+v 0.02775455 -0.02267057 -0.05032343
+v 0.01732771 -0.02874327 -0.04234836
+v 0.01732771 -0.02267057 -0.06345545
+v 0.01999996 -0.03377211 -0.04234836
+v 0.01999996 -0.03146727 -0.04959824
+v 0.01762980 -0.02662435 -0.05785017
+v 0.01732771 -0.02272022 -0.06338934
+v 0.01773626 -0.02267057 -0.06318273
+v 0.01830984 -0.02267057 -0.06271373
+v 0.02250719 -0.02698578 -0.05384404
+v 0.02328971 -0.02863473 -0.05085648
+v 0.01999996 -0.03376980 -0.04235663
+v 0.01999996 -0.03251576 -0.04680077
+v 0.01732771 -0.03319820 -0.04680077
+v 0.02570112 -0.02480566 -0.05142672
+v 0.02742451 -0.02356433 -0.05006517
+v 0.02612964 -0.02267057 -0.05251142
+v 0.01732771 -0.03446494 -0.04235249
+v 0.01732771 -0.03181023 -0.05012716
+v 0.01732771 -0.03094418 -0.05146391
+v 0.01732771 -0.02690957 -0.05754233
+v 0.01732771 -0.02644768 -0.05823033
+v 0.02244465 -0.02267057 -0.05740803
+v 0.02310472 -0.02403661 -0.05547005
+v 0.02304351 -0.02267057 -0.05661465
+f 1 2 7
+f 1 7 14
+f 1 14 23
+f 1 23 25
+f 1 25 16
+f 1 16 9
+f 1 9 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 22
+f 1 22 38
+f 1 38 46
+f 1 46 44
+f 1 44 30
+f 1 30 29
+f 1 29 24
+f 1 24 15
+f 1 15 6
+f 1 6 2
+f 2 6 7
+f 3 8 4
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 5
+f 5 11 12
+f 6 13 14
+f 6 14 7
+f 6 15 13
+f 9 16 17
+f 9 17 18
+f 9 18 19
+f 9 19 10
+f 10 20 21
+f 10 21 11
+f 10 19 20
+f 11 21 12
+f 12 21 22
+f 13 15 24
+f 13 24 28
+f 13 28 43
+f 13 43 42
+f 13 42 41
+f 13 41 40
+f 13 40 35
+f 13 35 39
+f 13 39 23
+f 13 23 14
+f 16 25 17
+f 17 25 18
+f 18 25 19
+f 19 26 27
+f 19 27 28
+f 19 28 24
+f 19 24 29
+f 19 29 30
+f 19 30 31
+f 19 31 32
+f 19 32 21
+f 19 21 20
+f 19 25 33
+f 19 33 34
+f 19 34 35
+f 19 35 26
+f 21 32 31
+f 21 31 36
+f 21 36 37
+f 21 37 22
+f 22 37 36
+f 22 36 38
+f 23 39 25
+f 25 39 33
+f 26 40 41
+f 26 41 42
+f 26 42 27
+f 26 35 40
+f 27 42 43
+f 27 43 28
+f 30 44 45
+f 30 45 31
+f 31 45 36
+f 33 39 34
+f 34 39 35
+f 36 45 46
+f 36 46 38
+f 44 46 45
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_45.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9b6adab0d25b65629fe76b1563ae69fd2421051
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_45.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.00232506 -0.03529055 -0.04020867
+v -0.00232506 -0.03794583 -0.03087852
+v -0.00232506 -0.02939593 -0.04020867
+v 0.00241856 -0.03454469 -0.04020867
+v 0.00066743 -0.03771863 -0.02943852
+v -0.00232506 -0.03860563 -0.02801166
+v 0.01152416 -0.03322394 -0.03902657
+v 0.01152416 -0.03410750 -0.03575852
+v -0.00232506 -0.03292903 -0.02865046
+v 0.01174735 -0.02688294 -0.04020867
+v 0.00796266 -0.03351539 -0.04020867
+v 0.00142520 -0.03789763 -0.02801166
+v 0.01174735 -0.03411553 -0.03553524
+v -0.00232506 -0.03315968 -0.02801166
+v 0.01163162 -0.03272937 -0.04020867
+v 0.01174735 -0.03270413 -0.04020867
+v 0.01174735 -0.03320099 -0.03896090
+v 0.01174735 -0.03406389 -0.03575016
+v -0.00020469 -0.03277527 -0.02801166
+v 0.00686596 -0.03151189 -0.02801166
+v 0.01174735 -0.03068226 -0.02801166
+v 0.01174735 -0.03505532 -0.03110180
+v 0.01174735 -0.03510122 -0.03087733
+v 0.01174735 -0.03556365 -0.02801166
+f 1 2 6
+f 1 6 14
+f 1 14 9
+f 1 9 3
+f 1 3 10
+f 1 10 16
+f 1 16 15
+f 1 15 11
+f 1 11 4
+f 1 4 2
+f 2 5 6
+f 2 4 7
+f 2 7 8
+f 2 8 5
+f 3 9 10
+f 4 11 7
+f 5 12 6
+f 5 8 13
+f 5 13 12
+f 6 12 24
+f 6 24 21
+f 6 21 20
+f 6 20 19
+f 6 19 14
+f 7 11 15
+f 7 15 16
+f 7 16 17
+f 7 17 8
+f 8 17 18
+f 8 18 13
+f 9 14 19
+f 9 19 20
+f 9 20 10
+f 10 20 21
+f 10 21 24
+f 10 24 23
+f 10 23 22
+f 10 22 13
+f 10 13 18
+f 10 18 17
+f 10 17 16
+f 12 13 22
+f 12 22 23
+f 12 23 24
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_46.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f44a4f8695031ef6694ef48a8ac3bbd389a6f5d1
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_46.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.01318485 -0.02683582 0.00919595
+v -0.00654905 -0.02526430 0.01972547
+v -0.00654905 -0.02683582 0.01673276
+v -0.01318485 -0.02683582 0.02610495
+v -0.01318485 -0.01221858 0.03721313
+v -0.00654905 -0.02067533 0.02855095
+v -0.00654905 -0.02683582 0.03328675
+v -0.01012807 -0.02683582 0.02941717
+v -0.00654905 -0.02195085 0.04546350
+v -0.00725381 -0.02155258 0.04546350
+v -0.00782672 -0.02122608 0.04546350
+v -0.01318485 -0.01817096 0.04546350
+v -0.01318485 -0.00851224 0.04546350
+v -0.00654905 -0.01753948 0.03498014
+v -0.00654905 -0.01849208 0.03289979
+v -0.00654905 -0.02063766 0.02862551
+v -0.00654905 -0.01379906 0.04546350
+v -0.00654905 -0.01480368 0.04227554
+v -0.00654905 -0.01489518 0.04200218
+v -0.00654905 -0.01652589 0.03755039
+f 1 2 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 12
+f 1 12 13
+f 1 13 5
+f 1 5 2
+f 2 5 6
+f 2 6 16
+f 2 16 15
+f 2 15 14
+f 2 14 20
+f 2 20 19
+f 2 19 18
+f 2 18 17
+f 2 17 9
+f 2 9 7
+f 2 7 3
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 5 13 14
+f 5 14 15
+f 5 15 16
+f 5 16 6
+f 7 9 8
+f 9 17 13
+f 9 13 12
+f 9 12 11
+f 9 11 10
+f 13 17 18
+f 13 18 19
+f 13 19 20
+f 13 20 14
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_47.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61882b3b12bda525d5a8bb75ee1453a9e1c6db3a
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_47.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.01640710 -0.00005971 0.01501282
+v -0.00003950 -0.00005971 0.01501282
+v -0.01640710 -0.00005971 0.01915531
+v -0.01640710 0.02053015 0.01495765
+v -0.00003950 -0.00005971 0.01919472
+v -0.01630936 0.02055032 0.01495765
+v -0.00003950 0.02055032 0.01501282
+v -0.01385967 -0.00005971 0.01919472
+v -0.01640710 -0.00004962 0.01919472
+v -0.01640710 0.02055032 0.01495765
+v -0.00003950 0.02055032 0.01919472
+v -0.01640710 0.02055032 0.01919513
+f 1 2 5
+f 1 5 8
+f 1 8 3
+f 1 3 9
+f 1 9 12
+f 1 12 10
+f 1 10 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
+f 2 7 11
+f 2 11 5
+f 3 8 9
+f 4 10 6
+f 5 11 12
+f 5 12 8
+f 6 10 12
+f 6 12 11
+f 6 11 7
+f 8 12 9
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_48.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18d937bc0e87c639c03713cab9e7acf133b37868
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_48.obj
@@ -0,0 +1,153 @@
+# https://github.com/mikedh/trimesh
+v -0.01446560 -0.00706549 0.10217948
+v -0.01415811 -0.00811656 0.10217948
+v -0.01399650 -0.00940594 0.10400164
+v -0.01467584 -0.00707684 0.10400164
+v -0.01467298 -0.00706549 0.10395094
+v -0.00554839 -0.00706549 0.10217948
+v -0.01406801 -0.00837845 0.10217948
+v -0.01384204 -0.00902707 0.10217948
+v -0.01293101 -0.01000917 0.10217948
+v -0.01281803 -0.01009559 0.10217948
+v -0.01151226 -0.01109428 0.10217948
+v -0.01166672 -0.01118682 0.10400164
+v -0.01090444 -0.01059581 0.10865901
+v -0.01331573 -0.00767658 0.10908782
+v -0.01387064 -0.00706549 0.10848815
+v -0.01467441 -0.00706549 0.10405896
+v -0.01467870 -0.00706549 0.10400164
+v -0.00007077 -0.00706549 0.10414826
+v -0.00414680 -0.00769491 0.10217948
+v -0.00942991 -0.01251199 0.10217948
+v -0.00824858 -0.01351504 0.10400164
+v -0.00555125 -0.01471189 0.10782564
+v -0.00710586 -0.01309776 0.10909112
+v -0.00459874 -0.01411216 0.11093203
+v -0.00990473 -0.00988957 0.11111391
+v -0.01344874 -0.00706549 0.10947474
+v -0.00007077 -0.00706549 0.11344094
+v -0.00007077 -0.00899652 0.10281333
+v -0.00302411 -0.00819949 0.10217948
+v -0.00804835 -0.01342251 0.10217948
+v -0.00592023 -0.01492141 0.10400164
+v -0.00245203 -0.01598382 0.10400164
+v -0.00280815 -0.01505934 0.10909112
+v -0.00149381 -0.01442905 0.11109848
+v -0.00276953 -0.00829726 0.11344094
+v -0.00366054 -0.00792537 0.11344094
+v -0.00467025 -0.00706549 0.11344094
+v -0.00688847 -0.00706549 0.11266820
+v -0.01064557 -0.00706549 0.11135643
+v -0.01083865 -0.00728548 0.11121202
+v -0.01090444 -0.00706549 0.11122304
+v -0.00007077 -0.00832782 0.11344094
+v -0.00007077 -0.01016805 0.10217948
+v -0.00572001 -0.01480705 0.10217948
+v -0.00360762 -0.01545393 0.10217948
+v -0.00245203 -0.01576732 0.10217948
+v -0.00007077 -0.01588343 0.10400164
+v -0.00007077 -0.01548361 0.10647197
+v -0.00007077 -0.01501656 0.10902168
+v -0.00007077 -0.01458881 0.11059030
+v -0.00007077 -0.01442905 0.11109848
+v -0.00007077 -0.01566693 0.10217948
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 17
+f 1 17 16
+f 1 16 15
+f 1 15 26
+f 1 26 41
+f 1 41 39
+f 1 39 38
+f 1 38 37
+f 1 37 27
+f 1 27 18
+f 1 18 6
+f 1 6 19
+f 1 19 29
+f 1 29 43
+f 1 43 52
+f 1 52 46
+f 1 46 45
+f 1 45 44
+f 1 44 30
+f 1 30 20
+f 1 20 11
+f 1 11 10
+f 1 10 9
+f 1 9 8
+f 1 8 7
+f 1 7 2
+f 2 7 3
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 14
+f 3 14 15
+f 3 15 16
+f 3 16 4
+f 4 17 5
+f 4 16 17
+f 6 18 19
+f 11 20 21
+f 11 21 12
+f 12 21 22
+f 12 22 13
+f 13 22 23
+f 13 23 24
+f 13 24 25
+f 13 25 14
+f 14 25 26
+f 14 26 15
+f 18 27 42
+f 18 42 51
+f 18 51 50
+f 18 50 49
+f 18 49 48
+f 18 48 47
+f 18 47 52
+f 18 52 43
+f 18 43 28
+f 18 28 29
+f 18 29 19
+f 20 30 21
+f 21 30 31
+f 21 31 22
+f 22 24 23
+f 22 31 32
+f 22 32 33
+f 22 33 24
+f 24 33 34
+f 24 34 35
+f 24 35 36
+f 24 36 25
+f 25 36 37
+f 25 37 38
+f 25 38 39
+f 25 39 40
+f 25 40 26
+f 26 40 41
+f 27 37 36
+f 27 36 35
+f 27 35 42
+f 28 43 29
+f 30 44 31
+f 31 44 32
+f 32 45 46
+f 32 46 52
+f 32 52 47
+f 32 47 48
+f 32 48 33
+f 32 44 45
+f 33 48 49
+f 33 49 50
+f 33 50 34
+f 34 50 51
+f 34 51 42
+f 34 42 35
+f 39 41 40
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_49.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2796e8442b93a0a18670e877f74af872ea1bf67c
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_49.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.00911362 -0.00486988 0.06632009
+v -0.01639299 -0.00486988 0.06632009
+v -0.00911362 -0.00486988 0.06630989
+v -0.01005038 -0.00000861 0.06632009
+v -0.01714102 -0.00212471 0.06632009
+v -0.02282858 -0.00191962 0.04546350
+v -0.02202037 -0.00486988 0.04546350
+v -0.00924217 -0.00486988 0.06430099
+v -0.01014337 -0.00000861 0.06430507
+v -0.01730923 -0.00000861 0.06632009
+v -0.01729145 -0.00027176 0.06632009
+v -0.02225285 -0.00011663 0.04885250
+v -0.02308294 -0.00000861 0.04546350
+v -0.01463434 -0.00486988 0.04546350
+v -0.00983431 -0.00486988 0.05986059
+v -0.01088594 -0.00000861 0.05986059
+v -0.02225285 -0.00000861 0.04885658
+v -0.01551366 -0.00000861 0.04546350
+v -0.01107056 -0.00486988 0.05526708
+v -0.01516494 -0.00000861 0.04652920
+v -0.01539469 -0.00000861 0.04582690
+f 1 2 7
+f 1 7 14
+f 1 14 19
+f 1 19 15
+f 1 15 8
+f 1 8 3
+f 1 3 4
+f 1 4 10
+f 1 10 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 3 8 9
+f 3 9 4
+f 4 9 16
+f 4 16 20
+f 4 20 21
+f 4 21 18
+f 4 18 13
+f 4 13 17
+f 4 17 10
+f 5 11 12
+f 5 12 6
+f 6 12 13
+f 6 13 18
+f 6 18 14
+f 6 14 7
+f 8 15 9
+f 9 15 16
+f 10 17 12
+f 10 12 11
+f 12 17 13
+f 14 18 19
+f 15 19 16
+f 16 19 20
+f 18 21 19
+f 19 21 20
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_5.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..157c5208889408d0483eb57f5a98a613eeb1adef
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_5.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v -0.00005667 0.02683595 0.03429507
+v -0.00005667 0.03040801 0.02692241
+v -0.00222252 0.02683595 0.03339053
+v -0.00005667 0.02683595 0.01797857
+v -0.00005667 0.03466516 0.01800583
+v -0.00367276 0.02683595 0.03258511
+v -0.00005667 0.03519594 0.01688320
+v -0.00222252 0.03491578 0.01629339
+v -0.01301750 0.02683595 0.01060343
+v -0.01301750 0.02733061 0.00897772
+v -0.00005667 0.02725947 0.01681629
+v -0.01301750 0.03127586 0.01799343
+v -0.01301750 0.02695195 0.02713306
+v -0.01301750 0.02683595 0.02736849
+v -0.01301750 0.03164029 0.01722271
+v -0.00005667 0.03617979 0.01478416
+v -0.00222252 0.03596201 0.01407043
+v -0.00640576 0.03439047 0.01507907
+v -0.00474997 0.03563260 0.01336910
+v -0.01301750 0.03464765 0.00897772
+v -0.00018609 0.03058749 0.00897772
+v -0.00005667 0.03057655 0.00909915
+v -0.01111049 0.03299185 0.01542106
+v -0.01301750 0.03247859 0.01544584
+v -0.00005667 0.03701043 0.01256121
+v -0.00005667 0.03752698 0.01097763
+v -0.00222252 0.03697212 0.01097763
+v -0.00771263 0.03524409 0.01208044
+v -0.01301750 0.03417926 0.01085372
+v -0.00948134 0.03561509 0.00897772
+v -0.00924281 0.03564683 0.00911650
+v -0.00005667 0.03066301 0.00897772
+v -0.00005667 0.03801507 0.00897772
+v -0.00640576 0.03594559 0.01074964
+v -0.00931894 0.03565777 0.00897772
+v -0.00910451 0.03571358 0.00897772
+f 1 2 3
+f 1 3 6
+f 1 6 14
+f 1 14 9
+f 1 9 4
+f 1 4 11
+f 1 11 22
+f 1 22 32
+f 1 32 33
+f 1 33 26
+f 1 26 25
+f 1 25 16
+f 1 16 7
+f 1 7 5
+f 1 5 2
+f 2 5 3
+f 3 5 7
+f 3 7 8
+f 3 8 6
+f 4 9 10
+f 4 10 11
+f 6 12 13
+f 6 13 14
+f 6 8 15
+f 6 15 12
+f 7 16 17
+f 7 17 8
+f 8 18 15
+f 8 17 19
+f 8 19 18
+f 9 14 13
+f 9 13 12
+f 9 12 15
+f 9 15 24
+f 9 24 29
+f 9 29 20
+f 9 20 10
+f 10 20 30
+f 10 30 35
+f 10 35 36
+f 10 36 33
+f 10 33 32
+f 10 32 21
+f 10 21 11
+f 11 21 22
+f 15 18 23
+f 15 23 24
+f 16 25 17
+f 17 25 19
+f 18 19 23
+f 19 24 23
+f 19 25 26
+f 19 26 27
+f 19 27 28
+f 19 28 29
+f 19 29 24
+f 20 29 31
+f 20 31 30
+f 21 32 22
+f 26 33 31
+f 26 31 27
+f 27 31 34
+f 27 34 28
+f 28 34 31
+f 28 31 29
+f 30 31 35
+f 31 33 36
+f 31 36 35
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_50.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b910dcdcf59d7d7890602c6e6598f01b92d085c4
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_50.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v -0.00010833 -0.01536234 0.09985416
+v -0.00010833 -0.01532644 0.09958366
+v 0.00251391 -0.01521098 0.09985416
+v -0.00010833 -0.01006359 0.09985416
+v -0.00010833 -0.01527211 0.09917837
+v 0.00257776 -0.01509066 0.09899080
+v 0.00460429 -0.01474815 0.09985416
+v 0.00641438 -0.00717697 0.09985416
+v 0.00641438 -0.00545179 0.09654487
+v -0.00010833 -0.00883714 0.09654487
+v 0.00163983 -0.01476562 0.09654487
+v -0.00010833 -0.01472777 0.09654487
+v 0.00060421 -0.01474330 0.09654487
+v 0.00548220 -0.01450170 0.09985416
+v 0.00641438 -0.01414851 0.09985416
+v 0.00641438 -0.01316367 0.09654487
+v 0.00437635 -0.01411164 0.09720414
+v 0.00396900 -0.01404469 0.09654487
+v 0.00641438 -0.01381376 0.09854989
+v 0.00641438 -0.01411940 0.09961573
+v 0.00615899 -0.01427368 0.09985416
+v 0.00641438 -0.01373128 0.09829395
+v 0.00473710 -0.01376913 0.09654487
+f 1 2 3
+f 1 3 7
+f 1 7 14
+f 1 14 21
+f 1 21 15
+f 1 15 8
+f 1 8 4
+f 1 4 10
+f 1 10 12
+f 1 12 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 3 6 7
+f 4 8 9
+f 4 9 10
+f 5 11 6
+f 5 12 13
+f 5 13 11
+f 6 11 7
+f 7 11 14
+f 8 15 20
+f 8 20 19
+f 8 19 22
+f 8 22 16
+f 8 16 9
+f 9 16 23
+f 9 23 18
+f 9 18 11
+f 9 11 13
+f 9 13 12
+f 9 12 10
+f 11 17 14
+f 11 18 17
+f 14 17 19
+f 14 19 20
+f 14 20 21
+f 15 21 20
+f 16 22 23
+f 17 18 23
+f 17 23 22
+f 17 22 19
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_51.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d34e85f47e14a5729266fe3e07fe5c4a776147a
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_51.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.00223200 0.04091840 -0.00119024
+v 0.00223200 0.04091308 -0.00116337
+v 0.00223200 0.03492231 -0.00119024
+v -0.00005632 0.04032119 -0.00119024
+v 0.00223200 0.04030788 0.00160953
+v -0.00005781 0.04006448 -0.00000982
+v 0.00223200 0.03369729 -0.00118228
+v 0.00222155 0.03369995 -0.00119024
+v -0.00005632 0.03316525 -0.00119024
+v -0.01301750 0.03691746 -0.00118924
+v 0.00223200 0.04027862 0.00174290
+v -0.01301750 0.03511784 0.00705879
+v -0.00666454 0.03690017 0.00652929
+v 0.00223200 0.03131508 0.00866520
+v 0.00188270 0.03119937 0.00866520
+v -0.00018619 0.03058752 0.00897772
+v -0.01301750 0.02980143 -0.00118924
+v 0.00223200 0.03984368 0.00367677
+v -0.01301750 0.03482521 0.00826310
+v -0.00948127 0.03561529 0.00897772
+v -0.01220397 0.03525617 0.00739619
+v 0.00223200 0.03923582 0.00636706
+v 0.00223200 0.03867585 0.00866520
+v -0.00005781 0.03066333 0.00897772
+v -0.01301750 0.02733144 0.00897772
+v -0.01301750 0.03464698 0.00897772
+v -0.00910362 0.03571239 0.00897772
+v 0.00223200 0.03918927 0.00655915
+v -0.00005781 0.03801346 0.00897772
+f 1 2 5
+f 1 5 11
+f 1 11 18
+f 1 18 22
+f 1 22 28
+f 1 28 23
+f 1 23 14
+f 1 14 7
+f 1 7 3
+f 1 3 8
+f 1 8 9
+f 1 9 4
+f 1 4 2
+f 2 4 6
+f 2 6 5
+f 3 7 8
+f 4 9 17
+f 4 17 10
+f 4 10 6
+f 5 6 11
+f 6 10 12
+f 6 12 13
+f 6 13 11
+f 7 14 15
+f 7 15 16
+f 7 16 17
+f 7 17 8
+f 8 17 9
+f 10 17 25
+f 10 25 26
+f 10 26 19
+f 10 19 12
+f 11 13 18
+f 12 19 20
+f 12 20 21
+f 12 21 13
+f 13 21 20
+f 13 20 22
+f 13 22 18
+f 14 23 29
+f 14 29 24
+f 14 24 16
+f 14 16 15
+f 16 24 29
+f 16 29 27
+f 16 27 20
+f 16 20 26
+f 16 26 25
+f 16 25 17
+f 19 26 20
+f 20 27 22
+f 22 27 28
+f 23 28 27
+f 23 27 29
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_52.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9a5e7538d35b2a73c43dc6b2b2f830b7ee1a62d
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_52.obj
@@ -0,0 +1,192 @@
+# https://github.com/mikedh/trimesh
+v 0.01588791 -0.00001585 0.10400179
+v 0.01597270 -0.00262681 0.10400179
+v 0.01579369 -0.00141375 0.10278801
+v 0.01574815 -0.00001585 0.10278801
+v 0.01505879 -0.00001585 0.10865776
+v 0.01511375 -0.00262681 0.10865776
+v 0.01444795 -0.00518496 0.10865776
+v 0.01459870 -0.00518651 0.10783710
+v 0.01507921 -0.00518651 0.10400179
+v 0.01459242 -0.00622561 0.10278801
+v 0.01578427 -0.00274641 0.10278801
+v 0.01582509 -0.00262681 0.10278801
+v 0.01580625 -0.00186263 0.10278801
+v 0.00918121 -0.00001585 0.10278801
+v 0.01403183 -0.00001585 0.11110201
+v 0.01404439 -0.00262681 0.11111035
+v 0.01390149 -0.00504983 0.11102172
+v 0.01398158 -0.00518651 0.11055560
+v 0.01430349 -0.00573480 0.10865776
+v 0.01466936 -0.00635764 0.10400179
+v 0.01422968 -0.00683137 0.10278801
+v -0.00006777 -0.00904470 0.10278801
+v -0.00006934 -0.00001585 0.10650235
+v 0.00807102 -0.00001585 0.11343885
+v 0.00804433 -0.00290018 0.11343885
+v 0.00949841 -0.01002944 0.11111348
+v 0.01026157 -0.01096137 0.10865776
+v 0.01384339 -0.00518651 0.11091639
+v 0.01384496 -0.00518496 0.11091536
+v 0.00682893 -0.00470657 0.11343885
+v 0.01259030 -0.00806307 0.10865776
+v 0.01321842 -0.00868435 0.10400179
+v 0.01315718 -0.00855233 0.10278801
+v 0.01418257 -0.00690747 0.10278801
+v -0.00006777 -0.01573751 0.10278801
+v -0.00006934 -0.00518496 0.10501641
+v -0.00006934 -0.00001585 0.11344094
+v 0.00658710 -0.00001585 0.11344094
+v 0.00658710 -0.00493489 0.11344094
+v 0.00419870 -0.00720569 0.11343990
+v 0.00251064 -0.00829916 0.11343990
+v 0.00396786 -0.01377114 0.11071514
+v 0.00710372 -0.01318557 0.10896120
+v 0.01088968 -0.01168983 0.10400179
+v 0.00859393 -0.01401810 0.10400179
+v 0.01082687 -0.01160595 0.10278801
+v -0.00006777 -0.01588351 0.10400179
+v 0.00099688 -0.01569246 0.10278801
+v -0.00006934 -0.00518496 0.11344094
+v 0.00632172 -0.00518496 0.11344094
+v 0.00132664 -0.00834265 0.11343990
+v 0.00086184 -0.01442815 0.11109784
+v 0.00233163 -0.01497954 0.10896120
+v 0.00570774 -0.01457881 0.10761186
+v 0.00626833 -0.01472481 0.10400179
+v 0.00607205 -0.01467200 0.10278801
+v 0.00822648 -0.01394510 0.10278801
+v -0.00006777 -0.01548278 0.10647316
+v 0.00220914 -0.01578566 0.10400179
+v 0.00154334 -0.01566140 0.10278801
+v -0.00006777 -0.01501526 0.10902168
+v -0.00006777 -0.01458813 0.11058897
+v -0.00006777 -0.01442815 0.11109784
+v -0.00006777 -0.00832711 0.11343990
+v 0.00230022 -0.01561791 0.10278801
+f 1 2 3
+f 1 3 4
+f 1 4 14
+f 1 14 23
+f 1 23 37
+f 1 37 38
+f 1 38 24
+f 1 24 15
+f 1 15 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 12
+f 2 12 13
+f 2 13 3
+f 3 13 12
+f 3 12 11
+f 3 11 10
+f 3 10 21
+f 3 21 34
+f 3 34 33
+f 3 33 46
+f 3 46 57
+f 3 57 56
+f 3 56 65
+f 3 65 60
+f 3 60 48
+f 3 48 35
+f 3 35 22
+f 3 22 14
+f 3 14 4
+f 5 15 6
+f 6 15 16
+f 6 16 17
+f 6 17 18
+f 6 18 7
+f 7 18 19
+f 7 19 8
+f 8 19 20
+f 8 20 9
+f 9 20 10
+f 10 20 21
+f 14 22 23
+f 15 24 16
+f 16 24 25
+f 16 25 17
+f 17 26 27
+f 17 27 28
+f 17 28 29
+f 17 29 18
+f 17 25 30
+f 17 30 26
+f 18 29 31
+f 18 31 19
+f 19 31 32
+f 19 32 20
+f 20 32 33
+f 20 33 34
+f 20 34 21
+f 22 35 36
+f 22 36 23
+f 23 36 49
+f 23 49 37
+f 24 38 39
+f 24 39 25
+f 25 39 30
+f 26 30 39
+f 26 39 40
+f 26 40 41
+f 26 41 42
+f 26 42 43
+f 26 43 27
+f 27 44 31
+f 27 31 28
+f 27 43 45
+f 27 45 44
+f 28 31 29
+f 31 44 32
+f 32 44 46
+f 32 46 33
+f 35 47 36
+f 35 48 47
+f 36 47 49
+f 37 49 50
+f 37 50 39
+f 37 39 38
+f 39 50 40
+f 40 50 41
+f 41 50 51
+f 41 51 52
+f 41 52 42
+f 42 52 53
+f 42 53 54
+f 42 54 43
+f 43 54 45
+f 44 45 46
+f 45 54 55
+f 45 55 56
+f 45 56 57
+f 45 57 46
+f 47 58 49
+f 47 48 59
+f 47 59 53
+f 47 53 58
+f 48 60 59
+f 49 58 61
+f 49 61 62
+f 49 62 63
+f 49 63 64
+f 49 64 51
+f 49 51 50
+f 51 64 63
+f 51 63 52
+f 52 63 62
+f 52 62 53
+f 53 62 61
+f 53 61 58
+f 53 59 54
+f 54 59 55
+f 55 59 56
+f 56 59 65
+f 59 60 65
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_53.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d2b56d8e4f6c6af2f980b232648894d3eb5dd5a
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_53.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.00999510 -0.00222698 0.06632009
+v 0.00890834 0.00506564 0.06632009
+v 0.01746093 -0.00222698 0.06632009
+v 0.00952122 -0.00222698 0.07366339
+v 0.00890834 0.01447786 0.06632009
+v 0.00925748 -0.00222698 0.08208258
+v 0.00890834 0.00333203 0.07735581
+v 0.01729180 0.00027204 0.06632009
+v 0.01641520 0.00222317 0.08652455
+v 0.01671493 -0.00221881 0.08652455
+v 0.01671242 -0.00222698 0.08652455
+v 0.00990217 0.01391361 0.06632009
+v 0.00890834 0.01369446 0.08652455
+v 0.00925581 -0.00222698 0.08318813
+v 0.00925581 -0.00222698 0.08652455
+v 0.00890834 0.00339418 0.08652455
+v 0.01714110 0.00212504 0.06632009
+v 0.01522880 0.00666515 0.08652455
+v 0.01212425 0.01247602 0.06632009
+v 0.00921562 0.01351946 0.08652455
+v 0.01591787 0.00666515 0.06632009
+v 0.01397710 0.00977257 0.08652455
+v 0.01433042 0.01025340 0.06632009
+v 0.01143686 0.01199519 0.08652455
+f 1 2 5
+f 1 5 12
+f 1 12 19
+f 1 19 23
+f 1 23 21
+f 1 21 17
+f 1 17 8
+f 1 8 3
+f 1 3 11
+f 1 11 15
+f 1 15 14
+f 1 14 6
+f 1 6 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
+f 2 7 16
+f 2 16 13
+f 2 13 5
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 5 13 12
+f 6 14 7
+f 7 14 15
+f 7 15 16
+f 8 17 9
+f 9 18 22
+f 9 22 24
+f 9 24 20
+f 9 20 13
+f 9 13 16
+f 9 16 15
+f 9 15 11
+f 9 11 10
+f 9 17 18
+f 12 13 20
+f 12 20 19
+f 17 21 18
+f 18 21 22
+f 19 20 24
+f 19 24 22
+f 19 22 23
+f 21 23 22
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_54.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1eb8c9bf76150fd24e3db745766ecceb3e8b98d0
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_54.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v -0.01640710 0.02055032 0.01919463
+v -0.01640710 -0.00004962 0.01919463
+v -0.01640710 0.02055032 0.01495726
+v -0.02108589 0.02055032 0.01919514
+v -0.03040160 0.00203236 0.01919514
+v -0.01642804 -0.00005971 0.01919463
+v -0.01640710 -0.00005971 0.01915543
+v -0.01640710 -0.00005971 0.01501326
+v -0.02069844 0.02055032 0.01399401
+v -0.02120318 0.02055032 0.01919107
+v -0.03040160 0.00669262 0.01915136
+v -0.02574584 0.01134884 0.01919463
+v -0.03420077 0.00203236 0.01850478
+v -0.03040160 -0.00005971 0.01918343
+v -0.02574584 -0.00005971 0.01919463
+v -0.02872402 -0.00005971 0.01399401
+v -0.02906749 0.02055032 0.01399401
+v -0.02571862 0.02055032 0.01852820
+v -0.02574584 0.01600707 0.01904852
+v -0.03402065 0.00669262 0.01846151
+v -0.03397039 -0.00005971 0.01849307
+v -0.03775070 0.00514928 0.01426588
+v -0.03666164 0.00165510 0.01568580
+v -0.03680405 -0.00005971 0.01399401
+v -0.03305306 0.01385246 0.01399401
+v -0.02876381 0.02055032 0.01496388
+v -0.02573746 0.02055032 0.01852362
+v -0.02574794 0.02052006 0.01852565
+v -0.03325621 0.00996690 0.01821713
+v -0.03629512 0.00669867 0.01568580
+v -0.03623020 -0.00005971 0.01560587
+v -0.03766065 0.00550032 0.01399401
+v -0.03777793 0.00526226 0.01399401
+v -0.03780097 0.00483860 0.01399401
+v -0.03775070 0.00295634 0.01426588
+v -0.03385939 0.01144971 0.01543685
+v -0.03510972 0.01016057 0.01399401
+v -0.03708051 0.00051122 0.01399401
+v -0.02896696 0.01987448 0.01548623
+v -0.02853343 0.02055032 0.01548623
+v -0.02791979 0.02055032 0.01677277
+v -0.02837845 0.01886980 0.01807967
+v -0.03218600 0.01306970 0.01695605
+v -0.03780097 0.00284135 0.01399401
+f 1 2 7
+f 1 7 8
+f 1 8 3
+f 1 3 9
+f 1 9 17
+f 1 17 26
+f 1 26 40
+f 1 40 41
+f 1 41 27
+f 1 27 18
+f 1 18 10
+f 1 10 4
+f 1 4 2
+f 2 4 5
+f 2 5 6
+f 2 6 7
+f 3 8 9
+f 4 10 11
+f 4 11 12
+f 4 12 5
+f 5 13 14
+f 5 14 15
+f 5 15 6
+f 5 12 11
+f 5 11 13
+f 6 15 14
+f 6 14 21
+f 6 21 31
+f 6 31 24
+f 6 24 16
+f 6 16 8
+f 6 8 7
+f 8 16 9
+f 9 16 24
+f 9 24 38
+f 9 38 44
+f 9 44 34
+f 9 34 33
+f 9 33 32
+f 9 32 37
+f 9 37 25
+f 9 25 17
+f 10 18 19
+f 10 19 11
+f 11 19 20
+f 11 20 13
+f 13 21 14
+f 13 20 22
+f 13 22 23
+f 13 23 21
+f 17 25 26
+f 18 27 28
+f 18 28 20
+f 18 20 19
+f 20 29 30
+f 20 30 22
+f 20 28 29
+f 21 23 31
+f 22 32 33
+f 22 33 34
+f 22 34 44
+f 22 44 35
+f 22 35 23
+f 22 30 36
+f 22 36 37
+f 22 37 32
+f 23 35 31
+f 24 31 38
+f 25 37 36
+f 25 36 39
+f 25 39 26
+f 26 39 40
+f 27 41 42
+f 27 42 29
+f 27 29 28
+f 29 43 36
+f 29 36 30
+f 29 42 43
+f 31 35 38
+f 35 44 38
+f 36 43 42
+f 36 42 39
+f 39 42 40
+f 40 42 41
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_55.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc3f5266ab881125fbcbadcc6bb6c42d7ea1c92b
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_55.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v -0.00908784 0.00471725 0.06632009
+v -0.01004973 -0.00000861 0.06632009
+v -0.00916496 0.00471725 0.06442144
+v -0.01665959 0.00471725 0.06632009
+v -0.01730880 -0.00000861 0.06632009
+v -0.01009600 -0.00000861 0.06531564
+v -0.01014368 -0.00000861 0.06430507
+v -0.00917057 0.00471725 0.06430507
+v -0.01683487 0.00423013 0.06632009
+v -0.02237627 0.00471725 0.04816041
+v -0.02225568 0.00450723 0.04885658
+v -0.01747005 0.00237698 0.06632009
+v -0.02341108 0.00222248 0.04546350
+v -0.02225288 -0.00000861 0.04885658
+v -0.01088683 -0.00000861 0.05986059
+v -0.00966553 0.00471725 0.06083442
+v -0.02296659 0.00471725 0.04579832
+v -0.02310821 0.00449289 0.04546350
+v -0.02308157 -0.00000861 0.04546350
+v -0.01116867 0.00471725 0.05529362
+v -0.01050544 0.00471725 0.05745563
+v -0.00983239 0.00471725 0.05986059
+v -0.01516487 -0.00000861 0.04652920
+v -0.02304651 0.00471725 0.04546350
+v -0.01551402 -0.00000861 0.04546350
+v -0.01539483 -0.00000861 0.04582690
+v -0.01471337 0.00471725 0.04546350
+f 1 2 3
+f 1 3 8
+f 1 8 16
+f 1 16 22
+f 1 22 21
+f 1 21 20
+f 1 20 27
+f 1 27 24
+f 1 24 17
+f 1 17 10
+f 1 10 4
+f 1 4 9
+f 1 9 12
+f 1 12 5
+f 1 5 2
+f 2 5 14
+f 2 14 19
+f 2 19 25
+f 2 25 26
+f 2 26 23
+f 2 23 15
+f 2 15 7
+f 2 7 6
+f 2 6 3
+f 3 6 7
+f 3 7 8
+f 4 10 11
+f 4 11 9
+f 5 12 13
+f 5 13 14
+f 7 15 16
+f 7 16 8
+f 9 11 12
+f 10 17 18
+f 10 18 11
+f 11 18 13
+f 11 13 12
+f 13 18 24
+f 13 24 27
+f 13 27 25
+f 13 25 19
+f 13 19 14
+f 15 20 21
+f 15 21 22
+f 15 22 16
+f 15 23 20
+f 17 24 18
+f 20 23 26
+f 20 26 25
+f 20 25 27
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_56.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ecbd47095443278c4b4ad68ed30c500513f7b435
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_56.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v -0.00017470 0.03918110 -0.02801158
+v -0.00017470 0.03904926 -0.02871943
+v -0.00088285 0.03902837 -0.02801158
+v -0.00017470 0.03406278 -0.02801158
+v -0.00017470 0.03800628 -0.03374909
+v -0.00171428 0.03882996 -0.02801158
+v -0.00017470 0.03029420 -0.03958059
+v -0.00785605 0.03187369 -0.02801158
+v -0.01552988 0.02584684 -0.03958059
+v -0.00017470 0.03755593 -0.03575936
+v -0.00285092 0.03783266 -0.03149078
+v -0.00257578 0.03862371 -0.02801158
+v -0.00017470 0.03640591 -0.03958059
+v -0.01334079 0.03043127 -0.02801158
+v -0.01553439 0.02990651 -0.02801158
+v -0.01553439 0.02733234 -0.03692476
+v -0.01553439 0.02956190 -0.03958059
+v -0.00017470 0.03700376 -0.03818529
+v -0.00021830 0.03699854 -0.03817056
+v -0.00127676 0.03727527 -0.03575936
+v -0.00601427 0.03729616 -0.03019853
+v -0.00686825 0.03756637 -0.02801158
+v -0.00613455 0.03775826 -0.02801158
+v -0.00017470 0.03698679 -0.03822606
+v -0.01337688 0.03275611 -0.03958059
+v -0.01553439 0.03495956 -0.02801158
+v -0.01553439 0.03210343 -0.03958059
+v -0.01504876 0.03258250 -0.03884557
+v -0.01553439 0.03272609 -0.03786024
+v -0.01553439 0.03328479 -0.03581939
+v -0.01553439 0.03420115 -0.03199363
+v -0.01553439 0.03437476 -0.03110118
+v -0.01453306 0.03243108 -0.03958059
+v -0.01553439 0.03220134 -0.03935635
+v -0.01522768 0.03220395 -0.03958059
+f 1 2 3
+f 1 3 6
+f 1 6 12
+f 1 12 23
+f 1 23 22
+f 1 22 26
+f 1 26 15
+f 1 15 14
+f 1 14 8
+f 1 8 4
+f 1 4 7
+f 1 7 13
+f 1 13 24
+f 1 24 18
+f 1 18 10
+f 1 10 5
+f 1 5 2
+f 2 5 3
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+f 4 8 9
+f 4 9 7
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+f 5 11 12
+f 5 12 6
+f 7 9 17
+f 7 17 27
+f 7 27 35
+f 7 35 33
+f 7 33 25
+f 7 25 13
+f 8 14 9
+f 9 14 15
+f 9 15 16
+f 9 16 17
+f 10 18 19
+f 10 19 20
+f 10 20 11
+f 11 20 21
+f 11 21 22
+f 11 22 23
+f 11 23 12
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+f 15 26 32
+f 15 32 31
+f 15 31 30
+f 15 30 29
+f 15 29 34
+f 15 34 27
+f 15 27 17
+f 15 17 16
+f 18 24 19
+f 19 21 20
+f 19 25 28
+f 19 28 29
+f 19 29 30
+f 19 30 21
+f 21 30 31
+f 21 31 22
+f 22 31 32
+f 22 32 26
+f 25 33 28
+f 27 34 35
+f 28 33 34
+f 28 34 29
+f 33 35 34
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_57.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d542986bf8b5e022536c9d71554295fe0e2dddd7
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_57.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.00319680 0.00951158 0.06632009
+v 0.00319680 0.01691072 0.06632009
+v -0.00283278 0.00977108 0.06632009
+v 0.00319680 0.00959675 0.06430507
+v 0.00215036 0.01725939 0.06632009
+v 0.00319680 0.02278612 0.04603310
+v -0.00283278 0.00979371 0.06584441
+v -0.00283278 0.01677365 0.06632009
+v -0.00283278 0.00986956 0.06430507
+v -0.00283278 0.00997469 0.06345987
+v -0.00283278 0.01054959 0.05986059
+v 0.00319680 0.01031005 0.05986059
+v 0.00222178 0.02310551 0.04546350
+v -0.00205252 0.01696795 0.06632009
+v 0.00319680 0.02279277 0.04599431
+v -0.00222191 0.02248803 0.04546350
+v -0.00283278 0.02232833 0.04546350
+v -0.00283278 0.01069997 0.05927262
+v -0.00283278 0.01188037 0.05508130
+v 0.00319680 0.01169140 0.05509763
+v 0.00319680 0.02287928 0.04546350
+v -0.00283278 0.01506094 0.04546350
+v 0.00319680 0.01504231 0.04546350
+f 1 2 5
+f 1 5 14
+f 1 14 8
+f 1 8 3
+f 1 3 4
+f 1 4 12
+f 1 12 20
+f 1 20 23
+f 1 23 21
+f 1 21 15
+f 1 15 6
+f 1 6 2
+f 2 6 5
+f 3 7 4
+f 3 8 17
+f 3 17 22
+f 3 22 19
+f 3 19 18
+f 3 18 11
+f 3 11 10
+f 3 10 9
+f 3 9 7
+f 4 7 9
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 5 13 14
+f 5 6 13
+f 6 15 13
+f 8 14 16
+f 8 16 17
+f 11 18 12
+f 12 18 19
+f 12 19 20
+f 13 15 21
+f 13 21 23
+f 13 23 22
+f 13 22 17
+f 13 17 16
+f 13 16 14
+f 19 22 20
+f 20 22 23
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_58.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9afa146817be87cad016fcc26c0a8c1b525e7792
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_58.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v -0.00222197 -0.02310578 0.04546350
+v -0.00262588 -0.02282286 0.04615763
+v -0.00262588 -0.02299952 0.04546350
+v 0.00222165 -0.02248815 0.04546350
+v 0.00205250 -0.01696799 0.06632009
+v -0.00215094 -0.01725888 0.06632009
+v -0.00262588 -0.01710082 0.06632009
+v -0.00262588 -0.01522136 0.04546350
+v 0.00296265 -0.02229422 0.04546350
+v 0.00352367 -0.01660273 0.06632009
+v -0.00262588 -0.00970519 0.06632009
+v 0.00352367 -0.01487204 0.04546350
+v -0.00262588 -0.01194593 0.05505476
+v 0.00352367 -0.02214679 0.04546350
+v 0.00352367 -0.00953784 0.06632009
+v -0.00262588 -0.00979950 0.06430507
+v 0.00352367 -0.01157934 0.05514050
+v -0.00262588 -0.01053800 0.05986059
+v 0.00352367 -0.00958698 0.06530748
+v 0.00352367 -0.00963613 0.06430507
+v 0.00352367 -0.00986193 0.06250237
+v 0.00352367 -0.01028298 0.05986059
+v 0.00352367 -0.01060441 0.05860503
+f 1 2 3
+f 1 3 8
+f 1 8 12
+f 1 12 14
+f 1 14 9
+f 1 9 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 2 7 11
+f 2 11 16
+f 2 16 18
+f 2 18 13
+f 2 13 8
+f 2 8 3
+f 4 9 10
+f 4 10 5
+f 5 10 15
+f 5 15 11
+f 5 11 7
+f 5 7 6
+f 8 13 12
+f 9 14 10
+f 10 14 12
+f 10 12 17
+f 10 17 23
+f 10 23 22
+f 10 22 21
+f 10 21 20
+f 10 20 19
+f 10 19 15
+f 11 15 16
+f 12 13 17
+f 13 18 17
+f 15 19 16
+f 16 19 20
+f 16 20 21
+f 16 21 22
+f 16 22 18
+f 17 18 23
+f 18 22 23
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_59.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84be435378f1c204a785015f698d0623f796954f
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_59.obj
@@ -0,0 +1,141 @@
+# https://github.com/mikedh/trimesh
+v -0.00246140 -0.03532645 -0.04017517
+v -0.00245102 -0.03525870 -0.04041895
+v -0.00232696 -0.03523934 -0.04041895
+v -0.00233474 -0.03530128 -0.04017517
+v -0.00735447 -0.03442634 -0.04017517
+v -0.00607177 -0.03359398 -0.04376604
+v -0.00245102 -0.03375077 -0.04402080
+v -0.00232696 -0.03373916 -0.04400543
+v -0.00232696 -0.03526644 -0.04029596
+v -0.00232696 -0.03515223 -0.04017517
+v -0.00762960 -0.03429278 -0.04017517
+v -0.00741832 -0.03424051 -0.04066713
+v -0.00762960 -0.03314490 -0.04307202
+v -0.00762960 -0.03152277 -0.04543739
+v -0.00762960 -0.02899472 -0.04905241
+v -0.00491105 -0.02831723 -0.05216450
+v -0.00367714 -0.02831723 -0.05216450
+v -0.00245102 -0.03217897 -0.04635103
+v -0.00232696 -0.03052394 -0.04878008
+v -0.00232696 -0.02940897 -0.04017517
+v -0.00762960 -0.02786039 -0.04017517
+v -0.00762960 -0.03417082 -0.04056171
+v -0.00762960 -0.03405468 -0.04087357
+v -0.00762960 -0.02754681 -0.05109053
+v -0.00762960 -0.02154416 -0.05947362
+v -0.00717486 -0.02213068 -0.05900802
+v -0.00566583 -0.02409156 -0.05742672
+v -0.00245102 -0.02274624 -0.06011713
+v -0.00232696 -0.02950769 -0.05027792
+v -0.00232696 -0.01863091 -0.05629784
+v -0.00762960 -0.01799212 -0.05459575
+v -0.00762960 -0.01957554 -0.06193343
+v -0.00710945 -0.01972459 -0.06205422
+v -0.00245102 -0.02041757 -0.06260987
+v -0.00232696 -0.02041177 -0.06260547
+v -0.00232696 -0.02274043 -0.06010395
+v -0.00232696 -0.01721397 -0.05905195
+v -0.00762960 -0.01555312 -0.05849849
+v -0.00762960 -0.01934325 -0.06206740
+v -0.00762960 -0.01646485 -0.06223212
+v -0.00762960 -0.01598479 -0.06223651
+v -0.00245102 -0.01751594 -0.06260987
+v -0.00232696 -0.01751594 -0.06260547
+v -0.00760831 -0.01555312 -0.06213109
+v -0.00710011 -0.01555312 -0.05900143
+v -0.00710011 -0.01555312 -0.05899045
+v -0.00713230 -0.01555312 -0.05895750
+v -0.00762960 -0.01555312 -0.06213548
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 20
+f 1 20 21
+f 1 21 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 3 9 4
+f 3 8 19
+f 3 19 29
+f 3 29 36
+f 3 36 35
+f 3 35 43
+f 3 43 37
+f 3 37 30
+f 3 30 20
+f 3 20 10
+f 3 10 9
+f 4 9 10
+f 5 11 12
+f 5 12 6
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 6 16 7
+f 7 16 17
+f 7 17 18
+f 7 18 19
+f 7 19 8
+f 11 21 31
+f 11 31 38
+f 11 38 48
+f 11 48 41
+f 11 41 40
+f 11 40 39
+f 11 39 32
+f 11 32 25
+f 11 25 24
+f 11 24 15
+f 11 15 14
+f 11 14 13
+f 11 13 23
+f 11 23 22
+f 11 22 12
+f 12 22 23
+f 12 23 13
+f 15 24 16
+f 16 24 25
+f 16 25 26
+f 16 26 27
+f 16 27 28
+f 16 28 17
+f 17 28 29
+f 17 29 19
+f 17 19 18
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+f 20 31 21
+f 25 32 33
+f 25 33 26
+f 26 33 27
+f 27 33 28
+f 28 33 34
+f 28 34 35
+f 28 35 36
+f 28 36 29
+f 30 37 38
+f 30 38 31
+f 32 39 33
+f 33 39 34
+f 34 39 40
+f 34 40 41
+f 34 41 42
+f 34 42 43
+f 34 43 35
+f 37 43 44
+f 37 44 45
+f 37 45 46
+f 37 46 47
+f 37 47 38
+f 38 47 46
+f 38 46 45
+f 38 45 44
+f 38 44 48
+f 41 48 42
+f 42 48 43
+f 43 48 44
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_6.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83cddf379da8c751778e30148a8ef17430277787
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_6.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.01659291 -0.00763835 0.05980573
+v 0.01539165 -0.00763835 0.06632009
+v 0.01399979 -0.01002392 0.06632009
+v 0.01447184 -0.01126742 0.05980573
+v 0.00767881 -0.00763835 0.05980573
+v 0.00624088 -0.00763835 0.06632009
+v 0.01318488 -0.01123887 0.06632009
+v 0.01249406 -0.01224607 0.06632009
+v 0.01294309 -0.01284468 0.06124252
+v 0.01131967 -0.01469170 0.05980573
+v 0.00765706 -0.00763835 0.05985611
+v 0.00352495 -0.01029763 0.05980573
+v 0.00630741 -0.00763835 0.06543939
+v 0.00352495 -0.00963601 0.06430552
+v 0.00352495 -0.00953657 0.06632009
+v 0.01148726 -0.01320503 0.06632009
+v 0.01027193 -0.01427721 0.06632009
+v 0.00662211 -0.01686659 0.05980573
+v 0.00765194 -0.00763835 0.05987014
+v 0.00352495 -0.01028286 0.05986185
+v 0.00352495 -0.01769559 0.05980573
+v 0.00639312 -0.00763835 0.06430552
+v 0.00352495 -0.00986147 0.06250331
+v 0.00352495 -0.01660273 0.06632009
+v 0.00824681 -0.01514165 0.06632009
+v 0.00648651 -0.01692369 0.05980573
+v 0.00663491 -0.00763835 0.06319907
+v 0.00413389 -0.01645111 0.06632009
+v 0.00666689 -0.01578850 0.06632009
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 18
+f 1 18 26
+f 1 26 21
+f 1 21 12
+f 1 12 5
+f 1 5 11
+f 1 11 19
+f 1 19 27
+f 1 27 22
+f 1 22 13
+f 1 13 6
+f 1 6 2
+f 2 6 15
+f 2 15 24
+f 2 24 28
+f 2 28 29
+f 2 29 25
+f 2 25 17
+f 2 17 16
+f 2 16 8
+f 2 8 7
+f 2 7 3
+f 3 7 4
+f 4 7 8
+f 4 8 9
+f 4 9 10
+f 5 12 11
+f 6 13 14
+f 6 14 15
+f 8 16 10
+f 8 10 9
+f 10 16 17
+f 10 17 18
+f 11 12 20
+f 11 20 19
+f 12 21 24
+f 12 24 15
+f 12 15 14
+f 12 14 23
+f 12 23 20
+f 13 22 14
+f 14 22 23
+f 17 25 18
+f 18 25 26
+f 19 20 27
+f 20 23 27
+f 21 28 24
+f 21 26 28
+f 22 27 23
+f 25 29 26
+f 26 29 28
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_60.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99b5503de81b7f61e99d7c478a587c5f18930a93
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_60.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.02457586 0.01664312 -0.04063946
+v 0.03146559 0.00905122 -0.02801281
+v 0.02476769 0.01664312 -0.04014008
+v 0.03069102 0.01664312 -0.04063946
+v 0.02909684 -0.00005971 -0.04063946
+v 0.02954443 0.01664312 -0.02801281
+v 0.03195387 0.00727547 -0.02801281
+v 0.03088284 0.01664312 -0.04019076
+v 0.03124906 0.01568003 -0.04005108
+v 0.03077967 0.01636352 -0.04063946
+v 0.03496495 -0.00005971 -0.04063946
+v 0.03406395 -0.00005971 -0.02801281
+v 0.03488066 0.01664312 -0.02801281
+v 0.03282871 0.01664312 -0.03504368
+v 0.03254678 0.01390755 -0.03825381
+v 0.03150918 0.01382416 -0.04063946
+v 0.03512044 -0.00005971 -0.04027852
+v 0.03341290 0.00674406 -0.04063946
+v 0.03942198 -0.00005971 -0.02801281
+v 0.03780018 0.00630094 -0.02801281
+v 0.03399274 0.01664312 -0.03109315
+v 0.03287231 0.01134858 -0.03909311
+v 0.03219801 0.01134858 -0.04063946
+v 0.03790917 0.00204633 -0.03119698
+v 0.03736567 0.00050277 -0.03408324
+v 0.03742234 -0.00005971 -0.03434900
+v 0.03339692 0.00681273 -0.04063946
+v 0.03911535 -0.00005971 -0.02903506
+v 0.03844396 -0.00005971 -0.03115371
+f 1 2 3
+f 1 3 6
+f 1 6 13
+f 1 13 21
+f 1 21 14
+f 1 14 8
+f 1 8 4
+f 1 4 10
+f 1 10 16
+f 1 16 23
+f 1 23 27
+f 1 27 18
+f 1 18 11
+f 1 11 5
+f 1 5 2
+f 2 6 3
+f 2 5 7
+f 2 7 12
+f 2 12 19
+f 2 19 20
+f 2 20 13
+f 2 13 6
+f 4 8 9
+f 4 9 10
+f 5 11 17
+f 5 17 26
+f 5 26 29
+f 5 29 28
+f 5 28 19
+f 5 19 12
+f 5 12 7
+f 8 14 15
+f 8 15 9
+f 9 15 16
+f 9 16 10
+f 11 18 17
+f 13 20 21
+f 14 21 20
+f 14 20 15
+f 15 22 23
+f 15 23 16
+f 15 20 24
+f 15 24 25
+f 15 25 26
+f 15 26 22
+f 17 18 26
+f 18 27 26
+f 19 28 20
+f 20 28 24
+f 22 26 27
+f 22 27 23
+f 24 28 29
+f 24 29 26
+f 24 26 25
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_61.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c277f5517b5e4629d613655a961281a7cdb112d
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_61.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.00262639 -0.02299822 0.04546350
+v -0.00527421 -0.02267032 0.04546350
+v -0.00262639 -0.01521975 0.04546350
+v -0.00262639 -0.02282268 0.04615763
+v -0.00522526 -0.02265542 0.04559212
+v -0.00666620 -0.01575465 0.06632009
+v -0.00725307 -0.02155249 0.04546350
+v -0.00262639 -0.01194574 0.05505476
+v -0.00783485 -0.01309835 0.04546350
+v -0.00783485 -0.00908408 0.05536712
+v -0.00783485 -0.00736510 0.05986059
+v -0.00262639 -0.01710102 0.06632009
+v -0.00465267 -0.01642701 0.06632009
+v -0.00783485 -0.01508892 0.06632009
+v -0.00782618 -0.02122624 0.04546350
+v -0.00262639 -0.01053810 0.05986059
+v -0.00783485 -0.02122128 0.04546350
+v -0.00783485 -0.00620587 0.06430507
+v -0.00262639 -0.00970510 0.06632009
+v -0.00783485 -0.00608166 0.06632009
+v -0.00262639 -0.00979950 0.06430507
+f 1 2 7
+f 1 7 15
+f 1 15 17
+f 1 17 9
+f 1 9 3
+f 1 3 8
+f 1 8 16
+f 1 16 21
+f 1 21 19
+f 1 19 12
+f 1 12 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 3 9 10
+f 3 10 11
+f 3 11 8
+f 4 12 5
+f 5 12 13
+f 5 13 6
+f 6 13 12
+f 6 12 19
+f 6 19 20
+f 6 20 14
+f 6 14 15
+f 6 15 7
+f 8 11 16
+f 9 17 14
+f 9 14 20
+f 9 20 18
+f 9 18 11
+f 9 11 10
+f 11 18 16
+f 14 17 15
+f 16 18 21
+f 18 20 21
+f 19 21 20
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_62.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47a51210e0849851ae572d88f2b0d5ac500a294e
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_62.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v 0.01698580 0.01204706 -0.06169741
+v 0.02042342 -0.00013858 -0.06169741
+v 0.03019374 0.00419886 -0.04468354
+v 0.02950321 0.00665865 -0.04468354
+v 0.02803852 0.01204706 -0.04468354
+v 0.02577179 0.01204706 -0.06169741
+v 0.02905716 -0.00013858 -0.06169741
+v 0.03154049 -0.00013858 -0.04468354
+v 0.03075774 0.00221146 -0.04468354
+v 0.03558715 0.01204706 -0.04468354
+v 0.02605701 0.01111062 -0.06169741
+v 0.03120594 0.01204706 -0.05361103
+v 0.02884700 0.00085273 -0.06169741
+v 0.03192220 -0.00013858 -0.05747184
+v 0.03889181 -0.00013858 -0.04468354
+v 0.03602677 0.01047479 -0.04468354
+v 0.03557857 0.01204706 -0.04471684
+v 0.03210663 0.01204706 -0.05226524
+v 0.02856178 0.00218283 -0.06169741
+v 0.03430903 -0.00013858 -0.05394248
+v 0.03831280 -0.00013858 -0.04663725
+v 0.03587236 0.01005250 -0.04567122
+v 0.03641921 0.00904449 -0.04468354
+v 0.03488804 0.01204706 -0.04697703
+v 0.03239828 0.01204706 -0.05182886
+v 0.03436478 0.00682447 -0.05104604
+v 0.03477653 0.00222339 -0.05231022
+v 0.03509391 -0.00013858 -0.05277990
+v 0.03761798 -0.00013858 -0.04829617
+v 0.03580803 0.00545023 -0.04943209
+v 0.03542202 0.00841224 -0.04863428
+v 0.03460068 0.01204706 -0.04760829
+v 0.03261273 0.01204706 -0.05150074
+v 0.03642779 -0.00013858 -0.05074623
+v 0.03623264 0.00222339 -0.05008833
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 17
+f 1 17 24
+f 1 24 32
+f 1 32 33
+f 1 33 25
+f 1 25 18
+f 1 18 12
+f 1 12 6
+f 1 6 11
+f 1 11 19
+f 1 19 13
+f 1 13 7
+f 1 7 2
+f 2 7 14
+f 2 14 20
+f 2 20 28
+f 2 28 34
+f 2 34 29
+f 2 29 21
+f 2 21 15
+f 2 15 8
+f 2 8 9
+f 2 9 3
+f 3 9 8
+f 3 8 15
+f 3 15 23
+f 3 23 16
+f 3 16 10
+f 3 10 5
+f 3 5 4
+f 6 12 11
+f 7 13 14
+f 10 16 17
+f 11 12 18
+f 11 18 19
+f 13 19 14
+f 14 19 20
+f 15 21 22
+f 15 22 23
+f 16 23 22
+f 16 22 17
+f 17 22 24
+f 18 25 19
+f 19 25 26
+f 19 26 27
+f 19 27 28
+f 19 28 20
+f 21 29 30
+f 21 30 31
+f 21 31 22
+f 22 31 24
+f 24 31 32
+f 25 33 30
+f 25 30 26
+f 26 30 27
+f 27 30 34
+f 27 34 28
+f 29 34 35
+f 29 35 30
+f 30 35 34
+f 30 33 31
+f 31 33 32
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_63.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..05b6d7569b56e78e6ab4d25cc5476966d91c58b0
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_63.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v -0.01848432 0.03407894 0.00354606
+v -0.01848432 0.03348883 0.00613657
+v -0.01848432 0.02870159 0.00354606
+v -0.02104049 0.03353190 0.00354606
+v -0.01848432 0.03257398 0.00953706
+v -0.02098476 0.03287078 0.00609669
+v -0.01848432 0.02275972 0.01399401
+v -0.02529275 0.02219056 0.00354606
+v -0.02287718 0.03299183 0.00354606
+v -0.02371446 0.03249367 0.00449616
+v -0.01848432 0.03183256 0.01183508
+v -0.02026908 0.03269503 0.00741189
+v -0.01936467 0.03247156 0.00907276
+v -0.02228311 0.03207233 0.00741086
+v -0.01848432 0.03100966 0.01399401
+v -0.01908093 0.02218940 0.01399401
+v -0.02414514 0.02218940 0.00741189
+v -0.03142477 0.02219056 0.00354606
+v -0.02393107 0.03262519 0.00354606
+v -0.02467208 0.03193266 0.00354606
+v -0.02417174 0.02850255 0.01399401
+v -0.02301272 0.02921604 0.01399401
+v -0.02246931 0.03195593 0.00760211
+v -0.01848432 0.03155787 0.01259188
+v -0.02098476 0.03138212 0.01070602
+v -0.01956987 0.03067561 0.01399401
+v -0.01848432 0.03143682 0.01292528
+v -0.02813646 0.02218940 0.01399401
+v -0.03023916 0.02218940 0.00741189
+v -0.02879514 0.02474655 0.00741086
+v -0.03060903 0.02363383 0.00354606
+v -0.02620857 0.03031014 0.00354606
+v -0.02786919 0.02827209 0.00354606
+v -0.02818839 0.02785657 0.00354606
+v -0.02508248 0.02721408 0.01399401
+v -0.02105443 0.03016465 0.01399401
+v -0.02713958 0.02385265 0.01399401
+v -0.02826946 0.02218940 0.01369231
+v -0.03000355 0.02218940 0.00817789
+v -0.02853926 0.02379795 0.00998808
+v -0.02895347 0.02534132 0.00579397
+v -0.02811873 0.02773785 0.00399094
+v -0.02719658 0.02534015 0.01125521
+v -0.02803639 0.02296457 0.01309301
+f 1 2 5
+f 1 5 11
+f 1 11 24
+f 1 24 27
+f 1 27 15
+f 1 15 7
+f 1 7 3
+f 1 3 8
+f 1 8 18
+f 1 18 31
+f 1 31 34
+f 1 34 33
+f 1 33 32
+f 1 32 20
+f 1 20 19
+f 1 19 9
+f 1 9 4
+f 1 4 2
+f 2 4 6
+f 2 6 5
+f 3 7 8
+f 4 9 10
+f 4 10 6
+f 5 6 12
+f 5 12 13
+f 5 13 11
+f 6 14 12
+f 6 10 14
+f 7 15 26
+f 7 26 36
+f 7 36 22
+f 7 22 21
+f 7 21 35
+f 7 35 37
+f 7 37 28
+f 7 28 16
+f 7 16 8
+f 8 17 29
+f 8 29 18
+f 8 16 17
+f 9 19 10
+f 10 19 20
+f 10 20 21
+f 10 21 22
+f 10 22 23
+f 10 23 14
+f 11 13 23
+f 11 23 25
+f 11 25 26
+f 11 26 24
+f 12 14 13
+f 13 14 23
+f 15 27 26
+f 16 28 38
+f 16 38 39
+f 16 39 29
+f 16 29 17
+f 18 29 30
+f 18 30 31
+f 20 32 21
+f 21 32 33
+f 21 33 34
+f 21 34 35
+f 22 36 23
+f 23 36 25
+f 24 26 27
+f 25 36 26
+f 28 37 38
+f 29 39 40
+f 29 40 30
+f 30 41 31
+f 30 40 42
+f 30 42 41
+f 31 41 34
+f 34 42 35
+f 34 41 42
+f 35 43 44
+f 35 44 37
+f 35 42 43
+f 37 44 38
+f 38 44 39
+f 39 44 40
+f 40 44 42
+f 42 44 43
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_64.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a9850dd848fc97c9e3b189f15e2559441c6afd9
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_64.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v -0.01609419 0.00203219 0.10291909
+v -0.01605991 0.00149825 0.10291909
+v -0.01607636 0.00209069 0.10291909
+v -0.01474476 0.00547537 0.09985449
+v -0.01572461 0.00203219 0.09985449
+v -0.01584597 -0.00001534 0.10195225
+v -0.01602425 0.00095039 0.10291909
+v -0.01502521 0.00550695 0.10291909
+v -0.01476259 0.00550695 0.10013827
+v -0.01472625 0.00550695 0.09985449
+v -0.01559296 -0.00001534 0.09985449
+v -0.01586723 -0.00001534 0.10213524
+v -0.01545787 -0.00211301 0.09985479
+v -0.01568072 -0.00262559 0.10213524
+v -0.01595500 -0.00001534 0.10291909
+v -0.00908992 0.00550695 0.10291909
+v -0.00908992 0.00550695 0.09985449
+v -0.01010953 -0.00001534 0.09985449
+v -0.01505126 -0.00397946 0.09985479
+v -0.01542085 -0.00262559 0.09985479
+v -0.01531114 -0.00397946 0.10213524
+v -0.00911186 -0.00001534 0.10291909
+v -0.00908992 0.00215012 0.10291909
+v -0.00908992 0.00365535 0.09985449
+v -0.00949241 -0.00397946 0.09985479
+v -0.00949653 -0.00397946 0.10213524
+f 1 2 7
+f 1 7 15
+f 1 15 22
+f 1 22 23
+f 1 23 16
+f 1 16 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 3 8 9
+f 3 9 4
+f 4 9 10
+f 4 10 17
+f 4 17 24
+f 4 24 18
+f 4 18 11
+f 4 11 5
+f 5 11 6
+f 6 12 7
+f 6 11 13
+f 6 13 12
+f 7 12 14
+f 7 14 15
+f 8 16 17
+f 8 17 10
+f 8 10 9
+f 11 18 25
+f 11 25 19
+f 11 19 20
+f 11 20 13
+f 12 13 14
+f 13 20 14
+f 14 20 19
+f 14 19 21
+f 14 21 15
+f 15 21 26
+f 15 26 22
+f 16 23 24
+f 16 24 17
+f 18 24 25
+f 19 25 26
+f 19 26 21
+f 22 25 24
+f 22 24 23
+f 22 26 25
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_65.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9db556bb581a91795cdbd6cc42071bf6463fcce6
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_65.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.02341144 -0.00222197 0.04546350
+v 0.02244723 -0.00396032 0.04829923
+v 0.02317898 -0.00396032 0.04546350
+v 0.02308545 -0.00000861 0.04546350
+v 0.02225329 -0.00000861 0.04885658
+v 0.01730985 -0.00000861 0.06632009
+v 0.01747078 -0.00237747 0.06632009
+v 0.01692747 -0.00396032 0.06632009
+v 0.01496054 -0.00396032 0.04546350
+v 0.01551348 -0.00000861 0.04546350
+v 0.01004873 -0.00000861 0.06632009
+v 0.00935962 -0.00396032 0.06632009
+v 0.01151499 -0.00396032 0.05524462
+v 0.01516549 -0.00000861 0.04652920
+v 0.01014227 -0.00000861 0.06430507
+v 0.00938301 -0.00396032 0.06573416
+v 0.01061268 -0.00396032 0.05818447
+v 0.01088640 -0.00000861 0.05986059
+v 0.00945040 -0.00396032 0.06430507
+v 0.00979427 -0.00396032 0.06188787
+v 0.01014364 -0.00396032 0.05986059
+f 1 2 3
+f 1 3 9
+f 1 9 10
+f 1 10 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 8
+f 2 8 12
+f 2 12 16
+f 2 16 19
+f 2 19 20
+f 2 20 21
+f 2 21 17
+f 2 17 13
+f 2 13 9
+f 2 9 3
+f 4 10 14
+f 4 14 18
+f 4 18 15
+f 4 15 11
+f 4 11 6
+f 4 6 5
+f 6 11 12
+f 6 12 8
+f 6 8 7
+f 9 13 10
+f 10 13 14
+f 11 15 16
+f 11 16 12
+f 13 17 18
+f 13 18 14
+f 15 19 16
+f 15 18 20
+f 15 20 19
+f 17 21 18
+f 18 21 20
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_66.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c80069c3637010e6b0fde62129eafcf11004b62a
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_66.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v -0.00814426 0.01343250 0.04546039
+v -0.00005540 0.01527572 0.04546039
+v -0.00814426 0.02093262 0.04546039
+v -0.00814426 0.01385100 0.04395397
+v -0.00005540 0.02278765 0.04546039
+v -0.00814426 0.01483361 0.04050137
+v -0.00005540 0.01564305 0.04425026
+v -0.00651715 0.02136162 0.04546039
+v -0.00814426 0.02683354 0.03006872
+v -0.00005540 0.02683354 0.03429480
+v -0.00222251 0.02248853 0.04546039
+v -0.00814426 0.01577030 0.03752284
+v -0.00005540 0.01690116 0.04013334
+v -0.00296679 0.02229438 0.04546039
+v -0.00814426 0.02683354 0.01360415
+v -0.00367306 0.02683354 0.03258565
+v -0.00222251 0.02683354 0.03339032
+v -0.00005540 0.02683354 0.01797994
+v -0.00005540 0.01745347 0.03848657
+v -0.00814426 0.01709926 0.03416069
+v -0.00005540 0.01860400 0.03530219
+v -0.00005540 0.02572630 0.02000097
+v -0.00005540 0.02483815 0.02181304
+v -0.00005540 0.02139179 0.02901453
+v -0.00005540 0.01937146 0.03339968
+v -0.00005540 0.02051938 0.03088898
+f 1 2 5
+f 1 5 11
+f 1 11 14
+f 1 14 8
+f 1 8 3
+f 1 3 9
+f 1 9 15
+f 1 15 20
+f 1 20 12
+f 1 12 6
+f 1 6 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
+f 2 7 13
+f 2 13 19
+f 2 19 21
+f 2 21 25
+f 2 25 26
+f 2 26 24
+f 2 24 23
+f 2 23 22
+f 2 22 18
+f 2 18 10
+f 2 10 5
+f 3 8 9
+f 5 10 11
+f 6 12 13
+f 6 13 7
+f 8 14 9
+f 9 14 11
+f 9 11 16
+f 9 16 17
+f 9 17 10
+f 9 10 18
+f 9 18 15
+f 10 17 11
+f 11 17 16
+f 12 19 13
+f 12 20 21
+f 12 21 19
+f 15 18 22
+f 15 22 23
+f 15 23 24
+f 15 24 20
+f 20 25 21
+f 20 24 26
+f 20 26 25
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_67.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bcb3ac13aa27c63a6906605c884e6409948cfdd0
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_67.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.00911217 0.00214014 0.09758484
+v -0.00911217 0.00214014 0.09568797
+v -0.00989942 0.00214014 0.09960570
+v -0.00911217 -0.00272871 0.09830469
+v -0.00911217 -0.00272871 0.09568797
+v -0.01469417 0.00214014 0.09568797
+v -0.01005739 0.00214014 0.09985449
+v -0.01003085 -0.00272871 0.09985449
+v -0.01398460 -0.00272871 0.09568797
+v -0.01477769 0.00184459 0.09568797
+v -0.01563357 0.00214014 0.09934183
+v -0.01569183 0.00214014 0.09985449
+v -0.01539338 -0.00272871 0.09985449
+v -0.01531180 -0.00272871 0.09923783
+v -0.01446887 -0.00272013 0.09568797
+v -0.01478416 0.00182123 0.09568797
+v -0.01566400 0.00203193 0.09934183
+v -0.01572550 0.00203193 0.09985449
+v -0.01542122 -0.00262623 0.09985449
+v -0.01533511 -0.00272871 0.09934183
+v -0.01536295 -0.00262623 0.09934183
+v -0.01456857 -0.00233211 0.09568797
+v -0.01461324 -0.00164092 0.09568797
+v -0.01545812 -0.00211379 0.09985449
+f 1 2 6
+f 1 6 11
+f 1 11 12
+f 1 12 7
+f 1 7 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 9
+f 2 9 15
+f 2 15 22
+f 2 22 23
+f 2 23 16
+f 2 16 10
+f 2 10 6
+f 3 7 8
+f 3 8 4
+f 4 8 13
+f 4 13 20
+f 4 20 14
+f 4 14 9
+f 4 9 5
+f 6 10 11
+f 7 12 18
+f 7 18 24
+f 7 24 19
+f 7 19 13
+f 7 13 8
+f 9 14 15
+f 10 16 17
+f 10 17 11
+f 11 17 18
+f 11 18 12
+f 13 19 21
+f 13 21 20
+f 14 20 21
+f 14 21 15
+f 15 21 22
+f 16 23 17
+f 17 23 21
+f 17 21 24
+f 17 24 18
+f 19 24 21
+f 21 23 22
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_68.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc8cc98f115a6af8654e8ff3cbdd1dadc0bd4682
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_68.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.00510346 0.01478713 0.10291909
+v -0.00510346 0.00728468 0.10291909
+v -0.00510346 0.01446465 0.09985449
+v -0.00947846 0.01370614 0.10154368
+v -0.00949400 0.01371795 0.10291909
+v -0.00698110 0.00550695 0.10291909
+v -0.00786989 0.00550695 0.09985449
+v -0.00510346 0.00817037 0.09985449
+v -0.00703646 0.01399047 0.09985449
+v -0.00880725 0.01344543 0.09985449
+v -0.01062078 0.01169131 0.09985449
+v -0.01334933 0.00780610 0.09985449
+v -0.01351640 0.00813948 0.10291909
+v -0.01502492 0.00550695 0.10291909
+v -0.01472671 0.00550695 0.09985449
+v -0.01350669 0.00754993 0.09985449
+v -0.01457615 0.00641807 0.10291909
+v -0.01494041 0.00581035 0.10291909
+v -0.01476362 0.00550695 0.10013767
+v -0.01461695 0.00635085 0.10291909
+f 1 2 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 13
+f 1 13 17
+f 1 17 20
+f 1 20 18
+f 1 18 14
+f 1 14 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 3 8 7
+f 3 7 15
+f 3 15 16
+f 3 16 12
+f 3 12 11
+f 3 11 10
+f 3 10 9
+f 3 9 4
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 5
+f 4 9 10
+f 6 14 19
+f 6 19 15
+f 6 15 7
+f 12 16 17
+f 12 17 13
+f 14 18 19
+f 15 19 16
+f 16 20 17
+f 16 19 18
+f 16 18 20
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_69.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4b0e7e037d3c741942aa256f21e503035748063
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_69.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.01405600 0.00679315 0.04546482
+v 0.01551467 -0.00000861 0.04546482
+v 0.01366135 0.00679315 0.04629620
+v 0.02149437 0.00679315 0.04546482
+v 0.01534035 -0.00000861 0.04599543
+v 0.00883909 0.00679315 0.05887984
+v 0.01183452 0.00679315 0.05083266
+v 0.02308552 -0.00000861 0.04546482
+v 0.01828837 0.00679315 0.05561736
+v 0.01840551 0.00660074 0.05541904
+v 0.01832463 0.00296683 0.05887984
+v 0.01856588 0.00208864 0.05887984
+v 0.02159478 0.00642697 0.04546482
+v 0.01516604 -0.00000861 0.04652998
+v 0.01120838 -0.00000861 0.05887984
+v 0.01725642 0.00679315 0.05887984
+v 0.02282893 0.00192020 0.04546482
+v 0.02225299 0.00011722 0.04885338
+v 0.02225299 -0.00000861 0.04885600
+v 0.01729965 0.00664135 0.05887984
+v 0.01871788 -0.00000861 0.05887984
+v 0.02261696 0.00269452 0.04546482
+v 0.02221394 -0.00000861 0.04897552
+f 1 2 3
+f 1 3 7
+f 1 7 6
+f 1 6 16
+f 1 16 9
+f 1 9 4
+f 1 4 13
+f 1 13 22
+f 1 22 17
+f 1 17 8
+f 1 8 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 2 8 19
+f 2 19 23
+f 2 23 21
+f 2 21 15
+f 2 15 14
+f 2 14 5
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 5 14 6
+f 6 14 15
+f 6 15 21
+f 6 21 12
+f 6 12 11
+f 6 11 20
+f 6 20 16
+f 8 17 18
+f 8 18 19
+f 9 16 20
+f 9 20 10
+f 10 20 11
+f 12 21 18
+f 12 18 17
+f 12 17 22
+f 12 22 13
+f 18 23 19
+f 18 21 23
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_7.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3fc276491a1745e0f5f7206a9991ad032a9ee819
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_7.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v -0.00531265 -0.00145517 0.12209779
+v -0.00225102 -0.00384344 0.12209779
+v -0.00526452 -0.00134967 0.12263547
+v -0.00531265 0.00161430 0.12209779
+v 0.00076401 -0.00393802 0.12209779
+v -0.00484439 -0.00039199 0.12501802
+v -0.00526452 0.00156155 0.12263547
+v -0.00471758 0.00389162 0.12263547
+v -0.00472293 0.00394346 0.12209779
+v 0.00193809 -0.00393802 0.12209779
+v -0.00443189 -0.00039199 0.12501802
+v 0.00249113 0.00216726 0.12543238
+v -0.00301719 0.00188351 0.12535732
+v -0.00160249 0.00501664 0.12569699
+v -0.00484439 0.00064208 0.12501802
+v -0.00238852 0.00534496 0.12263547
+v -0.00266275 0.00522945 0.12209779
+v 0.00249113 -0.00336415 0.12209779
+v 0.00249113 -0.00271751 0.12293637
+v 0.00248579 -0.00271933 0.12293672
+v 0.00062040 0.00002000 0.12483445
+v 0.00249113 0.00208086 0.12540806
+v 0.00249113 0.00237462 0.12545246
+v 0.00142018 0.00501664 0.12569699
+v -0.00185762 0.00535314 0.12209779
+v -0.00239387 0.00534768 0.12209779
+v 0.00249113 0.00517034 0.12294025
+v 0.00249113 0.00520944 0.12209779
+v 0.00249113 -0.00245195 0.12307343
+v 0.00249113 0.00514305 0.12333945
+v 0.00249113 0.00520944 0.12210801
+f 1 2 3
+f 1 3 7
+f 1 7 4
+f 1 4 9
+f 1 9 17
+f 1 17 26
+f 1 26 25
+f 1 25 28
+f 1 28 18
+f 1 18 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 15
+f 3 15 7
+f 4 7 8
+f 4 8 9
+f 5 10 11
+f 5 11 6
+f 6 11 12
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 7 15 8
+f 8 14 16
+f 8 16 17
+f 8 17 9
+f 8 15 14
+f 10 18 19
+f 10 19 20
+f 10 20 11
+f 11 20 21
+f 11 21 22
+f 11 22 12
+f 12 22 29
+f 12 29 19
+f 12 19 18
+f 12 18 28
+f 12 28 31
+f 12 31 27
+f 12 27 30
+f 12 30 23
+f 12 23 14
+f 12 14 13
+f 14 24 16
+f 14 23 24
+f 16 25 26
+f 16 26 17
+f 16 24 27
+f 16 27 25
+f 19 29 21
+f 19 21 20
+f 21 29 22
+f 23 30 24
+f 24 30 27
+f 25 27 31
+f 25 31 28
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_70.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9810a1e48b1ac49ca9856aa0e896bfd721c9e1b0
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_70.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.01573085 -0.02135386 0.01493156
+v 0.01573085 -0.03202229 0.01493156
+v 0.01573085 -0.02436156 0.01392523
+v 0.00727177 -0.02157125 0.01493156
+v 0.01567783 -0.03204015 0.01493156
+v 0.01468925 -0.03280250 0.01392523
+v 0.01573085 -0.03244217 0.01392523
+v 0.01173754 -0.02490355 0.01392523
+v 0.00268437 -0.02174397 0.01493156
+v 0.01184825 -0.03328046 0.01493156
+v 0.01376616 -0.03310030 0.01392523
+v 0.00701293 -0.02643420 0.01392523
+v -0.00019873 -0.02884186 0.01392523
+v 0.00047488 -0.02418736 0.01493156
+v 0.00631593 -0.03465031 0.01493156
+v 0.00060430 -0.03637751 0.01392523
+v -0.00019873 -0.03656512 0.01392523
+v -0.00019873 -0.02524303 0.01493156
+v -0.00019873 -0.03616757 0.01493156
+f 1 2 7
+f 1 7 3
+f 1 3 4
+f 1 4 9
+f 1 9 14
+f 1 14 18
+f 1 18 19
+f 1 19 15
+f 1 15 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 3 7 6
+f 3 6 11
+f 3 11 16
+f 3 16 17
+f 3 17 13
+f 3 13 12
+f 3 12 8
+f 3 8 9
+f 3 9 4
+f 5 10 6
+f 6 10 11
+f 8 12 9
+f 9 13 14
+f 9 12 13
+f 10 15 16
+f 10 16 11
+f 13 17 19
+f 13 19 18
+f 13 18 14
+f 15 19 17
+f 15 17 16
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_71.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07a6535e430e68eb6fd669a92e4ca32f27d42ffa
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_71.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v -0.01761509 0.00585937 -0.06388620
+v -0.02791232 0.00585937 -0.05022291
+v -0.03060557 0.00503972 -0.04635610
+v -0.03170328 0.00013639 -0.04401991
+v -0.01761509 0.00013583 -0.06468315
+v -0.01761509 0.00585937 -0.07309001
+v -0.03170328 0.00503972 -0.04525993
+v -0.02791232 0.00585937 -0.06296266
+v -0.03170328 0.00013639 -0.05778390
+v -0.02791232 0.00013583 -0.05070339
+v -0.01761509 0.00013583 -0.07340073
+v -0.01761509 0.00222333 -0.07341224
+v -0.01999943 0.00222333 -0.07309863
+v -0.02014837 0.00585937 -0.07254336
+v -0.03170328 0.00503972 -0.05838233
+v -0.03159158 0.00503972 -0.05859236
+v -0.02311743 0.00585937 -0.07057255
+v -0.02791232 0.00013583 -0.06348053
+v -0.03170328 0.00044845 -0.05788459
+v -0.02457368 0.00013583 -0.06901892
+v -0.02540524 0.00013583 -0.06768396
+v -0.01791434 0.00013583 -0.07336333
+v -0.01761509 0.00110338 -0.07340649
+v -0.01999943 0.00013583 -0.07294328
+v -0.02152464 0.00013583 -0.07229593
+v -0.02287334 0.00222333 -0.07187875
+v -0.02267889 0.00523525 -0.07166585
+v -0.02161290 0.00585937 -0.07198520
+v -0.03170328 0.00223622 -0.05845426
+v -0.02492672 0.00222333 -0.06901892
+v -0.02380556 0.00013583 -0.07021292
+v -0.02271613 0.00013583 -0.07173202
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 23
+f 1 23 12
+f 1 12 6
+f 1 6 14
+f 1 14 28
+f 1 28 17
+f 1 17 8
+f 1 8 2
+f 2 7 3
+f 2 8 15
+f 2 15 7
+f 3 7 4
+f 4 7 15
+f 4 15 29
+f 4 29 19
+f 4 19 9
+f 4 9 18
+f 4 18 10
+f 4 10 5
+f 5 10 18
+f 5 18 21
+f 5 21 20
+f 5 20 31
+f 5 31 32
+f 5 32 25
+f 5 25 24
+f 5 24 22
+f 5 22 11
+f 6 12 13
+f 6 13 14
+f 8 16 15
+f 8 17 16
+f 9 19 20
+f 9 20 21
+f 9 21 18
+f 11 22 23
+f 12 23 22
+f 12 22 13
+f 13 22 24
+f 13 24 25
+f 13 25 26
+f 13 26 27
+f 13 27 14
+f 14 27 28
+f 15 16 29
+f 16 17 27
+f 16 27 30
+f 16 30 29
+f 17 28 27
+f 19 29 20
+f 20 30 31
+f 20 29 30
+f 25 32 26
+f 26 30 27
+f 26 32 30
+f 30 32 31
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_72.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a821b60644f20c7541e684d7d7505e31ed49d1a8
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_72.obj
@@ -0,0 +1,183 @@
+# https://github.com/mikedh/trimesh
+v 0.00210719 0.01465680 0.09679073
+v 0.00202293 0.01415486 0.09470005
+v 0.00034785 0.01376712 0.09223166
+v -0.00010688 0.01376712 0.09223166
+v -0.00010688 0.01456783 0.09679073
+v 0.00338129 0.01436201 0.09679073
+v 0.00337984 0.01342586 0.09323862
+v 0.00337984 0.01430226 0.09654982
+v 0.00489366 0.01387999 0.09626407
+v 0.00202293 0.01163987 0.09082876
+v 0.00338129 0.01339399 0.09313602
+v 0.00686801 0.01023365 0.09117682
+v -0.00010688 0.01344578 0.09202039
+v -0.00010688 0.00936389 0.09679073
+v 0.00443602 0.01411635 0.09679073
+v 0.00345393 0.01338469 0.09315807
+v 0.00500843 0.01394506 0.09679073
+v 0.00540795 0.01371268 0.09679073
+v 0.00661377 0.01237551 0.09469929
+v 0.00337984 0.00669353 0.08916061
+v 0.00220888 0.00669353 0.08903370
+v -0.00010688 0.00669353 0.08902686
+v -0.00010688 0.01160800 0.09082495
+v 0.00686801 0.00669353 0.08954060
+v 0.00965158 0.00937717 0.09192919
+v -0.00010688 0.00694185 0.09557477
+v 0.00887287 0.00109123 0.09678997
+v 0.00657745 0.00436975 0.09679073
+v 0.00719199 0.01261187 0.09679073
+v 0.01035618 0.00994019 0.09468181
+v 0.00686946 0.00436975 0.08928449
+v 0.00453191 0.00436975 0.08902990
+v -0.00010688 0.00446005 0.08977695
+v 0.00686946 0.00203402 0.08902762
+v 0.00686946 0.00109123 0.08903142
+v 0.01040703 0.00669353 0.09116998
+v 0.01175378 0.00180828 0.09081432
+v 0.00918958 0.00436975 0.09014554
+v 0.01203707 0.00876502 0.09679073
+v 0.01305548 0.00716227 0.09679073
+v 0.01268357 0.00643593 0.09490828
+v 0.01345936 0.00320919 0.09350689
+v -0.00010688 0.00467915 0.09443178
+v 0.01473201 0.00109123 0.09678997
+v -0.00010688 0.00214556 0.09314439
+v 0.00232075 0.00109123 0.09314667
+v 0.01407971 0.00436975 0.09679073
+v 0.00924189 0.01127869 0.09679073
+v 0.01091842 0.01007829 0.09679073
+v -0.00010688 0.00214556 0.09056049
+v 0.01175813 0.00109123 0.09081888
+v 0.00232075 0.00109123 0.09055896
+v 0.01379641 0.00109123 0.09262761
+v 0.01267630 0.00109123 0.09140253
+v 0.01249180 0.00109123 0.09128474
+v 0.01389520 0.00500580 0.09679073
+v 0.01394895 0.00471367 0.09661290
+v 0.01428310 0.00180828 0.09490828
+v 0.01414508 0.00109123 0.09377744
+v 0.01471022 0.00190389 0.09678997
+v 0.01403612 0.00453972 0.09679073
+v 0.01396203 0.00480928 0.09679073
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 14
+f 1 14 28
+f 1 28 47
+f 1 47 61
+f 1 61 62
+f 1 62 56
+f 1 56 40
+f 1 40 39
+f 1 39 49
+f 1 49 48
+f 1 48 29
+f 1 29 18
+f 1 18 17
+f 1 17 15
+f 1 15 6
+f 1 6 2
+f 2 7 3
+f 2 6 8
+f 2 8 9
+f 2 9 7
+f 3 10 4
+f 3 7 11
+f 3 11 12
+f 3 12 10
+f 4 10 13
+f 4 13 23
+f 4 23 22
+f 4 22 33
+f 4 33 50
+f 4 50 45
+f 4 45 43
+f 4 43 26
+f 4 26 14
+f 4 14 5
+f 6 15 9
+f 6 9 8
+f 7 9 16
+f 7 16 11
+f 9 15 17
+f 9 17 18
+f 9 18 19
+f 9 19 16
+f 10 20 21
+f 10 21 22
+f 10 22 23
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+f 11 16 12
+f 12 16 25
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+f 16 19 25
+f 18 29 19
+f 19 29 30
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+f 20 31 32
+f 20 32 21
+f 21 32 22
+f 22 32 34
+f 22 34 35
+f 22 35 33
+f 24 25 36
+f 24 36 37
+f 24 37 38
+f 24 38 31
+f 25 30 39
+f 25 39 40
+f 25 40 41
+f 25 41 42
+f 25 42 36
+f 26 43 27
+f 27 44 47
+f 27 47 28
+f 27 43 45
+f 27 45 46
+f 27 46 52
+f 27 52 35
+f 27 35 51
+f 27 51 55
+f 27 55 54
+f 27 54 53
+f 27 53 59
+f 27 59 44
+f 29 48 30
+f 30 49 39
+f 30 48 49
+f 31 38 37
+f 31 37 34
+f 31 34 32
+f 33 35 50
+f 34 37 35
+f 35 37 51
+f 35 52 50
+f 36 42 53
+f 36 53 54
+f 36 54 37
+f 37 54 55
+f 37 55 51
+f 40 42 41
+f 40 56 57
+f 40 57 42
+f 42 57 58
+f 42 58 59
+f 42 59 53
+f 44 59 60
+f 44 60 47
+f 45 50 52
+f 45 52 46
+f 47 60 58
+f 47 58 57
+f 47 57 61
+f 56 62 57
+f 57 62 61
+f 58 60 59
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_73.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92927d114b131185dcb54ed264edfc3aee226719
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_73.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v -0.01318485 -0.02725453 0.00781089
+v -0.01105086 -0.02835604 0.00781089
+v -0.00503501 -0.03247941 0.00209652
+v -0.00503501 -0.03287299 0.00030951
+v -0.01318485 -0.02947471 -0.00119024
+v -0.01318485 -0.03520014 0.00781089
+v -0.00503501 -0.03160243 0.00781089
+v -0.00503501 -0.03178073 0.00659312
+v -0.00503501 -0.03325336 -0.00119024
+v -0.01318485 -0.03739126 -0.00119024
+v -0.01318485 -0.03523184 0.00769986
+v -0.01300217 -0.03530845 0.00781089
+v -0.00503501 -0.03874899 0.00781089
+v -0.00503501 -0.04074596 -0.00119024
+v -0.01095114 -0.03866314 -0.00119024
+v -0.01318485 -0.03623033 0.00359362
+v -0.01290643 -0.03536392 0.00781089
+v -0.00647575 -0.03862088 0.00781089
+v -0.00503501 -0.03989672 0.00506781
+v -0.00503501 -0.04021370 0.00370289
+v -0.00551286 -0.04038804 0.00208682
+v -0.00656909 -0.04072351 -0.00119024
+v -0.00867515 -0.03991653 -0.00119024
+v -0.01132290 -0.03660146 0.00643098
+v -0.01090328 -0.03646542 0.00781089
+v -0.00855629 -0.03985710 -0.00070031
+v -0.00773540 -0.03951899 0.00208682
+v -0.00638800 -0.03903559 0.00636137
+v -0.00803695 -0.04016483 -0.00119024
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 16
+f 1 16 11
+f 1 11 6
+f 1 6 12
+f 1 12 17
+f 1 17 25
+f 1 25 18
+f 1 18 13
+f 1 13 7
+f 1 7 2
+f 2 7 8
+f 2 8 3
+f 3 8 7
+f 3 7 13
+f 3 13 19
+f 3 19 20
+f 3 20 14
+f 3 14 9
+f 3 9 4
+f 4 9 5
+f 5 9 14
+f 5 14 22
+f 5 22 29
+f 5 29 23
+f 5 23 15
+f 5 15 10
+f 6 11 12
+f 10 15 16
+f 11 16 17
+f 11 17 12
+f 13 18 19
+f 14 20 21
+f 14 21 22
+f 15 23 24
+f 15 24 16
+f 16 24 17
+f 17 24 25
+f 18 25 26
+f 18 26 27
+f 18 27 28
+f 18 28 19
+f 19 28 27
+f 19 27 26
+f 19 26 20
+f 20 29 22
+f 20 22 21
+f 20 26 29
+f 23 26 24
+f 23 29 26
+f 24 26 25
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_74.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47f9ed97b5c0d412e4dc0866242765b91f1d8df7
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_74.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.01213115 -0.02867224 -0.04235026
+v 0.01213115 -0.01771632 -0.06003342
+v 0.00639410 -0.03012969 -0.04235026
+v 0.01213115 -0.03585056 -0.04235026
+v 0.01213115 -0.01674687 -0.06177321
+v -0.00001593 -0.02016937 -0.06177321
+v -0.00001593 -0.03183114 -0.04235026
+v 0.01109788 -0.03612724 -0.04235026
+v 0.00961160 -0.03574163 -0.04525753
+v 0.01213115 -0.03556735 -0.04338083
+v 0.01213115 -0.02552860 -0.06177321
+v -0.00001593 -0.02861342 -0.06177321
+v -0.00001593 -0.03900292 -0.04235026
+v 0.00996831 -0.03642569 -0.04235026
+v 0.00666520 -0.03729276 -0.04235026
+v -0.00001593 -0.03773718 -0.04679958
+v 0.00652608 -0.03608802 -0.04676345
+v 0.00791486 -0.03529285 -0.04821993
+v 0.01213115 -0.03458046 -0.04677105
+v 0.01213115 -0.03518610 -0.04470612
+v 0.00658553 -0.02701872 -0.06177321
+v 0.01213115 -0.03158932 -0.05254565
+v 0.00087821 -0.02843696 -0.06177321
+v 0.00013864 -0.03114272 -0.05796278
+v -0.00001593 -0.03115797 -0.05798370
+v -0.00001593 -0.03630370 -0.05019360
+v 0.00222419 -0.03601831 -0.04976958
+v 0.00495419 -0.03567628 -0.04922768
+v 0.01213115 -0.03238449 -0.05133064
+v 0.00206962 -0.02819950 -0.06177321
+v -0.00001593 -0.03484843 -0.05241445
+v 0.00222419 -0.03456957 -0.05199044
+f 1 2 3
+f 1 3 7
+f 1 7 13
+f 1 13 15
+f 1 15 14
+f 1 14 8
+f 1 8 4
+f 1 4 10
+f 1 10 20
+f 1 20 19
+f 1 19 29
+f 1 29 22
+f 1 22 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 4 8 9
+f 4 9 10
+f 5 11 21
+f 5 21 30
+f 5 30 23
+f 5 23 12
+f 5 12 6
+f 6 12 25
+f 6 25 31
+f 6 31 26
+f 6 26 16
+f 6 16 13
+f 6 13 7
+f 8 14 9
+f 9 14 15
+f 9 15 13
+f 9 13 16
+f 9 16 17
+f 9 17 18
+f 9 18 19
+f 9 19 20
+f 9 20 10
+f 11 22 21
+f 12 23 24
+f 12 24 25
+f 16 26 27
+f 16 27 28
+f 16 28 18
+f 16 18 17
+f 18 28 29
+f 18 29 19
+f 21 22 28
+f 21 28 30
+f 22 29 28
+f 23 30 24
+f 24 30 31
+f 24 31 25
+f 26 31 30
+f 26 30 32
+f 26 32 27
+f 27 32 28
+f 28 32 30
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_75.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c622d3f0bf40df4c60b67fdf9b39da63fc511c9
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_75.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v -0.04119762 -0.00005971 -0.00322505
+v -0.04119762 -0.00005971 -0.00314753
+v -0.03615356 -0.00005971 -0.00322505
+v -0.03949540 -0.00728596 -0.00322505
+v -0.04041910 -0.00005971 0.00141884
+v -0.03949165 -0.00728596 -0.00314753
+v -0.03463783 -0.00005971 0.00354465
+v -0.03314840 -0.00006133 0.00877343
+v -0.03613979 -0.00006457 -0.00322505
+v -0.03947663 -0.00736370 -0.00322505
+v -0.03853290 -0.00006133 0.00877343
+v -0.03986213 -0.00005971 0.00354465
+v -0.03735762 -0.01424985 -0.00086434
+v -0.03780821 -0.01114364 0.00067305
+v -0.03839147 -0.00771351 0.00193914
+v -0.03838521 -0.00609239 0.00354582
+v -0.03837269 -0.00303151 0.00657363
+v -0.03791209 -0.01345791 -0.00322505
+v -0.03813614 -0.01239390 -0.00270945
+v -0.03182668 -0.00318375 0.00877343
+v -0.03158637 -0.01660300 -0.00322505
+v -0.03835016 -0.00080954 0.00877343
+v -0.03753410 -0.01481992 -0.00322505
+v -0.03670427 -0.01660462 -0.00271180
+v -0.03584315 -0.01660462 0.00151045
+v -0.03532748 -0.01660462 0.00354465
+v -0.03466537 -0.01659167 0.00616726
+v -0.03399325 -0.01659167 0.00877343
+v -0.03779819 -0.00644868 0.00529227
+v -0.03810735 -0.00710782 0.00354582
+v -0.03798594 -0.00218775 0.00877343
+v -0.03819747 -0.00139095 0.00877343
+v -0.02841349 -0.01659167 0.00877343
+v -0.03158136 -0.01660462 -0.00314871
+v -0.03636508 -0.01660462 -0.00322505
+v -0.03707100 -0.01593091 -0.00322505
+v -0.03673056 -0.01660462 -0.00322505
+v -0.03011820 -0.01660462 0.00354465
+f 1 2 5
+f 1 5 12
+f 1 12 7
+f 1 7 3
+f 1 3 9
+f 1 9 21
+f 1 21 35
+f 1 35 37
+f 1 37 36
+f 1 36 23
+f 1 23 18
+f 1 18 10
+f 1 10 4
+f 1 4 2
+f 2 4 6
+f 2 6 5
+f 3 7 8
+f 3 8 9
+f 4 10 6
+f 5 11 12
+f 5 6 13
+f 5 13 14
+f 5 14 15
+f 5 15 16
+f 5 16 17
+f 5 17 11
+f 6 10 18
+f 6 18 19
+f 6 19 13
+f 7 12 11
+f 7 11 8
+f 8 20 9
+f 8 11 22
+f 8 22 32
+f 8 32 31
+f 8 31 28
+f 8 28 33
+f 8 33 20
+f 9 20 21
+f 11 17 22
+f 13 19 23
+f 13 23 24
+f 13 24 25
+f 13 25 26
+f 13 26 27
+f 13 27 28
+f 13 28 14
+f 14 28 29
+f 14 29 30
+f 14 30 16
+f 14 16 15
+f 16 30 29
+f 16 29 17
+f 17 29 31
+f 17 31 32
+f 17 32 22
+f 18 23 19
+f 20 33 21
+f 21 33 34
+f 21 34 35
+f 23 36 24
+f 24 37 35
+f 24 35 34
+f 24 34 38
+f 24 38 26
+f 24 26 25
+f 24 36 37
+f 26 38 33
+f 26 33 28
+f 26 28 27
+f 28 31 29
+f 33 38 34
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_76.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2704a4887330d5cc51a5e9da1b49d3d612e2d1b
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_76.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v -0.03535670 0.00676649 -0.03030353
+v -0.03541540 0.00013583 -0.03030353
+v -0.03540835 0.00677559 -0.03030353
+v -0.03552261 0.00677559 -0.01124698
+v -0.03551714 0.00677364 -0.01120960
+v -0.03551557 0.00013583 -0.01120960
+v -0.04246579 0.00013583 -0.03030353
+v -0.04286413 0.00677559 -0.03030353
+v -0.03558053 0.00677559 -0.01120960
+v -0.04252135 0.00013583 -0.01120960
+v -0.04268805 0.00013583 -0.02902138
+v -0.04302691 0.00222343 -0.03030353
+v -0.04291422 0.00666575 -0.03030353
+v -0.04314117 0.00666575 -0.02902138
+v -0.04309187 0.00677559 -0.02901577
+v -0.04291656 0.00677559 -0.01120960
+v -0.04307387 0.00222343 -0.01120960
+v -0.04252527 0.00013583 -0.01124698
+v -0.04324134 0.00222343 -0.02902138
+v -0.04280778 0.00013583 -0.02457685
+v -0.04295570 0.00538472 -0.03030353
+v -0.04325856 0.00666575 -0.02457685
+v -0.04320847 0.00677299 -0.02463292
+v -0.04320847 0.00677559 -0.02457311
+v -0.04292048 0.00677559 -0.01124698
+v -0.04296352 0.00666575 -0.01120960
+v -0.04307308 0.00226047 -0.01120960
+v -0.04307778 0.00222343 -0.01124698
+v -0.04257144 0.00013583 -0.01333468
+v -0.04335012 0.00222343 -0.02463292
+v -0.04335090 0.00222343 -0.02457685
+v -0.04296743 0.00666575 -0.01124698
+v -0.04320769 0.00677559 -0.02446470
+f 1 2 7
+f 1 7 12
+f 1 12 21
+f 1 21 13
+f 1 13 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 10
+f 2 10 18
+f 2 18 29
+f 2 29 20
+f 2 20 11
+f 2 11 7
+f 3 8 15
+f 3 15 24
+f 3 24 33
+f 3 33 25
+f 3 25 16
+f 3 16 9
+f 3 9 4
+f 4 9 5
+f 5 9 16
+f 5 16 26
+f 5 26 27
+f 5 27 17
+f 5 17 10
+f 5 10 6
+f 7 11 12
+f 8 13 14
+f 8 14 15
+f 10 17 28
+f 10 28 18
+f 11 19 12
+f 11 20 19
+f 12 19 21
+f 13 21 14
+f 14 21 19
+f 14 19 22
+f 14 22 15
+f 15 22 23
+f 15 23 24
+f 16 25 32
+f 16 32 26
+f 17 27 28
+f 18 28 29
+f 19 30 22
+f 19 20 30
+f 20 29 28
+f 20 28 31
+f 20 31 30
+f 22 31 28
+f 22 28 32
+f 22 32 25
+f 22 25 33
+f 22 33 24
+f 22 24 23
+f 22 30 31
+f 26 32 27
+f 27 32 28
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_77.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63b6dd93d9d8984f485f3416a0d066b6b8f68c86
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_77.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v 0.00684491 0.01497067 -0.05898138
+v 0.00684491 0.01749687 -0.05475322
+v -0.00017470 0.01797784 -0.05618426
+v -0.00017470 0.01656896 -0.05905282
+v -0.00017470 0.01693076 -0.06255139
+v 0.00684491 0.01585176 -0.06223964
+v 0.00684491 0.02111057 -0.05017650
+v -0.00017470 0.02980433 -0.04049264
+v -0.00017470 0.02190014 -0.05064413
+v -0.00017470 0.01957188 -0.05385476
+v -0.00017470 0.01969531 -0.06255139
+v 0.00220823 0.01692225 -0.06260985
+v 0.00220823 0.01982300 -0.06260985
+v 0.00684491 0.01913346 -0.06205563
+v 0.00684491 0.02938294 -0.04049914
+v 0.00683941 0.02938933 -0.04049264
+v -0.00017470 0.03601233 -0.04049264
+v -0.00017470 0.02202358 -0.05987767
+v 0.00220823 0.02215340 -0.06011799
+v 0.00684491 0.01914410 -0.06204480
+v 0.00684491 0.02939358 -0.04049264
+v 0.00155546 0.03653800 -0.04049264
+v -0.00017470 0.03596977 -0.04059440
+v -0.00017470 0.03356701 -0.04469699
+v 0.00252774 0.03372663 -0.04533998
+v 0.00429295 0.03236457 -0.04746814
+v 0.00463719 0.03236457 -0.04746814
+v 0.00646081 0.03346911 -0.04498926
+v 0.00684491 0.03340527 -0.04481823
+v 0.00684491 0.03606341 -0.04049264
+v 0.00220823 0.03671251 -0.04049264
+v 0.00220823 0.03636987 -0.04134997
+v 0.00676451 0.03611236 -0.04049264
+v 0.00684491 0.03549943 -0.04144306
+v 0.00684491 0.03603574 -0.04056842
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 14
+f 1 14 20
+f 1 20 29
+f 1 29 34
+f 1 34 35
+f 1 35 30
+f 1 30 21
+f 1 21 15
+f 1 15 7
+f 1 7 2
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 3
+f 3 10 9
+f 3 9 8
+f 3 8 17
+f 3 17 23
+f 3 23 24
+f 3 24 18
+f 3 18 11
+f 3 11 5
+f 3 5 4
+f 5 11 13
+f 5 13 12
+f 5 12 6
+f 6 12 13
+f 6 13 14
+f 7 15 8
+f 8 15 16
+f 8 16 21
+f 8 21 30
+f 8 30 33
+f 8 33 31
+f 8 31 22
+f 8 22 17
+f 11 18 19
+f 11 19 13
+f 13 19 20
+f 13 20 14
+f 15 21 16
+f 17 22 23
+f 18 24 25
+f 18 25 26
+f 18 26 19
+f 19 26 27
+f 19 27 20
+f 20 27 28
+f 20 28 29
+f 22 31 32
+f 22 32 23
+f 23 32 24
+f 24 32 25
+f 25 32 26
+f 26 32 27
+f 27 32 33
+f 27 33 28
+f 28 34 29
+f 28 33 35
+f 28 35 34
+f 30 35 33
+f 31 33 32
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_78.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_78.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9804e4ee9b0be24d17e335ea7c554564c1c5805c
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_78.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v -0.02418533 0.02397019 0.00353747
+v -0.02418359 0.02396683 0.00354466
+v -0.02648705 0.02397019 -0.00694594
+v -0.02664327 0.02397019 0.00354466
+v -0.02753202 0.02207112 -0.00694594
+v -0.03431393 0.00678604 0.00354466
+v -0.03628063 0.00680959 -0.00694594
+v -0.03242534 0.02397019 -0.00694594
+v -0.03041351 0.02397019 0.00354466
+v -0.04003698 0.00678604 0.00354466
+v -0.03629452 0.00678604 -0.00694594
+v -0.03286451 0.02321998 -0.00694594
+v -0.03285236 0.02319811 -0.00466377
+v -0.03241145 0.02397019 -0.00569188
+v -0.03100716 0.02397019 0.00150899
+v -0.03355884 0.01975489 0.00150899
+v -0.03323945 0.01920822 0.00354466
+v -0.03949713 0.00800723 0.00354466
+v -0.04056467 0.00678604 0.00181403
+v -0.04191689 0.00678604 -0.00694594
+v -0.03789322 0.01454044 -0.00694594
+v -0.03211463 0.02397019 -0.00312623
+v -0.03227085 0.02397019 -0.00399822
+v -0.03778734 0.01435877 -0.00314780
+v -0.03387997 0.02101814 -0.00312623
+v -0.03144459 0.02397019 -0.00014050
+v -0.03753911 0.01393657 -0.00034284
+v -0.03818831 0.01073220 0.00354466
+v -0.03844869 0.01146895 0.00132925
+v -0.04069660 0.00678604 0.00133746
+v -0.04174851 0.00678604 -0.00314780
+v -0.04135101 0.00766408 -0.00314780
+v -0.04138052 0.00791472 -0.00694594
+v -0.04102294 0.00859596 -0.00694594
+v -0.03941902 0.01135121 -0.00314780
+v -0.03249998 0.02280451 -0.00155890
+v -0.03196881 0.02397019 -0.00239700
+v -0.04160097 0.00678604 -0.00230354
+f 1 2 3
+f 1 3 8
+f 1 8 14
+f 1 14 23
+f 1 23 22
+f 1 22 37
+f 1 37 26
+f 1 26 15
+f 1 15 9
+f 1 9 4
+f 1 4 2
+f 2 5 3
+f 2 4 9
+f 2 9 17
+f 2 17 28
+f 2 28 18
+f 2 18 10
+f 2 10 6
+f 2 6 7
+f 2 7 5
+f 3 5 7
+f 3 7 11
+f 3 11 20
+f 3 20 33
+f 3 33 34
+f 3 34 21
+f 3 21 12
+f 3 12 8
+f 6 10 19
+f 6 19 30
+f 6 30 38
+f 6 38 31
+f 6 31 20
+f 6 20 11
+f 6 11 7
+f 8 12 13
+f 8 13 14
+f 9 15 16
+f 9 16 17
+f 10 18 19
+f 12 21 13
+f 13 22 23
+f 13 23 14
+f 13 21 24
+f 13 24 25
+f 13 25 22
+f 15 26 16
+f 16 27 17
+f 16 26 27
+f 17 27 28
+f 18 28 19
+f 19 28 29
+f 19 29 30
+f 20 31 32
+f 20 32 33
+f 21 34 35
+f 21 35 24
+f 22 25 36
+f 22 36 37
+f 24 35 27
+f 24 27 25
+f 25 27 36
+f 26 37 36
+f 26 36 27
+f 27 35 32
+f 27 32 29
+f 27 29 28
+f 29 32 38
+f 29 38 30
+f 31 38 32
+f 32 35 33
+f 33 35 34
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_79.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_79.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f4724ca46db9d29ea59a93f179d9844c423a82a
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_79.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v 0.02162276 -0.00763835 0.04546631
+v 0.01659137 -0.00763835 0.05980369
+v 0.01655948 -0.00769516 0.05980369
+v 0.02155721 -0.00775339 0.04546631
+v 0.01340778 -0.00763835 0.04546631
+v 0.00768014 -0.00763835 0.05980369
+v 0.01449909 -0.01122176 0.05980369
+v 0.01447606 -0.01126437 0.05979947
+v 0.01827441 -0.01337351 0.04546631
+v 0.01167868 -0.00763835 0.04978830
+v 0.00352393 -0.01487192 0.04546631
+v 0.00352393 -0.01157967 0.05513920
+v 0.00352393 -0.01060393 0.05860493
+v 0.00352393 -0.01029856 0.05980369
+v 0.01447075 -0.01126721 0.05980369
+v 0.01779253 -0.01416887 0.04546631
+v 0.01355836 -0.01365189 0.05827787
+v 0.00352393 -0.02214811 0.04546631
+v 0.00352393 -0.01769547 0.05980369
+v 0.01132259 -0.01469296 0.05980369
+v 0.01676145 -0.01583204 0.04546631
+v 0.01363986 -0.01802640 0.04950896
+v 0.00620084 -0.02144506 0.04546631
+v 0.00648784 -0.01692283 0.05980369
+v 0.01249717 -0.01738301 0.05247077
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+v 0.01421741 -0.01850220 0.04653172
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+f 22 31 32
+f 22 32 27
+f 23 30 24
+f 24 28 25
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+f 24 30 29
+f 24 29 28
+f 27 32 33
+f 31 33 32
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_8.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..612a50b0eec194064b6102577b15a527da89ce81
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_8.obj
@@ -0,0 +1,315 @@
+# https://github.com/mikedh/trimesh
+v -0.00019873 -0.03616878 0.01493183
+v 0.00631817 -0.03464414 0.01493183
+v 0.00686792 -0.03435340 0.01548627
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+v -0.00019873 -0.03597022 0.01542928
+v -0.00019873 -0.02523395 0.01493183
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+v 0.02562128 -0.00005265 0.01491381
+v 0.03609928 -0.00005265 0.01491381
+v 0.01119673 -0.03343861 0.01493183
+v 0.01185206 -0.03327551 0.01493183
+v 0.01116761 -0.03333934 0.01528972
+v 0.00686792 -0.03324715 0.01812942
+v 0.01223434 -0.03315496 0.01493183
+v 0.02084101 -0.03020497 0.01548669
+v 0.02323661 -0.02831159 0.01787546
+v 0.02084101 -0.02876543 0.01820485
+v -0.00019873 -0.03516181 0.01685625
+v -0.00019873 -0.00005265 0.01501313
+v -0.00003854 0.03558127 0.01491381
+v 0.03427892 0.00725851 0.01491381
+v 0.03699490 -0.00293882 0.01493183
+v 0.03682014 -0.00647030 0.01493183
+v 0.03405320 -0.01159024 0.01493183
+v 0.03333233 -0.01288086 0.01493183
+v 0.02850109 -0.02117771 0.01493183
+v 0.02411038 -0.02843923 0.01493183
+v 0.02377179 -0.02892144 0.01493183
+v 0.02334583 -0.02919091 0.01493183
+v 0.02083009 -0.03040353 0.01493183
+v 0.02027670 -0.03059499 0.01493183
+v 0.00221143 -0.03371518 0.01843619
+v 0.01619181 -0.02940365 0.01850450
+v 0.02084101 -0.02591472 0.01889508
+v 0.02368806 -0.02882216 0.01548669
+v 0.02872318 -0.02046149 0.01548669
+v 0.03361631 -0.01204408 0.01543724
+v 0.02813338 -0.01945452 0.01807955
+v 0.02380092 -0.02591472 0.01820485
+v -0.00019873 -0.03392082 0.01847139
+v -0.00019873 -0.00005265 0.01919431
+v -0.00003854 0.03537562 0.01542928
+v 0.00265560 0.03627622 0.01491381
+v 0.03297554 0.01242809 0.01491381
+v 0.03641238 -0.00225096 0.01568534
+v 0.03311753 0.01122256 0.01547831
+v 0.03263695 0.00959156 0.01797310
+v 0.03376922 -0.00728580 0.01846091
+v 0.03604467 -0.00729289 0.01568534
+v 0.00221143 -0.03056663 0.01912599
+v -0.00019873 -0.03240328 0.01880498
+v 0.01619181 -0.02591472 0.01919514
+v 0.02549749 -0.02110680 0.01852545
+v 0.02549385 -0.01660380 0.01904763
+v 0.02084101 -0.02125572 0.01919431
+v 0.03300831 -0.01055490 0.01821617
+v 0.03193793 -0.01366090 0.01695641
+v -0.00019873 -0.02831868 0.01919431
+v 0.00221143 0.02997912 0.01919514
+v -0.00003854 0.02773117 0.01919431
+v -0.00003854 0.02997912 0.01916162
+v -0.00003854 0.03181578 0.01880456
+v -0.00003854 0.03333332 0.01847181
+v -0.00003854 0.03456721 0.01685290
+v 0.00221143 0.03592165 0.01537605
+v 0.00221143 0.03352479 0.01850450
+v 0.00299419 0.03627622 0.01491381
+v 0.03248040 0.01395981 0.01491381
+v 0.03395489 -0.00262680 0.01850450
+v 0.03298282 0.00668411 0.01825221
+v 0.03344519 0.00203220 0.01847851
+v 0.03367456 -0.00005265 0.01849067
+v 0.03193793 0.01551282 0.01491381
+v 0.03148648 0.01606594 0.01547831
+v 0.03196706 0.01269756 0.01702598
+v 0.02941491 0.02110787 0.01593343
+v 0.02779843 0.02295871 0.01778326
+v 0.02850109 0.01985271 0.01827484
+v 0.03015762 -0.00728580 0.01915114
+v -0.00019873 -0.03056663 0.01916162
+v 0.03015762 -0.00262680 0.01919431
+v 0.02549749 0.01600921 0.01919514
+v 0.00687156 0.02997912 0.01909373
+v 0.02083737 0.02066112 0.01919431
+v 0.00687156 0.03331205 0.01840350
+v 0.00617618 0.03601384 0.01491381
+v 0.03015762 0.00203220 0.01916832
+v 0.03015762 -0.00005265 0.01918006
+v 0.02910545 0.01600921 0.01850450
+v 0.03015762 0.00668411 0.01894244
+v 0.03162483 0.01636377 0.01491381
+v 0.02986636 0.02103696 0.01491381
+v 0.02845740 0.02349056 0.01491381
+v 0.01994903 0.02844740 0.01491381
+v 0.01976700 0.02836939 0.01548627
+v 0.01148435 0.03318440 0.01518244
+v 0.01885682 0.02784463 0.01799406
+v 0.02469290 0.02371039 0.01827484
+v 0.02594530 0.02110787 0.01864279
+v 0.01618817 0.02532012 0.01898393
+v 0.01148435 0.03003585 0.01856191
+v 0.00990428 0.03269510 0.01813990
+v 0.00665675 0.03556000 0.01537605
+v 0.02057888 0.02528466 0.01847432
+v 0.01148799 0.03326950 0.01491381
+v 0.01187027 0.03306385 0.01491381
+f 1 2 3
+f 1 3 4
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\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_80.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_80.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7c94cf2c316b10f5565e25f733fb50ff45a8651
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_80.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v 0.00467358 0.00779725 0.08652913
+v -0.00002451 0.00938369 0.08652913
+v -0.00002451 0.00938369 0.08549206
+v 0.00467358 0.00779935 0.08549206
+v 0.00467358 0.00795432 0.08801035
+v -0.00002451 0.00949049 0.09102966
+v -0.00002451 0.00941615 0.08837573
+v -0.00002451 0.01639332 0.08549206
+v 0.00467358 0.01566345 0.08549206
+v 0.00467358 0.00822554 0.09009980
+v -0.00002451 0.01066435 0.09985788
+v 0.00222220 0.01652840 0.08549206
+v -0.00002451 0.01786980 0.09687357
+v 0.00467358 0.01790750 0.10110499
+v 0.00467358 0.01007376 0.10282906
+v -0.00002451 0.01130730 0.10430372
+v 0.00089027 0.01786980 0.09687357
+v 0.00231189 0.01807609 0.09971785
+v 0.00385262 0.01769807 0.09814475
+v -0.00002451 0.01834940 0.10430372
+v 0.00222220 0.01849390 0.10430372
+v 0.00467358 0.01807609 0.10430372
+v 0.00467358 0.01029261 0.10430372
+v -0.00002451 0.01250629 0.10736679
+v -0.00002451 0.01825620 0.10594684
+v 0.00222220 0.01819023 0.10701235
+v 0.00467358 0.01800279 0.10678700
+v 0.00467358 0.01178795 0.10739085
+v -0.00002451 0.01401419 0.10760747
+v -0.00002451 0.01814206 0.10695984
+v 0.00222220 0.01555455 0.10784157
+v 0.00467358 0.01557340 0.10762934
+v -0.00002451 0.01574513 0.10765997
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 14
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+f 1 22 27
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+f 1 32 28
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+f 1 23 15
+f 1 15 10
+f 1 10 5
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+f 24 28 29
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+f 26 30 31
+f 26 31 32
+f 26 32 27
+f 28 32 31
+f 28 31 29
+f 29 31 33
+f 30 33 31
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_81.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_81.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b3986bc02911b45724a4f8240820252624325ed
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_81.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v -0.03405219 -0.01555119 -0.03116274
+v -0.03311271 -0.01555119 -0.03432228
+v -0.03376446 -0.01665268 -0.03116274
+v -0.02852649 -0.01555119 -0.03116274
+v -0.03305495 -0.01555119 -0.03449692
+v -0.03357700 -0.01729245 -0.03116274
+v -0.03365547 -0.01684670 -0.03135768
+v -0.03371323 -0.01683687 -0.03116274
+v -0.02477185 -0.01555610 -0.04017297
+v -0.02651457 -0.01555119 -0.03613226
+v -0.02291796 -0.02188874 -0.03116274
+v -0.03091660 -0.01555119 -0.04017297
+v -0.03068119 -0.01635551 -0.04017297
+v -0.03059944 -0.01661584 -0.04017297
+v -0.03251001 -0.01856217 -0.03308210
+v -0.03196397 -0.02122932 -0.03116274
+v -0.02291796 -0.01841481 -0.04017297
+v -0.03057002 -0.01555119 -0.04017297
+v -0.02291796 -0.02809613 -0.03116274
+v -0.02919568 -0.02016590 -0.04017297
+v -0.02907034 -0.02042868 -0.04017297
+v -0.03181684 -0.02153631 -0.03116274
+v -0.02291796 -0.02540810 -0.04017297
+v -0.02936025 -0.02439625 -0.03116274
+v -0.02855919 -0.02390998 -0.03454985
+v -0.02291796 -0.02676255 -0.03580590
+v -0.02892757 -0.02063007 -0.04017297
+v -0.02785730 -0.02341265 -0.03765469
+v -0.02492988 -0.02422311 -0.04017297
+v -0.02705297 -0.02275200 -0.04017297
+f 1 2 3
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+f 19 24 25
+f 19 25 26
+f 21 27 22
+f 22 27 28
+f 22 28 25
+f 22 25 24
+f 23 26 28
+f 23 28 29
+f 25 28 26
+f 27 30 28
+f 28 30 29
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_82.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_82.obj
new file mode 100644
index 0000000000000000000000000000000000000000..659a44622acc6228576b62b85cb75b52dd23fccd
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_82.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.03224674 0.00670902 0.00858408
+v -0.03322135 -0.00005971 0.00858408
+v -0.03463685 -0.00005971 0.00354618
+v -0.03435519 0.00670902 0.00354618
+v -0.03863931 0.00670902 0.00858408
+v -0.03858250 -0.00005971 0.00858408
+v -0.03986278 -0.00005971 0.00354618
+v -0.04007082 0.00670902 0.00354618
+v -0.04013643 0.00655994 0.00354618
+v -0.03864571 0.00669444 0.00858408
+v -0.03904900 0.00185178 0.00858408
+v -0.04042129 0.00211747 0.00354618
+v -0.03915862 -0.00005971 0.00633614
+v -0.03971154 0.00203266 0.00616845
+v -0.03883856 0.00462195 0.00858408
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 5
+f 1 5 10
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+f 1 15 11
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+f 1 6 2
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+f 5 8 9
+f 5 9 10
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+f 6 12 13
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+f 9 12 14
+f 9 14 11
+f 9 11 15
+f 9 15 10
+f 11 14 12
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_83.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_83.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13e285da453e936dec69508620fd8f1a6b7d7a8d
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_83.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v 0.04335085 -0.00222507 -0.02457494
+v 0.04307752 -0.00222312 -0.01124779
+v 0.04325792 -0.00666591 -0.02457874
+v 0.04335085 -0.00222248 -0.02457874
+v 0.04280808 -0.00013978 -0.02457874
+v 0.04257223 -0.00013978 -0.01332926
+v 0.04252615 -0.00013978 -0.01124779
+v 0.04303222 -0.00222312 -0.01080678
+v 0.04296740 -0.00666591 -0.01124779
+v 0.04313999 -0.00666591 -0.02902112
+v 0.04324074 -0.00222248 -0.02902112
+v 0.04325714 -0.00666851 -0.02457494
+v 0.04268860 -0.00013978 -0.02902112
+v 0.04248086 -0.00013978 -0.01080678
+v 0.04291976 -0.00666591 -0.01080678
+v 0.04291508 -0.00667696 -0.01080678
+v 0.04290570 -0.00677635 -0.01111662
+v 0.04291976 -0.00677635 -0.01124779
+v 0.04309626 -0.00676465 -0.02901542
+v 0.04292757 -0.00666591 -0.03022628
+v 0.04296662 -0.00546216 -0.03022628
+v 0.04304003 -0.00222248 -0.03022628
+v 0.04320716 -0.00677635 -0.02446468
+v 0.04320794 -0.00677635 -0.02453882
+v 0.04321341 -0.00676465 -0.02457494
+v 0.04248008 -0.00013978 -0.03022628
+v 0.03550216 -0.00013978 -0.01080678
+v 0.04287212 -0.00677635 -0.01080678
+v 0.04320794 -0.00677635 -0.02457494
+v 0.04288228 -0.00676465 -0.03022628
+v 0.03542954 -0.00013978 -0.03022628
+v 0.03545531 -0.00677635 -0.01080678
+v 0.03537331 -0.00676465 -0.03022628
+v 0.03585516 -0.00677635 -0.02457494
+f 1 2 3
+f 1 3 4
+f 1 4 2
+f 2 4 5
+f 2 5 6
+f 2 6 7
+f 2 7 14
+f 2 14 8
+f 2 8 9
+f 2 9 3
+f 3 10 11
+f 3 11 4
+f 3 9 12
+f 3 12 10
+f 4 11 5
+f 5 11 13
+f 5 13 26
+f 5 26 31
+f 5 31 27
+f 5 27 14
+f 5 14 7
+f 5 7 6
+f 8 15 9
+f 8 14 27
+f 8 27 32
+f 8 32 28
+f 8 28 16
+f 8 16 15
+f 9 15 16
+f 9 16 17
+f 9 17 18
+f 9 18 12
+f 10 19 20
+f 10 20 21
+f 10 21 11
+f 10 12 19
+f 11 21 22
+f 11 22 13
+f 12 18 23
+f 12 23 24
+f 12 24 25
+f 12 25 19
+f 13 22 26
+f 16 28 17
+f 17 28 32
+f 17 32 34
+f 17 34 29
+f 17 29 24
+f 17 24 23
+f 17 23 18
+f 19 29 30
+f 19 30 20
+f 19 25 29
+f 20 30 33
+f 20 33 31
+f 20 31 26
+f 20 26 22
+f 20 22 21
+f 24 29 25
+f 27 31 33
+f 27 33 32
+f 29 34 33
+f 29 33 30
+f 32 33 34
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_84.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_84.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8d27dfaccb446a1eaa81938107c864600717fe7
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_84.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.00229343 -0.00001585 0.10597212
+v -0.00235004 -0.00001585 0.10604686
+v 0.00229343 0.00668402 0.10435292
+v 0.00229343 -0.00001585 0.11344005
+v -0.00235004 0.00669190 0.10443832
+v -0.00235004 -0.00001585 0.11344005
+v 0.00220616 0.00669190 0.10438583
+v 0.00229343 0.00669190 0.10440362
+v 0.00229343 0.00669190 0.11344005
+v -0.00235004 0.00669190 0.11344005
+f 1 2 3
+f 1 3 8
+f 1 8 9
+f 1 9 4
+f 1 4 6
+f 1 6 2
+f 2 5 3
+f 2 6 10
+f 2 10 5
+f 3 5 7
+f 3 7 8
+f 4 9 10
+f 4 10 6
+f 5 10 9
+f 5 9 8
+f 5 8 7
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_85.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_85.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d5ceceab038cd449a72d058af4a13023ee5ecee
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_85.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.01657442 -0.00013814 -0.06692698
+v 0.02585368 -0.00013814 -0.06692698
+v 0.01657442 -0.00013814 -0.06539725
+v 0.01657442 0.01661853 -0.06692698
+v 0.02905920 -0.00013814 -0.06169907
+v 0.02540396 0.00222240 -0.06692698
+v 0.02042275 -0.00013814 -0.06169907
+v 0.01657442 0.01236826 -0.06169907
+v 0.01657442 0.01661853 -0.06169907
+v 0.01999258 0.01661853 -0.06692698
+v 0.02856182 0.00218303 -0.06169907
+v 0.02319565 0.01030136 -0.06692698
+v 0.02415988 0.01661853 -0.06169907
+v 0.02091770 0.01661853 -0.06597455
+v 0.02119022 0.01647418 -0.06585018
+v 0.02064395 0.01599846 -0.06692698
+v 0.02297446 0.01111007 -0.06692698
+v 0.02605532 0.01111007 -0.06169907
+v 0.02475747 0.01546041 -0.06169907
+v 0.02229620 0.01351162 -0.06692698
+v 0.02282414 0.01661853 -0.06369914
+v 0.02110834 0.01661853 -0.06576625
+f 1 2 5
+f 1 5 7
+f 1 7 3
+f 1 3 8
+f 1 8 9
+f 1 9 4
+f 1 4 10
+f 1 10 16
+f 1 16 20
+f 1 20 17
+f 1 17 12
+f 1 12 6
+f 1 6 2
+f 2 6 5
+f 3 7 8
+f 4 9 13
+f 4 13 21
+f 4 21 22
+f 4 22 14
+f 4 14 10
+f 5 6 11
+f 5 11 18
+f 5 18 19
+f 5 19 13
+f 5 13 9
+f 5 9 8
+f 5 8 7
+f 6 12 11
+f 10 14 15
+f 10 15 16
+f 11 12 17
+f 11 17 18
+f 13 19 20
+f 13 20 21
+f 14 22 15
+f 15 22 21
+f 15 21 16
+f 16 21 20
+f 17 20 18
+f 18 20 19
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_86.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_86.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe2d8d76c0e3f16ede24550d46b8f4709b4fcaff
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_86.obj
@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
+v 0.00221007 0.01532995 0.09985419
+v 0.00519797 0.01443452 0.09985419
+v 0.00556614 0.01426307 0.09934141
+v 0.00221007 0.01526846 0.09934141
+v -0.00010660 0.01517435 0.09934141
+v -0.00010660 0.01523119 0.09985419
+v 0.00562278 0.01429475 0.09985419
+v 0.00500821 0.01394627 0.09679074
+v 0.00789415 0.01290175 0.09934141
+v 0.00443471 0.01411771 0.09679074
+v 0.00210812 0.01465628 0.09679074
+v -0.00010660 0.01456776 0.09679074
+v -0.00010802 0.00977377 0.09679074
+v -0.00010802 0.00977377 0.09933122
+v -0.00010660 0.00979613 0.09985419
+v 0.00795079 0.01292970 0.09985419
+v 0.00540613 0.01371332 0.09679074
+v 0.01182089 0.01021637 0.09985419
+v 0.01171327 0.01027693 0.09976302
+v 0.00924365 0.01128045 0.09679074
+v 0.00718895 0.01261290 0.09679074
+v -0.00010802 0.00936565 0.09679074
+v 0.00207272 0.00778163 0.09679074
+v 0.00346329 0.00683309 0.09679074
+v 0.00682219 0.00581093 0.09897137
+v 0.00763359 0.00581093 0.09985419
+v 0.01203754 0.00876652 0.09679074
+v 0.01118083 0.00977470 0.09679074
+v 0.01091885 0.01008126 0.09679074
+v 0.01416730 0.00656567 0.09985419
+v 0.01339272 0.00781797 0.09849099
+v 0.00587909 0.00581093 0.09679074
+v 0.01435847 0.00581093 0.09985419
+v 0.01305569 0.00716200 0.09679074
+v 0.01434006 0.00581093 0.09970275
+v 0.01413473 0.00581093 0.09878366
+v 0.01409791 0.00581093 0.09862143
+v 0.01375239 0.00581093 0.09727922
+v 0.01358105 0.00581093 0.09679074
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 15
+f 1 15 26
+f 1 26 33
+f 1 33 30
+f 1 30 18
+f 1 18 16
+f 1 16 7
+f 1 7 2
+f 2 7 3
+f 3 8 4
+f 3 7 9
+f 3 9 8
+f 4 8 10
+f 4 10 11
+f 4 11 12
+f 4 12 5
+f 5 12 13
+f 5 13 6
+f 6 13 14
+f 6 14 15
+f 7 16 9
+f 8 9 17
+f 8 17 21
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+f 8 20 29
+f 8 29 28
+f 8 28 27
+f 8 27 34
+f 8 34 39
+f 8 39 32
+f 8 32 24
+f 8 24 23
+f 8 23 22
+f 8 22 13
+f 8 13 12
+f 8 12 11
+f 8 11 10
+f 9 16 18
+f 9 18 19
+f 9 19 20
+f 9 20 21
+f 9 21 17
+f 13 22 14
+f 14 22 15
+f 15 22 23
+f 15 23 24
+f 15 24 25
+f 15 25 26
+f 18 27 28
+f 18 28 29
+f 18 29 19
+f 18 30 31
+f 18 31 27
+f 19 29 20
+f 24 32 25
+f 25 32 39
+f 25 39 38
+f 25 38 37
+f 25 37 36
+f 25 36 35
+f 25 35 33
+f 25 33 26
+f 27 31 34
+f 30 33 35
+f 30 35 36
+f 30 36 37
+f 30 37 38
+f 30 38 31
+f 31 38 34
+f 34 38 39
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_87.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_87.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce09522c88e42c9fe9f2a915b37d3d3cb49585d1
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_87.obj
@@ -0,0 +1,144 @@
+# https://github.com/mikedh/trimesh
+v -0.01945027 -0.02247892 -0.04661373
+v -0.02388280 -0.02247892 -0.03922548
+v -0.01570170 -0.02457443 -0.04661373
+v -0.01505750 -0.02493207 -0.04670304
+v -0.03187568 -0.02247892 -0.04661373
+v -0.03371020 -0.02247892 -0.03922548
+v -0.01505750 -0.02781577 -0.03922548
+v -0.00662985 -0.03239914 -0.03922621
+v -0.00665636 -0.02965433 -0.04670304
+v -0.01505750 -0.03350159 -0.04670304
+v -0.03173783 -0.02284177 -0.04661373
+v -0.03202944 -0.02247892 -0.04606838
+v -0.03334171 -0.02247892 -0.04076345
+v -0.03267364 -0.02457443 -0.03922548
+v -0.01505750 -0.03579674 -0.03922548
+v -0.00662985 -0.04021345 -0.03922621
+v -0.00662985 -0.02969079 -0.04665765
+v -0.00663516 -0.02966822 -0.04670304
+v -0.01026708 -0.03623598 -0.04670304
+v -0.02531436 -0.02770640 -0.04661373
+v -0.02839487 -0.02576888 -0.04661373
+v -0.02888531 -0.02542686 -0.04661373
+v -0.03158141 -0.02309698 -0.04661373
+v -0.03166360 -0.02300323 -0.04661373
+v -0.03227864 -0.02385567 -0.04235632
+v -0.03160262 -0.02593381 -0.03922548
+v -0.02893568 -0.02788695 -0.03922548
+v -0.01099346 -0.03811621 -0.03922621
+v -0.00828410 -0.03954504 -0.03922621
+v -0.00805346 -0.03966136 -0.03922621
+v -0.00788379 -0.03972733 -0.03922621
+v -0.00662985 -0.03997212 -0.04010536
+v -0.00662985 -0.02977412 -0.04670304
+v -0.01018489 -0.03628112 -0.04670304
+v -0.01143883 -0.03688356 -0.04257006
+v -0.01313815 -0.03543389 -0.04419295
+v -0.02721781 -0.02698417 -0.04556987
+v -0.01868412 -0.03148247 -0.04661373
+v -0.03028771 -0.02607791 -0.04235632
+v -0.03093986 -0.02654840 -0.03981036
+v -0.03033278 -0.02707271 -0.03922548
+v -0.02806614 -0.02746681 -0.04235632
+v -0.02411874 -0.02978107 -0.04214403
+v -0.01007620 -0.03633494 -0.04670304
+v -0.00666697 -0.03795301 -0.04670304
+v -0.00665371 -0.03926552 -0.04251297
+v -0.00662985 -0.03928115 -0.04249028
+v -0.00662985 -0.03795475 -0.04670304
+v -0.02165858 -0.03078976 -0.04348216
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 13
+f 1 13 6
+f 1 6 2
+f 2 6 14
+f 2 14 26
+f 2 26 41
+f 2 41 27
+f 2 27 15
+f 2 15 7
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 3 9 4
+f 4 9 18
+f 4 18 33
+f 4 33 48
+f 4 48 45
+f 4 45 44
+f 4 44 34
+f 4 34 19
+f 4 19 10
+f 4 10 5
+f 5 11 12
+f 5 10 11
+f 6 13 14
+f 7 15 16
+f 7 16 8
+f 8 16 32
+f 8 32 47
+f 8 47 48
+f 8 48 33
+f 8 33 17
+f 8 17 18
+f 8 18 9
+f 10 19 20
+f 10 20 21
+f 10 21 22
+f 10 22 23
+f 10 23 24
+f 10 24 11
+f 11 24 13
+f 11 13 12
+f 13 24 25
+f 13 25 14
+f 14 25 24
+f 14 24 26
+f 15 27 28
+f 15 28 29
+f 15 29 30
+f 15 30 31
+f 15 31 16
+f 16 31 32
+f 17 33 18
+f 19 34 35
+f 19 35 36
+f 19 36 37
+f 19 37 38
+f 19 38 20
+f 20 38 37
+f 20 37 21
+f 21 37 39
+f 21 39 22
+f 22 39 23
+f 23 39 40
+f 23 40 24
+f 24 40 26
+f 26 40 41
+f 27 41 40
+f 27 40 42
+f 27 42 43
+f 27 43 28
+f 28 35 29
+f 28 43 35
+f 29 35 34
+f 29 34 30
+f 30 34 44
+f 30 44 45
+f 30 45 46
+f 30 46 32
+f 30 32 31
+f 32 46 47
+f 35 43 49
+f 35 49 36
+f 36 49 37
+f 37 49 42
+f 37 42 40
+f 37 40 39
+f 42 49 43
+f 45 48 47
+f 45 47 46
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_88.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_88.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54e52abd1e5ba413bd2fca5eedfe13b0ae21359c
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_88.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v -0.00005518 0.01527633 0.04546350
+v -0.00005518 0.01564247 0.04425011
+v 0.00115633 0.01530364 0.04546350
+v -0.00005518 0.02278778 0.04546350
+v -0.00005518 0.01690100 0.04013282
+v 0.00222834 0.01534583 0.04546350
+v 0.00222186 0.02310427 0.04546350
+v 0.00218855 0.02795469 0.03282007
+v 0.00142216 0.02795469 0.03251672
+v -0.00005518 0.02795469 0.03193064
+v -0.00005518 0.01745331 0.03848650
+v 0.00222834 0.01746200 0.03899306
+v 0.00222834 0.01642812 0.04208250
+v 0.00222834 0.01541037 0.04546350
+v 0.00222834 0.02310551 0.04545761
+v 0.00222834 0.02795469 0.03280829
+v -0.00005518 0.02795469 0.01537607
+v -0.00005518 0.01860386 0.03530281
+v 0.00222834 0.01824640 0.03676654
+v 0.00222834 0.02795469 0.01692815
+v 0.00222186 0.02795469 0.01625666
+v 0.00222834 0.02795220 0.01625961
+v 0.00222834 0.02585094 0.02047114
+v 0.00222834 0.02143740 0.02943317
+v -0.00005518 0.02483816 0.02181412
+v -0.00005518 0.01937213 0.03339731
+v 0.00222834 0.01968738 0.03319410
+v -0.00005518 0.02052019 0.03088806
+v -0.00005518 0.02139396 0.02901496
+f 1 2 3
+f 1 3 6
+f 1 6 14
+f 1 14 7
+f 1 7 4
+f 1 4 10
+f 1 10 17
+f 1 17 25
+f 1 25 29
+f 1 29 28
+f 1 28 26
+f 1 26 18
+f 1 18 11
+f 1 11 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 4 7 8
+f 4 8 9
+f 4 9 10
+f 5 11 12
+f 5 12 13
+f 5 13 6
+f 6 13 12
+f 6 12 19
+f 6 19 27
+f 6 27 24
+f 6 24 23
+f 6 23 22
+f 6 22 20
+f 6 20 16
+f 6 16 15
+f 6 15 14
+f 7 14 15
+f 7 15 16
+f 7 16 8
+f 8 16 20
+f 8 20 21
+f 8 21 17
+f 8 17 10
+f 8 10 9
+f 11 18 19
+f 11 19 12
+f 17 21 22
+f 17 22 23
+f 17 23 24
+f 17 24 25
+f 18 26 19
+f 19 26 27
+f 20 22 21
+f 24 27 28
+f 24 28 29
+f 24 29 25
+f 26 28 27
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_89.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_89.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b7030488c8740d206759bebc5a4551c4d84a48e
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_89.obj
@@ -0,0 +1,138 @@
+# https://github.com/mikedh/trimesh
+v -0.00010855 0.01453907 0.09665994
+v -0.00010855 0.01376727 0.09223221
+v -0.00048614 0.01376727 0.09223221
+v -0.00230145 0.01448082 0.09665994
+v -0.00238278 0.01445776 0.09666069
+v -0.00010855 0.00910617 0.09665994
+v -0.00010855 0.01344691 0.09202130
+v -0.00238278 0.01398692 0.09472879
+v -0.00220415 0.01409007 0.09491054
+v -0.00010855 0.01160843 0.09082462
+v -0.00220415 0.01157931 0.09082013
+v -0.00711131 0.01023110 0.09117540
+v -0.00359250 0.01328672 0.09350892
+v -0.00513915 0.01377334 0.09661506
+v -0.00516529 0.01377698 0.09666069
+v -0.00238278 0.00813657 0.09666069
+v -0.00010855 0.00694126 0.09557545
+v -0.00818016 0.00214303 0.09666069
+v -0.00010855 0.00669249 0.08902736
+v -0.00238278 0.00669249 0.08901988
+v -0.00238278 0.00804313 0.08951725
+v -0.00711131 0.00669249 0.08954417
+v -0.00978926 0.00947386 0.09194127
+v -0.00685862 0.01251250 0.09490979
+v -0.00754553 0.01286685 0.09666069
+v -0.00010855 0.00468049 0.09443262
+v -0.01494475 0.00214303 0.09666069
+v -0.00256576 0.00214303 0.09314543
+v -0.00010855 0.00214546 0.09314469
+v -0.00010855 0.00446084 0.08977753
+v -0.00711131 0.00214303 0.08904381
+v -0.00245249 0.00669249 0.08902063
+v -0.01195747 0.00214303 0.09088595
+v -0.01065771 0.00669249 0.09118662
+v -0.01381780 0.00313568 0.09310505
+v -0.01279687 0.00645222 0.09466747
+v -0.01035128 0.01018620 0.09468242
+v -0.01048924 0.01071893 0.09666069
+v -0.01437256 0.00483703 0.09666069
+v -0.01431593 0.00473995 0.09621118
+v -0.01451053 0.00214303 0.09486342
+v -0.00256576 0.00214303 0.09055911
+v -0.00010855 0.00214546 0.09056060
+v -0.00274729 0.00214303 0.09049777
+v -0.01254854 0.00214303 0.09147906
+v -0.01433916 0.00214303 0.09423741
+v -0.01301906 0.00700558 0.09666069
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 16
+f 1 16 6
+f 1 6 17
+f 1 17 26
+f 1 26 29
+f 1 29 43
+f 1 43 30
+f 1 30 19
+f 1 19 10
+f 1 10 7
+f 1 7 2
+f 2 7 3
+f 3 8 9
+f 3 9 4
+f 3 7 10
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 8
+f 4 9 14
+f 4 14 15
+f 4 15 5
+f 5 15 25
+f 5 25 38
+f 5 38 47
+f 5 47 39
+f 5 39 27
+f 5 27 18
+f 5 18 16
+f 6 16 18
+f 6 18 17
+f 8 13 14
+f 8 14 9
+f 10 19 20
+f 10 20 21
+f 10 21 11
+f 11 21 22
+f 11 22 12
+f 12 22 23
+f 12 23 13
+f 13 23 24
+f 13 24 25
+f 13 25 14
+f 14 25 15
+f 17 18 26
+f 18 27 41
+f 18 41 46
+f 18 46 45
+f 18 45 33
+f 18 33 31
+f 18 31 44
+f 18 44 42
+f 18 42 28
+f 18 28 29
+f 18 29 26
+f 19 30 31
+f 19 31 20
+f 20 31 32
+f 20 32 21
+f 21 32 22
+f 22 31 33
+f 22 33 34
+f 22 34 23
+f 22 32 31
+f 23 34 35
+f 23 35 36
+f 23 36 37
+f 23 37 25
+f 23 25 24
+f 25 37 38
+f 27 39 40
+f 27 40 41
+f 28 42 43
+f 28 43 29
+f 30 43 31
+f 31 43 44
+f 33 45 34
+f 34 45 35
+f 35 40 36
+f 35 45 46
+f 35 46 41
+f 35 41 40
+f 36 40 47
+f 36 47 37
+f 37 47 38
+f 39 47 40
+f 42 44 43
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_9.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ccb59ab551b04ca2e7c47a82d34eecaeed26f40d
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_9.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.01632937 -0.02751832 -0.04234706
+v 0.01632937 -0.03076488 -0.02901417
+v 0.01632937 -0.03472717 -0.04234706
+v 0.00639515 -0.03013218 -0.04234706
+v -0.00001593 -0.03505498 -0.02901417
+v 0.01632937 -0.03784919 -0.02901417
+v 0.01632937 -0.03602694 -0.03750728
+v 0.01405741 -0.03574351 -0.04085779
+v 0.01110067 -0.03612858 -0.04234575
+v 0.01109907 -0.03612858 -0.04234706
+v -0.00001593 -0.03183275 -0.04234706
+v -0.00001593 -0.04214215 -0.02901417
+v 0.01632937 -0.03784919 -0.02902331
+v 0.00629755 -0.04048452 -0.02901417
+v 0.01632937 -0.03708909 -0.03346630
+v 0.00666715 -0.03729379 -0.04234706
+v -0.00001593 -0.03900152 -0.04234706
+v -0.00001593 -0.04214072 -0.02902331
+v 0.00545597 -0.04026264 -0.03225636
+v 0.00222243 -0.04155382 -0.02902331
+v 0.00101125 -0.04026264 -0.03669935
+v -0.00001593 -0.04041008 -0.03715748
+v 0.00003367 -0.03899007 -0.04234706
+v -0.00001593 -0.04175852 -0.03126177
+v -0.00001593 -0.04136057 -0.03354461
+f 1 2 6
+f 1 6 13
+f 1 13 15
+f 1 15 7
+f 1 7 3
+f 1 3 10
+f 1 10 16
+f 1 16 23
+f 1 23 17
+f 1 17 11
+f 1 11 4
+f 1 4 5
+f 1 5 2
+f 2 5 12
+f 2 12 14
+f 2 14 6
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 4 11 5
+f 5 11 17
+f 5 17 22
+f 5 22 25
+f 5 25 24
+f 5 24 18
+f 5 18 12
+f 6 14 13
+f 7 15 8
+f 8 15 16
+f 8 16 9
+f 9 16 10
+f 12 18 19
+f 12 19 20
+f 12 20 14
+f 13 14 20
+f 13 20 19
+f 13 19 15
+f 15 19 16
+f 16 19 21
+f 16 21 22
+f 16 22 23
+f 17 23 22
+f 18 24 19
+f 19 24 25
+f 19 25 21
+f 21 25 22
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_90.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_90.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b5ce364924c557bd2ddc6790d5d6d8f1a02ce56
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_90.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.00235004 0.00978465 0.10234270
+v -0.00235004 0.00985067 0.09985960
+v 0.00209548 0.00959897 0.10234270
+v -0.00235004 0.01542029 0.10234270
+v -0.00173168 0.00983298 0.09985449
+v -0.00235004 0.01439289 0.09985449
+v 0.00209548 0.00974280 0.09986277
+v 0.00209548 0.01562011 0.10234270
+v -0.00235004 0.01514089 0.09985449
+v 0.00208417 0.00974516 0.09985449
+v 0.00209548 0.01024205 0.09985449
+v 0.00209548 0.01532421 0.09985449
+f 1 2 3
+f 1 3 8
+f 1 8 4
+f 1 4 9
+f 1 9 6
+f 1 6 2
+f 2 5 3
+f 2 6 5
+f 3 5 7
+f 3 7 11
+f 3 11 12
+f 3 12 8
+f 4 8 9
+f 5 6 9
+f 5 9 12
+f 5 12 11
+f 5 11 10
+f 5 10 7
+f 7 10 11
+f 8 12 9
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_91.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_91.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09ae9b7d7da518f510bb43419cffce51d021f690
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_91.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v -0.03781917 -0.01701233 -0.02902161
+v -0.03109280 -0.01701233 -0.02902161
+v -0.03808640 -0.01701233 -0.02603602
+v -0.03800238 -0.01701066 -0.02902161
+v -0.03088625 -0.01700730 -0.02902161
+v -0.03088858 -0.01701233 -0.02897560
+v -0.03812958 -0.01701233 -0.02457902
+v -0.04018226 -0.00956191 -0.02457902
+v -0.04011691 -0.00932358 -0.02902161
+v -0.03500329 -0.00200911 -0.02902161
+v -0.03499979 -0.00178924 -0.01161249
+v -0.03376047 -0.00631085 -0.01161249
+v -0.03099477 -0.01640811 -0.01161249
+v -0.03106129 -0.01701233 -0.02073115
+v -0.03807356 -0.01701233 -0.02159172
+v -0.04089178 -0.00666835 -0.02073115
+v -0.04219177 -0.00222394 -0.02457902
+v -0.04206224 -0.00222394 -0.02902161
+v -0.04084510 -0.00666835 -0.02902161
+v -0.03811441 -0.01640811 -0.01569041
+v -0.03561361 0.00013253 -0.02902161
+v -0.03553192 0.00013421 -0.01161249
+v -0.03802455 -0.01640811 -0.01161249
+v -0.03805489 -0.01701233 -0.02073115
+v -0.04078208 -0.00666835 -0.01569041
+v -0.04280793 0.00013253 -0.02457902
+v -0.04268656 0.00013253 -0.02902161
+v -0.04194438 -0.00282146 -0.02073115
+v -0.04210775 -0.00222394 -0.02073115
+v -0.04257104 0.00013421 -0.01333363
+v -0.03803622 -0.01640811 -0.01210157
+v -0.03580382 0.00013421 -0.02073115
+v -0.04253253 0.00013421 -0.01161249
+v -0.04069223 -0.00666835 -0.01161249
+v -0.04199806 -0.00222227 -0.01569041
+v -0.04272391 0.00013421 -0.02073115
+v -0.04190820 -0.00222227 -0.01161249
+f 1 2 6
+f 1 6 14
+f 1 14 24
+f 1 24 15
+f 1 15 7
+f 1 7 3
+f 1 3 4
+f 1 4 9
+f 1 9 19
+f 1 19 18
+f 1 18 27
+f 1 27 21
+f 1 21 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 3 7 4
+f 4 7 8
+f 4 8 9
+f 5 10 11
+f 5 11 12
+f 5 12 13
+f 5 13 6
+f 6 13 14
+f 7 15 8
+f 8 16 17
+f 8 17 18
+f 8 18 19
+f 8 19 9
+f 8 15 20
+f 8 20 16
+f 10 21 22
+f 10 22 11
+f 11 22 33
+f 11 33 37
+f 11 37 34
+f 11 34 23
+f 11 23 13
+f 11 13 12
+f 13 23 24
+f 13 24 14
+f 15 24 20
+f 16 20 25
+f 16 25 17
+f 17 26 27
+f 17 27 18
+f 17 25 28
+f 17 28 29
+f 17 29 30
+f 17 30 26
+f 20 31 25
+f 20 24 31
+f 21 27 36
+f 21 36 32
+f 21 32 22
+f 22 32 36
+f 22 36 30
+f 22 30 33
+f 23 31 24
+f 23 34 31
+f 25 31 34
+f 25 34 37
+f 25 37 35
+f 25 35 28
+f 26 30 36
+f 26 36 27
+f 28 35 29
+f 29 35 30
+f 30 35 37
+f 30 37 33
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_92.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_92.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6f343c216ac8171404f4b7748866a8f6c84fdcd
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_92.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.00901817 -0.01314585 0.10278697
+v 0.00901817 -0.01251352 0.09985449
+v 0.01067976 -0.01140307 0.09985449
+v 0.01082906 -0.01160614 0.10278697
+v 0.00901817 -0.00265445 0.10278697
+v 0.00901817 -0.00374176 0.09985449
+v 0.01300852 -0.00823367 0.09985449
+v 0.01315782 -0.00855241 0.10278697
+v 0.00906749 -0.00153372 0.10278697
+v 0.00918279 -0.00001585 0.10278697
+v 0.00995860 -0.00001585 0.09985449
+v 0.01316848 -0.00797662 0.09985449
+v 0.01423022 -0.00683019 0.10278697
+v 0.01574985 -0.00001585 0.10278697
+v 0.01540593 -0.00001585 0.09985449
+v 0.01440685 -0.00590482 0.09985449
+v 0.01459280 -0.00622484 0.10278697
+v 0.01579517 -0.00141291 0.10278697
+v 0.01559056 -0.00001585 0.10138991
+v 0.01582650 -0.00262746 0.10278697
+v 0.01547258 -0.00262746 0.09985449
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 13
+f 1 13 17
+f 1 17 20
+f 1 20 18
+f 1 18 14
+f 1 14 10
+f 1 10 9
+f 1 9 5
+f 1 5 6
+f 1 6 2
+f 2 6 11
+f 2 11 15
+f 2 15 21
+f 2 21 16
+f 2 16 12
+f 2 12 7
+f 2 7 3
+f 3 7 8
+f 3 8 4
+f 5 9 6
+f 6 9 10
+f 6 10 11
+f 7 12 13
+f 7 13 8
+f 10 14 19
+f 10 19 15
+f 10 15 11
+f 12 16 17
+f 12 17 13
+f 14 18 19
+f 15 19 18
+f 15 18 20
+f 15 20 21
+f 16 21 20
+f 16 20 17
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_93.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_93.obj
new file mode 100644
index 0000000000000000000000000000000000000000..471ec5cc459ffd70ce6e814db9fb87b1a44af1e0
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_93.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v -0.00001766 0.03982252 -0.03922475
+v -0.00001766 0.03896983 -0.04243608
+v -0.00666837 0.03729124 -0.04235573
+v -0.00979477 0.03729124 -0.03922475
+v -0.00001766 0.03265108 -0.03922475
+v -0.00001766 0.03772941 -0.04679947
+v -0.00961046 0.03574189 -0.04525500
+v -0.00980511 0.03579391 -0.04487472
+v -0.01109873 0.03612805 -0.04234639
+v -0.01405460 0.03574347 -0.04085892
+v -0.01487625 0.03595625 -0.03922475
+v -0.00002282 0.02875171 -0.04877000
+v -0.00001766 0.02989441 -0.04682469
+v -0.01761508 0.02784858 -0.03922475
+v -0.01761508 0.02372067 -0.04877000
+v -0.00001766 0.03684992 -0.04877000
+v -0.00222423 0.03640545 -0.04877000
+v -0.00524555 0.03575293 -0.04877000
+v -0.00791721 0.03529427 -0.04821780
+v -0.00652884 0.03608865 -0.04676209
+v -0.01761508 0.03312235 -0.04679947
+v -0.01761508 0.03438957 -0.04235013
+v -0.01761508 0.03518394 -0.03932286
+v -0.01761508 0.03520916 -0.03922475
+v -0.00001766 0.03236738 -0.04877000
+v -0.01761508 0.02914102 -0.04877000
+v -0.01761164 0.03226020 -0.04877000
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 24
+f 1 24 14
+f 1 14 5
+f 1 5 13
+f 1 13 25
+f 1 25 16
+f 1 16 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 4 10 11
+f 5 12 13
+f 5 14 15
+f 5 15 12
+f 6 16 17
+f 6 17 18
+f 6 18 19
+f 6 19 20
+f 6 20 7
+f 7 21 22
+f 7 22 8
+f 7 20 19
+f 7 19 21
+f 8 22 10
+f 8 10 9
+f 10 22 11
+f 11 22 23
+f 11 23 24
+f 12 25 13
+f 12 15 26
+f 12 26 27
+f 12 27 18
+f 12 18 17
+f 12 17 16
+f 12 16 25
+f 14 24 23
+f 14 23 22
+f 14 22 21
+f 14 21 26
+f 14 26 15
+f 18 27 19
+f 19 27 21
+f 21 27 26
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_94.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_94.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b91c1d1074602d28394552dba441b155d008815b
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_94.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.00985019 0.00203337 0.11249375
+v 0.00985019 -0.00001585 0.11248396
+v 0.00985019 0.00465252 0.11219470
+v 0.00795804 0.00264007 0.11344094
+v 0.00808675 0.00203337 0.11344094
+v 0.00960091 -0.00001585 0.11261881
+v 0.00985019 -0.00001585 0.10409410
+v 0.00985019 0.00669190 0.11169554
+v 0.00631369 0.00613774 0.11344094
+v 0.00806974 -0.00001585 0.11344094
+v 0.00812965 -0.00001585 0.10350034
+v 0.00985019 -0.00000600 0.10233565
+v 0.00985019 0.00669190 0.10233131
+v 0.00689510 0.00669190 0.11286784
+v 0.00624638 0.00616663 0.11344094
+v 0.00624638 -0.00001585 0.11344094
+v 0.00229343 -0.00001585 0.10597326
+v 0.00629446 0.00669190 0.10233131
+v 0.00630038 0.00668205 0.10233131
+v 0.00650749 0.00637805 0.10233131
+v 0.00985019 0.00232884 0.10233131
+v 0.00469005 0.00669190 0.11342028
+v 0.00617759 0.00619617 0.11343985
+v 0.00461165 0.00669190 0.11343985
+v 0.00229343 0.00669190 0.11343985
+v 0.00229343 -0.00001585 0.11343985
+v 0.00229343 0.00668402 0.10435292
+v 0.00229343 0.00669190 0.10440403
+f 1 2 7
+f 1 7 12
+f 1 12 21
+f 1 21 13
+f 1 13 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 10
+f 2 10 16
+f 2 16 26
+f 2 26 17
+f 2 17 11
+f 2 11 7
+f 3 8 9
+f 3 9 4
+f 4 9 15
+f 4 15 16
+f 4 16 10
+f 4 10 5
+f 5 10 6
+f 7 11 12
+f 8 13 18
+f 8 18 28
+f 8 28 25
+f 8 25 24
+f 8 24 22
+f 8 22 14
+f 8 14 9
+f 9 14 15
+f 11 17 12
+f 12 18 19
+f 12 19 20
+f 12 20 21
+f 12 17 18
+f 13 21 20
+f 13 20 19
+f 13 19 18
+f 14 22 23
+f 14 23 15
+f 15 23 24
+f 15 24 25
+f 15 25 26
+f 15 26 16
+f 17 27 18
+f 17 26 25
+f 17 25 28
+f 17 28 27
+f 18 27 28
+f 22 24 23
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_95.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_95.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ed653154c044a849b9290c09cdaa9a7cf4e2a79
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_95.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.00890751 0.00333099 0.07735515
+v 0.00890751 0.00339634 0.08591388
+v 0.00467358 0.00779875 0.08591388
+v 0.00467358 0.00780387 0.08208144
+v 0.00467358 0.00830612 0.06915127
+v 0.00890751 0.00506454 0.06632010
+v 0.00890751 0.01368998 0.08591388
+v 0.00467358 0.01566568 0.08591388
+v 0.00467358 0.00895316 0.06632010
+v 0.00890751 0.01447923 0.06632010
+v 0.00666663 0.01496355 0.08591388
+v 0.00666663 0.01575409 0.06632010
+v 0.00467358 0.01642034 0.06632010
+v 0.00616971 0.01513908 0.08591388
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 10
+f 1 10 7
+f 1 7 2
+f 2 7 11
+f 2 11 14
+f 2 14 8
+f 2 8 3
+f 3 8 13
+f 3 13 9
+f 3 9 5
+f 3 5 4
+f 5 9 6
+f 6 9 13
+f 6 13 12
+f 6 12 10
+f 7 10 12
+f 7 12 11
+f 8 14 12
+f 8 12 13
+f 11 12 14
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_96.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_96.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b16b6e99c2a2ff8ba61e54235975e5d5785b1fae
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_96.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v 0.00222225 0.02905234 -0.06179039
+v -0.00001593 0.02859715 -0.06179039
+v 0.00370672 0.02884300 -0.06179039
+v 0.00222225 0.02459048 -0.06901915
+v -0.00001593 0.02412190 -0.06919580
+v -0.00001593 0.02015418 -0.06179039
+v 0.00412471 0.02855698 -0.06214712
+v 0.00505633 0.02256646 -0.07158168
+v 0.00641359 0.02829166 -0.06179039
+v 0.00222225 0.02271859 -0.07175373
+v -0.00001593 0.02260297 -0.07164362
+v -0.00001593 0.01661975 -0.06519944
+v 0.00975557 0.01661975 -0.06232492
+v 0.00975557 0.01742425 -0.06179039
+v 0.00579570 0.02740926 -0.06356833
+v 0.00658863 0.02349632 -0.06901341
+v 0.00801858 0.02171206 -0.07048968
+v 0.00975557 0.01997040 -0.07127311
+v 0.00975557 0.01906976 -0.07202445
+v 0.00658863 0.02013836 -0.07235365
+v 0.00412471 0.02006047 -0.07270120
+v 0.00222225 0.02000083 -0.07296847
+v 0.00975557 0.02636257 -0.06179039
+v 0.00975557 0.02268087 -0.06751077
+v -0.00001593 0.02165607 -0.07206574
+v -0.00001593 0.01661975 -0.07339059
+v 0.00975557 0.01661975 -0.07294897
+v 0.00975557 0.02125565 -0.06967297
+v 0.00975557 0.01692889 -0.07286409
+v 0.00412471 0.01809730 -0.07323918
+v 0.00222225 0.01661975 -0.07350874
+v -0.00001593 0.02018096 -0.07270006
+v 0.00560249 0.01661975 -0.07344794
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\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_97.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_97.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45ecaac6f7e5fdfe11435f144f1ac197bb1a01d6
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_97.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v -0.00017470 0.04036290 -0.00780711
+v -0.00017470 0.04031002 -0.00586378
+v -0.00017470 0.04036173 -0.00782492
+v -0.00711109 0.03896082 -0.00780711
+v -0.00017470 0.04021835 -0.00302669
+v -0.00017470 0.03545739 -0.00782492
+v -0.00711109 0.03895965 -0.00782492
+v -0.00711109 0.03873048 -0.00314801
+v -0.01176889 0.03774326 -0.00782492
+v -0.01176699 0.03774444 -0.00780711
+v -0.01439496 0.03704986 -0.00486652
+v -0.00017470 0.03983991 -0.00059474
+v -0.00017470 0.03368159 0.00354569
+v -0.00509264 0.03226658 0.00354569
+v -0.01957304 0.03012292 -0.00782492
+v -0.00245139 0.03891264 0.00150886
+v -0.01194738 0.03748001 -0.00324707
+v -0.01051567 0.03725436 0.00020106
+v -0.01439306 0.03705339 -0.00782492
+v -0.01440255 0.03705221 -0.00780711
+v -0.01957304 0.03533164 -0.00780711
+v -0.01957304 0.03525642 -0.00476634
+v -0.01957304 0.03519296 -0.00317806
+v -0.01957304 0.03466645 0.00005415
+v -0.00017470 0.03942505 0.00150886
+v -0.00017470 0.03890206 0.00354569
+v -0.00593952 0.03203388 0.00354569
+v -0.01957304 0.02835651 0.00354569
+v -0.01957304 0.03533164 -0.00782492
+v -0.00724021 0.03771271 0.00165578
+v -0.00248557 0.03838143 0.00354569
+v -0.01957304 0.03438439 0.00150886
+v -0.01957304 0.03384847 0.00354569
+v -0.00635156 0.03742124 0.00354569
+v -0.01440825 0.03704869 -0.00782492
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+f 18 34 30
+f 19 35 20
+f 20 35 29
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+f 30 34 31
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_98.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_98.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca40f901649923c4d6a5bed706911596f5b4d2c6
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_98.obj
@@ -0,0 +1,117 @@
+# https://github.com/mikedh/trimesh
+v 0.00706094 0.00859642 0.05869760
+v 0.00706094 0.00983499 0.05536446
+v 0.01183347 0.00679461 0.05083305
+v 0.00892869 0.00679461 0.05869760
+v 0.00706094 0.01709028 0.05869760
+v 0.00706094 0.01352158 0.04546350
+v 0.01366025 0.00679461 0.04629647
+v 0.01731523 0.00679461 0.05869760
+v 0.00716690 0.01703061 0.05869760
+v 0.00706094 0.02166177 0.04546350
+v 0.01405584 0.00679461 0.04546350
+v 0.01828867 0.00679461 0.05561707
+v 0.02030336 0.01108811 0.04546350
+v 0.01722057 0.00713372 0.05869760
+v 0.00776735 0.01669004 0.05869760
+v 0.00725308 0.02155261 0.04546350
+v 0.02149437 0.00679461 0.04546350
+v 0.01979474 0.00679461 0.05084730
+v 0.02136157 0.00727490 0.04546350
+v 0.01995722 0.01111140 0.04652964
+v 0.01753422 0.00804045 0.05690214
+v 0.01872523 0.01440502 0.04546350
+v 0.01855287 0.01421291 0.04652964
+v 0.01804849 0.01364238 0.04954281
+v 0.01694507 0.00769843 0.05869760
+v 0.01737316 0.01259593 0.05250416
+v 0.01110727 0.01478489 0.05869760
+v 0.01115955 0.01932727 0.04546350
+v 0.00782669 0.02122660 0.04546350
+v 0.01850201 0.01111285 0.05100405
+v 0.01801034 0.00963269 0.05393949
+v 0.01570885 0.01670023 0.04546350
+v 0.01575689 0.01465535 0.05100405
+v 0.01359950 0.01351139 0.05815223
+v 0.01344691 0.01340223 0.05869760
+v 0.01517056 0.01126131 0.05869760
+v 0.01398238 0.01274875 0.05869760
+v 0.01277441 0.01380975 0.05869760
+v 0.01360515 0.01793151 0.04546350
+v 0.01205245 0.01881787 0.04546350
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+f 27 40 28
+f 32 39 38
+f 32 38 34
+f 32 34 33
+f 34 38 35
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_99.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_99.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3079a32e04f4821d067edb7883c468637d8f5cd
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/collision/model_normalized_collision_99.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v 0.00618262 -0.03383325 -0.04020867
+v 0.00618262 -0.03382690 -0.04023666
+v 0.00796425 -0.03351597 -0.04020867
+v 0.00618262 -0.02823224 -0.04020867
+v 0.00618262 -0.03373171 -0.04057687
+v 0.01152480 -0.03275238 -0.04020867
+v 0.00678249 -0.03361115 -0.04060271
+v 0.00618262 -0.03339540 -0.04147476
+v 0.00618262 -0.02767172 -0.04103120
+v 0.01174819 -0.02688275 -0.04020867
+v 0.01174819 -0.01618205 -0.05414428
+v 0.01174819 -0.01223934 -0.05929262
+v 0.01152480 -0.03229339 -0.04135848
+v 0.01174819 -0.03235050 -0.04109149
+v 0.01174819 -0.03270162 -0.04020867
+v 0.00618262 -0.03205438 -0.04406508
+v 0.00827863 -0.03259798 -0.04227576
+v 0.00618262 -0.01821262 -0.05493451
+v 0.01174819 -0.01222877 -0.05930984
+v 0.00618262 -0.01798630 -0.05527471
+v 0.01174819 -0.03227012 -0.04129174
+v 0.01174819 -0.03099255 -0.04356553
+v 0.00618262 -0.02908677 -0.04864712
+v 0.00686694 -0.02901697 -0.04853515
+v 0.01067648 -0.02860451 -0.04790641
+v 0.01174819 -0.02964095 -0.04589961
+v 0.01174819 -0.02989689 -0.04549696
+v 0.01174819 -0.01229222 -0.06219945
+v 0.00874120 -0.01410071 -0.06156641
+v 0.00874120 -0.01410071 -0.06109916
+v 0.00618262 -0.01589861 -0.05929477
+v 0.00618262 -0.01615243 -0.05875646
+v 0.00618262 -0.02884987 -0.04898948
+v 0.00686694 -0.01957480 -0.06207242
+v 0.01174819 -0.02727406 -0.04931031
+v 0.00997146 -0.01915599 -0.06165254
+v 0.01174819 -0.01231338 -0.06220376
+v 0.01174165 -0.01230703 -0.06220592
+v 0.00618262 -0.01665585 -0.06212625
+v 0.00618262 -0.01966152 -0.06213486
+v 0.01174819 -0.01675526 -0.06208534
+v 0.01174819 -0.01997245 -0.05955746
+v 0.01174819 -0.01710215 -0.06193246
+v 0.00618262 -0.01927444 -0.06213486
+f 1 2 3
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+f 24 33 34
+f 24 34 25
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+f 25 34 36
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+f 28 37 38
+f 28 38 39
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+f 29 39 31
+f 29 31 30
+f 33 40 34
+f 34 40 41
+f 34 41 36
+f 35 36 42
+f 36 41 43
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+f 37 41 38
+f 38 41 40
+f 38 40 44
+f 38 44 39
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/model.xml b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..c770d9ecc9a8203ef33d9ee15c0d91b54d738171
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/model.xml
@@ -0,0 +1,625 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="new_bottle_of_cooking_oil_0">
+  <asset>
+    <mesh file="visual/glass_visuals.obj" name="glass_visuals" scale="1.0 1.0 1.0" />
+    <texture file="visual/image0.png" name="image0" type="2d" />
+    <material name="OmniGlass" reflectance="0.5" texture="image0" specular="0.5" shininess="0.25" />
+    <mesh file="visual/base_link_visuals.obj" name="base_link_visuals" scale="1.0 1.0 1.0" />
+    <texture file="visual/image0.png" name="image0_1" type="2d" />
+    <material name="defaultMat.011" reflectance="0.5" texture="image0" specular="0.5" shininess="0.25" />
+    <mesh file="collision/model_normalized_collision_197.obj" name="model_normalized_collision_197._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_45.obj" name="model_normalized_collision_45._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_253.obj" name="model_normalized_collision_253._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_136.obj" name="model_normalized_collision_136._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_251.obj" name="model_normalized_collision_251._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_34.obj" name="model_normalized_collision_34._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_148.obj" name="model_normalized_collision_148._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_225.obj" name="model_normalized_collision_225._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_226.obj" name="model_normalized_collision_226._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_414.obj" name="model_normalized_collision_414._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_350.obj" name="model_normalized_collision_350._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_163.obj" name="model_normalized_collision_163._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_347.obj" name="model_normalized_collision_347._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_291.obj" name="model_normalized_collision_291._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_342.obj" name="model_normalized_collision_342._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_57.obj" name="model_normalized_collision_57._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_181.obj" name="model_normalized_collision_181._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_95.obj" name="model_normalized_collision_95._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
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+      <site rgba="0 0 0 0" size="0.005" pos="0 0 0.06" name="top_site" />
+      <site rgba="0 0 0 0" size="0.005" pos="0.01 0.01 0" name="horizontal_radius_site" />
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+  </mujoco>
\ No newline at end of file
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/visual/base_link_visuals.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/visual/base_link_visuals.obj
new file mode 100644
index 0000000000000000000000000000000000000000..87c7494d6e73ef5c3b76468d3e0e4c96d46aca6c
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/visual/base_link_visuals.obj
@@ -0,0 +1,1761 @@
+mtllib materials.mtl
+usemtl ywrkyg__base_link_vray
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diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/visual/glass_visuals.obj b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/visual/glass_visuals.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb0c23a653e8daae5b25b0ff175135fb7f92f058
--- /dev/null
+++ b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/visual/glass_visuals.obj
@@ -0,0 +1,2013 @@
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diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/visual/ywrkyg__base_link__ior.exr b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/visual/ywrkyg__base_link__ior.exr
new file mode 100644
index 0000000000000000000000000000000000000000..44246ee30c457648d5f6bf3ff3c980c6ea81dd96
Binary files /dev/null and b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/visual/ywrkyg__base_link__ior.exr differ
diff --git a/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/visual/ywrkyg__glass__ior.exr b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/visual/ywrkyg__glass__ior.exr
new file mode 100644
index 0000000000000000000000000000000000000000..5b3d5f372bbe9059cb16d886d83e5e885943fee6
Binary files /dev/null and b/new_bottle_of_cooking_oil/new_bottle_of_cooking_oil_0/visual/ywrkyg__glass__ior.exr differ
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_0.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1ca7789a10e88625934b5f81ebfed55a2fc81a4
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_0.obj
@@ -0,0 +1,210 @@
+# https://github.com/mikedh/trimesh
+v 0.00131652 0.02310322 -0.06978111
+v 0.00131652 0.01142321 -0.06978111
+v 0.00131652 0.02307386 -0.07081855
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+v -0.00067081 0.02305353 -0.06978111
+v 0.00131652 0.00002780 -0.07028284
+v -0.01250866 0.00002780 -0.06978111
+v 0.00131652 0.02271698 -0.07233025
+v -0.00218098 0.02236687 -0.07222253
+v -0.00688611 0.02111778 -0.07234833
+v -0.00688611 0.02138657 -0.06978111
+v -0.00273930 0.02252498 -0.06978111
+v 0.00131652 0.02251143 -0.07300332
+v 0.00131652 0.00002780 -0.07716611
+v -0.02381033 0.00002780 -0.06978111
+v -0.00688611 0.01948470 -0.07554524
+v -0.01003680 0.01885903 -0.07511724
+v -0.01085584 0.01934918 -0.07234833
+v -0.01107966 0.01948696 -0.06978111
+v 0.00131652 0.02021428 -0.07578309
+v -0.00229657 0.02005617 -0.07576574
+v 0.00131652 0.00688537 -0.07716611
+v -0.00229657 0.00002780 -0.07716683
+v -0.02367751 0.00128592 -0.06978111
+v -0.02335039 0.00225944 -0.07225289
+v -0.02357913 0.00002780 -0.07229916
+v -0.00688611 0.01606269 -0.07677210
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+v -0.01487229 0.01478875 -0.07530955
+v -0.01314815 0.01789228 -0.07234833
+v -0.01337196 0.01806620 -0.06978111
+v 0.00131652 0.01606269 -0.07702585
+v -0.00229657 0.01606269 -0.07700488
+v 0.00131652 0.01147516 -0.07714659
+v -0.00229657 0.00229558 -0.07716683
+v -0.00229657 0.00688537 -0.07716611
+v -0.00461840 0.00002780 -0.07716683
+v -0.02357175 0.00227977 -0.06978111
+v -0.02305278 0.00487508 -0.07065878
+v -0.02268385 0.00376377 -0.07371833
+v -0.02308968 0.00070542 -0.07481650
+v -0.02310690 0.00002780 -0.07483818
+v -0.01147319 0.01147516 -0.07698681
+v -0.01626686 0.01162875 -0.07586550
+v -0.01574298 0.01559739 -0.07234833
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+v -0.01835503 0.01376554 -0.06987148
+v -0.01826157 0.01385363 -0.06978111
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+v -0.00688611 0.01147516 -0.07712634
+v -0.00688611 0.00688537 -0.07716177
+v -0.00688611 0.00229558 -0.07716683
+v -0.00688611 0.00002780 -0.07716611
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+v -0.01841898 0.01367067 -0.06978111
+v -0.01835503 0.01376554 -0.06978111
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+v -0.01147319 0.00002780 -0.07715020
+v -0.01959711 0.01159939 -0.06978111
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\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_1.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39af4e819d89838ba6ab4f31cdb4792148ac78cb
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_1.obj
@@ -0,0 +1,285 @@
+# https://github.com/mikedh/trimesh
+v 0.00236604 0.01001708 0.12101830
+v 0.00236604 0.00996413 0.12575045
+v 0.00485382 0.00953858 0.12575045
+v 0.00489633 0.00956407 0.12101830
+v 0.00484167 0.00953269 0.11847267
+v 0.00236604 0.00974253 0.11793212
+v -0.00109336 0.00976998 0.11787226
+v -0.00163990 0.00992099 0.12101830
+v -0.00155488 0.00989353 0.12575045
+v 0.00236604 0.00969154 0.12842515
+v 0.00478499 0.00949935 0.12816141
+v -0.00097798 0.00973468 0.12848313
+v 0.00722216 0.00742649 0.12575045
+v 0.00726467 0.00746767 0.12101830
+v 0.00962492 0.00497710 0.11823512
+v 0.00617159 0.00609296 0.11161759
+v 0.00236604 0.00813444 0.11161759
+v -0.00236660 0.00771673 0.11161759
+v -0.00400825 0.00922676 0.12101830
+v 0.00229520 0.00813052 0.11161759
+v -0.00392120 0.00916205 0.12575045
+v 0.00236604 0.00710095 0.12972696
+v 0.00665943 0.00674207 0.12876744
+v 0.00959051 0.00492415 0.12828861
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+v -0.00247995 0.00742649 0.12937906
+v 0.00967755 0.00505947 0.12575045
+v 0.00970386 0.00509869 0.12101830
+v 0.01033947 0.00236690 0.12101830
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\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_10.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8aca71acd82a41d74443d562fa41b058d25a8327
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_10.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.00228996 -0.01619363 -0.00881730
+v -0.00689288 -0.01594314 -0.00882262
+v -0.00113113 -0.01656002 -0.00881730
+v 0.00228996 -0.02282231 -0.00881730
+v 0.00228996 -0.01616484 -0.06315627
+v -0.00689288 -0.02282519 -0.00882262
+v -0.00689288 -0.01591939 -0.06313498
+v -0.00113113 -0.02321101 -0.00881730
+v 0.00131648 -0.02302530 -0.00881730
+v 0.00228996 -0.02282231 -0.06316691
+v 0.00228996 -0.01617852 -0.06316691
+v -0.00689288 -0.02282591 -0.03104978
+v -0.00554368 -0.02311887 -0.00882262
+v -0.00113113 -0.01651971 -0.06316691
+v -0.00689288 -0.02282591 -0.06313498
+v 0.00095514 -0.02310016 -0.00881730
+v -0.00229517 -0.02327291 -0.00882262
+v 0.00095604 -0.02310016 -0.03564098
+v 0.00095604 -0.02310016 -0.06316691
+v -0.00555716 -0.02311599 -0.06313498
+v -0.00554368 -0.02311887 -0.06313498
+v -0.00552480 -0.02312031 -0.06313498
+v -0.00113113 -0.02321101 -0.06316691
+v -0.00113113 -0.02321173 -0.04021623
+v -0.00229517 -0.02327291 -0.06313498
+v -0.00227719 -0.02327219 -0.06313498
+v -0.00113113 -0.02321173 -0.04939331
+f 1 2 3
+f 1 3 8
+f 1 8 16
+f 1 16 9
+f 1 9 4
+f 1 4 10
+f 1 10 11
+f 1 11 5
+f 1 5 2
+f 2 6 8
+f 2 8 3
+f 2 5 7
+f 2 7 15
+f 2 15 12
+f 2 12 6
+f 4 9 10
+f 5 11 7
+f 6 12 13
+f 6 13 8
+f 7 11 14
+f 7 14 23
+f 7 23 15
+f 8 13 17
+f 8 17 16
+f 9 16 18
+f 9 18 19
+f 9 19 10
+f 10 19 23
+f 10 23 14
+f 10 14 11
+f 12 15 20
+f 12 20 13
+f 13 20 21
+f 13 21 22
+f 13 22 17
+f 15 23 20
+f 16 17 24
+f 16 24 18
+f 17 22 25
+f 17 25 26
+f 17 26 24
+f 18 24 27
+f 18 27 19
+f 19 27 26
+f 19 26 23
+f 20 23 21
+f 21 23 22
+f 22 23 25
+f 23 26 25
+f 24 26 27
\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_100.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_100.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a86eed2e26ea65b1a9f5711434bd3d4b2e73d31
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_100.obj
@@ -0,0 +1,273 @@
+# https://github.com/mikedh/trimesh
+v 0.00962036 -0.02034726 -0.00809302
+v 0.00962036 -0.02034454 -0.00881419
+v 0.01127223 -0.01960435 -0.00881419
+v 0.01127223 -0.01960435 -0.00809302
+v 0.00962036 -0.02034454 -0.00350176
+v 0.00961910 -0.02013500 0.00481970
+v 0.00962036 -0.01273992 -0.00881419
+v 0.01163327 -0.01938528 -0.00881419
+v 0.01356636 -0.01821105 -0.00809302
+v 0.01356509 -0.01820833 -0.00350176
+v 0.01126970 -0.01960162 -0.00350176
+v 0.01122410 -0.01957577 0.00108328
+v 0.00962036 -0.02031324 -0.00061086
+v 0.00962036 -0.02029283 0.00108328
+v 0.00962036 -0.02016765 0.00410474
+v 0.00962036 -0.02013500 0.00481970
+v 0.00961910 -0.02009554 0.00567454
+v 0.00961910 -0.01241473 0.00481970
+v 0.01521570 -0.00644696 -0.00881419
+v 0.00961910 -0.01087040 0.02046168
+v 0.00961910 -0.01063909 0.02293605
+v 0.01356636 -0.01821105 -0.00881419
+v 0.01606444 -0.01593606 -0.00809302
+v 0.01606444 -0.01593062 -0.00350176
+v 0.01650021 -0.01546800 0.00084392
+v 0.01351822 -0.01818112 0.00108328
+v 0.01104041 -0.01946556 0.00567454
+v 0.00961910 -0.01979075 0.01026268
+v 0.02255918 -0.00644696 -0.00881419
+v 0.01337761 -0.00644696 0.02293605
+v 0.00961910 -0.01878252 0.02293605
+v 0.01606444 -0.01593606 -0.00881419
+v 0.01837250 -0.01378761 -0.00809302
+v 0.01837123 -0.01378489 -0.00350176
+v 0.01836489 -0.01377673 -0.00084399
+v 0.01832309 -0.01372502 0.00221477
+v 0.01590989 -0.01576054 0.00567454
+v 0.01333581 -0.01805594 0.00567454
+v 0.01074272 -0.01928732 0.01026268
+v 0.00961910 -0.01946012 0.01485083
+v 0.02218928 -0.00735587 -0.00881419
+v 0.02255665 -0.00644696 -0.00350176
+v 0.02218928 -0.00735587 -0.00809302
+v 0.02065902 -0.00644696 0.02293605
+v 0.00967357 -0.01876075 0.02293605
+v 0.00961910 -0.01914309 0.01878620
+v 0.01837250 -0.01378761 -0.00881419
+v 0.01990909 -0.01147588 -0.00350176
+v 0.01861572 -0.01342296 -0.00881419
+v 0.01956833 -0.01190857 0.00084392
+v 0.01939731 -0.01188680 0.00481970
+v 0.01820275 -0.01357535 0.00567454
+v 0.01568694 -0.01555236 0.01026268
+v 0.01544752 -0.01533194 0.01485083
+v 0.01303685 -0.01784776 0.01026268
+v 0.01042476 -0.01909683 0.01485083
+v 0.01007260 -0.01888729 0.01943898
+v 0.01991162 -0.01147588 -0.00881419
+v 0.02218801 -0.00735315 -0.00350176
+v 0.02249837 -0.00644696 0.00108328
+v 0.01991162 -0.01147588 -0.00809302
+v 0.02052348 -0.00688645 0.02293605
+v 0.02104285 -0.00644696 0.01891054
+v 0.00978124 -0.01871313 0.02293605
+v 0.02215888 -0.00728103 0.00108328
+v 0.01971781 -0.01139289 0.00481970
+v 0.01974948 -0.01128267 0.00567454
+v 0.01956073 -0.01100238 0.01026268
+v 0.01936058 -0.01070304 0.01485083
+v 0.01797853 -0.01329642 0.01026268
+v 0.01518276 -0.01508566 0.01943898
+v 0.01271889 -0.01762734 0.01485083
+v 0.01236799 -0.01738106 0.01943898
+v 0.02245150 -0.00644696 0.00224586
+v 0.01895521 -0.01009075 0.02293605
+v 0.02084650 -0.00688645 0.01943898
+v 0.02223235 -0.00644696 0.00599782
+v 0.01032595 -0.01835528 0.02293605
+v 0.02230583 -0.00644696 0.00481970
+v 0.02218801 -0.00672045 0.00481970
+v 0.02219562 -0.00655717 0.00590767
+v 0.01913889 -0.01036968 0.01943898
+v 0.01774038 -0.01299708 0.01485083
+v 0.01496488 -0.01488293 0.02293605
+v 0.01429475 -0.01542718 0.02293605
+v 0.01207537 -0.01717696 0.02293605
+v 0.01855871 -0.01063637 0.02293605
+v 0.01747562 -0.01266372 0.01943898
+v 0.02166104 -0.00688645 0.01026268
+v 0.02224755 -0.00644696 0.00582374
+v 0.01550959 -0.01430465 0.02293605
+v 0.01725647 -0.01238479 0.02293605
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 18
+f 2 18 7
+f 2 7 19
+f 2 19 29
+f 2 29 41
+f 2 41 58
+f 2 58 49
+f 2 49 47
+f 2 47 32
+f 2 32 22
+f 2 22 8
+f 2 8 3
+f 3 8 4
+f 4 9 10
+f 4 10 11
+f 4 11 5
+f 4 8 9
+f 5 11 12
+f 5 12 13
+f 5 13 6
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 6 16 17
+f 6 17 28
+f 6 28 40
+f 6 40 46
+f 6 46 31
+f 6 31 21
+f 6 21 20
+f 6 20 18
+f 7 18 20
+f 7 20 21
+f 7 21 19
+f 8 22 9
+f 9 22 32
+f 9 32 23
+f 9 23 10
+f 10 23 24
+f 10 24 25
+f 10 25 26
+f 10 26 12
+f 10 12 11
+f 12 15 14
+f 12 14 13
+f 12 26 27
+f 12 27 15
+f 15 27 16
+f 16 27 17
+f 17 27 28
+f 19 21 30
+f 19 30 44
+f 19 44 63
+f 19 63 77
+f 19 77 90
+f 19 90 79
+f 19 79 74
+f 19 74 60
+f 19 60 42
+f 19 42 29
+f 21 31 45
+f 21 45 64
+f 21 64 78
+f 21 78 86
+f 21 86 85
+f 21 85 84
+f 21 84 91
+f 21 91 92
+f 21 92 87
+f 21 87 75
+f 21 75 62
+f 21 62 44
+f 21 44 30
+f 23 32 47
+f 23 47 33
+f 23 33 34
+f 23 34 24
+f 24 34 35
+f 24 35 25
+f 25 35 36
+f 25 36 37
+f 25 37 26
+f 26 37 38
+f 26 38 27
+f 27 38 39
+f 27 39 28
+f 28 39 40
+f 29 42 43
+f 29 43 41
+f 31 46 45
+f 33 48 34
+f 33 47 49
+f 33 49 48
+f 34 48 35
+f 35 50 36
+f 35 48 50
+f 36 50 51
+f 36 51 52
+f 36 52 37
+f 37 52 53
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+f 38 53 54
+f 38 54 55
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+f 38 56 39
+f 39 56 40
+f 40 56 57
+f 40 57 46
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+f 41 61 58
+f 42 59 43
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+f 43 48 61
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+f 45 46 57
+f 45 57 64
+f 48 49 61
+f 48 59 65
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+f 49 58 61
+f 50 65 66
+f 50 66 51
+f 51 66 67
+f 51 67 52
+f 52 67 68
+f 52 68 69
+f 52 69 70
+f 52 70 54
+f 52 54 53
+f 54 71 55
+f 54 70 71
+f 55 71 72
+f 55 72 56
+f 56 72 57
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+f 59 60 65
+f 60 74 65
+f 62 75 76
+f 62 76 63
+f 63 76 77
+f 64 73 78
+f 65 74 79
+f 65 79 80
+f 65 80 67
+f 65 67 66
+f 67 80 81
+f 67 81 68
+f 68 81 69
+f 69 82 83
+f 69 83 70
+f 69 81 82
+f 70 83 71
+f 71 83 84
+f 71 84 72
+f 72 84 85
+f 72 85 73
+f 73 85 86
+f 73 86 78
+f 75 87 88
+f 75 88 83
+f 75 83 82
+f 75 82 76
+f 76 82 89
+f 76 89 81
+f 76 81 77
+f 77 81 90
+f 79 90 81
+f 79 81 80
+f 81 89 82
+f 83 88 91
+f 83 91 84
+f 87 92 88
+f 88 92 91
\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_101.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_101.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a44f41076d0f56285f05589b3dff83dab4760330
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_101.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.02358246 0.00736301 -0.06316918
+v 0.02357968 0.00736301 -0.06405855
+v 0.01779951 0.00736301 -0.06316602
+v 0.02371246 0.00688123 -0.06316602
+v 0.02371246 0.00688410 -0.06316918
+v 0.02358339 0.00730485 -0.06720593
+v 0.02356761 0.00736301 -0.06720593
+v 0.01708360 0.00736301 -0.06316602
+v 0.02427330 0.00229241 -0.06316602
+v 0.02427423 0.00229528 -0.06316918
+v 0.02425937 0.00229528 -0.06720593
+v 0.02369667 0.00688410 -0.06720593
+v 0.01478918 0.00736301 -0.06720593
+v 0.01630270 0.00736301 -0.06316918
+v 0.01655248 0.00688410 -0.06316602
+v 0.02402631 0.00002779 -0.06316602
+v 0.02402631 0.00002779 -0.06316918
+v 0.02401795 0.00002779 -0.06549126
+v 0.02422966 0.00202243 -0.06720593
+v 0.01563322 0.00002779 -0.06720593
+v 0.01725538 0.00002923 -0.06316602
+v 0.01725538 0.00002779 -0.06316918
+v 0.02401145 0.00002779 -0.06720593
+f 1 2 7
+f 1 7 13
+f 1 13 14
+f 1 14 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 6 7
+f 2 5 6
+f 3 8 15
+f 3 15 21
+f 3 21 16
+f 3 16 9
+f 3 9 4
+f 4 9 10
+f 4 10 5
+f 5 10 11
+f 5 11 12
+f 5 12 6
+f 6 12 11
+f 6 11 19
+f 6 19 23
+f 6 23 20
+f 6 20 13
+f 6 13 7
+f 8 14 15
+f 9 16 10
+f 10 16 17
+f 10 17 18
+f 10 18 19
+f 10 19 11
+f 13 20 14
+f 14 20 21
+f 14 21 15
+f 16 21 22
+f 16 22 20
+f 16 20 23
+f 16 23 18
+f 16 18 17
+f 18 23 19
+f 20 22 21
\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_102.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_102.obj
new file mode 100644
index 0000000000000000000000000000000000000000..549a814745814780a2d0b5a9e327cab1b31cc615
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_102.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.00609381 0.01368604 -0.06674107
+v 0.00131652 0.01533146 -0.06674107
+v -0.00609381 0.01481721 -0.06319866
+v -0.00609381 0.02182075 -0.06674107
+v 0.00131652 0.01652983 -0.06319866
+v 0.00131652 0.02320858 -0.06674107
+v -0.00609381 0.02180209 -0.06319866
+v -0.00325111 0.02262247 -0.06319866
+v -0.00321339 0.02264860 -0.06674107
+v 0.00131652 0.02322072 -0.06319866
+v -0.00091906 0.02309472 -0.06674107
+v -0.00242056 0.02279606 -0.06319866
+v -0.00270491 0.02275500 -0.06674107
+v -0.00095605 0.02310032 -0.06319866
+v -0.00097128 0.02309752 -0.06319866
+v -0.00242056 0.02280913 -0.06674107
+f 1 2 3
+f 1 3 7
+f 1 7 4
+f 1 4 9
+f 1 9 13
+f 1 13 16
+f 1 16 11
+f 1 11 6
+f 1 6 2
+f 2 5 3
+f 2 6 10
+f 2 10 5
+f 3 5 10
+f 3 10 14
+f 3 14 15
+f 3 15 12
+f 3 12 8
+f 3 8 7
+f 4 7 8
+f 4 8 9
+f 6 11 10
+f 8 12 13
+f 8 13 9
+f 10 11 14
+f 11 15 14
+f 11 16 15
+f 12 15 13
+f 13 15 16
\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_103.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_103.obj
new file mode 100644
index 0000000000000000000000000000000000000000..703dfbf905c53fb1828cedae7282138fc95cb6e2
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_103.obj
@@ -0,0 +1,132 @@
+# https://github.com/mikedh/trimesh
+v -0.00122945 -0.02167758 0.01949315
+v -0.00122945 -0.01530387 0.01949315
+v 0.00229425 -0.02142522 0.01949315
+v -0.00122945 -0.02137005 0.02403421
+v 0.00332497 -0.01465359 0.01949315
+v -0.00122945 -0.00968726 0.06269435
+v 0.00332497 -0.00968726 0.05715181
+v 0.00332497 -0.02116698 0.01949315
+v 0.00229425 -0.02107308 0.02403421
+v -0.00122945 -0.02095804 0.02862113
+v -0.00122945 -0.00968726 0.09759320
+v 0.00332497 -0.00968726 0.09494808
+v 0.00332497 -0.02079606 0.02403421
+v 0.00229425 -0.02065990 0.02862113
+v 0.00229425 -0.02013756 0.03321570
+v -0.00122945 -0.02083597 0.02969141
+v -0.00122945 -0.01389180 0.07744131
+v 0.00060462 -0.01390119 0.07749483
+v 0.00189881 -0.00968726 0.09676755
+v 0.00227642 -0.00968726 0.09662231
+v 0.00332497 -0.01356666 0.07581296
+v 0.00332497 -0.02035589 0.02866700
+v 0.00332497 -0.02024672 0.02979080
+v 0.00332497 -0.01970913 0.03463765
+v 0.00332497 -0.01918679 0.03913284
+v 0.00229425 -0.01958236 0.03780263
+v 0.00023281 -0.01840152 0.04959103
+v -0.00122945 -0.02043336 0.03321570
+v -0.00122945 -0.01421929 0.07560654
+v -0.00122945 -0.01588608 0.06533183
+v 0.00229425 -0.01560789 0.06533183
+v 0.00229425 -0.01484022 0.06992640
+v 0.00219840 -0.01411951 0.07424575
+v 0.00332497 -0.01366291 0.07529310
+v 0.00229425 -0.01134114 0.08828175
+v 0.00332497 -0.01865388 0.04335281
+v 0.00263396 -0.01888982 0.04268006
+v 0.00117214 -0.01858111 0.04698412
+v -0.00122945 -0.01840152 0.04959103
+v -0.00122945 -0.01912927 0.04380386
+v -0.00122945 -0.01987698 0.03780263
+v 0.00332497 -0.01838626 0.04525638
+v 0.00332497 -0.01505268 0.06697548
+v 0.00332497 -0.01440709 0.07104255
+v 0.00332497 -0.01398805 0.07348126
+f 1 2 5
+f 1 5 8
+f 1 8 3
+f 1 3 4
+f 1 4 10
+f 1 10 16
+f 1 16 28
+f 1 28 41
+f 1 41 40
+f 1 40 39
+f 1 39 30
+f 1 30 29
+f 1 29 17
+f 1 17 11
+f 1 11 6
+f 1 6 2
+f 2 6 7
+f 2 7 5
+f 3 8 9
+f 3 9 4
+f 4 9 10
+f 5 7 12
+f 5 12 21
+f 5 21 34
+f 5 34 45
+f 5 45 44
+f 5 44 43
+f 5 43 42
+f 5 42 36
+f 5 36 25
+f 5 25 24
+f 5 24 23
+f 5 23 22
+f 5 22 13
+f 5 13 8
+f 6 11 19
+f 6 19 20
+f 6 20 12
+f 6 12 7
+f 8 13 9
+f 9 13 14
+f 9 14 10
+f 10 14 15
+f 10 15 16
+f 11 17 18
+f 11 18 19
+f 12 20 21
+f 13 22 14
+f 14 22 23
+f 14 23 24
+f 14 24 15
+f 15 24 25
+f 15 25 26
+f 15 26 27
+f 15 27 28
+f 15 28 16
+f 17 29 18
+f 18 29 30
+f 18 30 27
+f 18 27 31
+f 18 31 32
+f 18 32 33
+f 18 33 34
+f 18 34 21
+f 18 21 35
+f 18 35 20
+f 18 20 19
+f 20 35 21
+f 25 36 26
+f 26 36 37
+f 26 37 38
+f 26 38 27
+f 27 39 40
+f 27 40 41
+f 27 41 28
+f 27 38 42
+f 27 42 31
+f 27 30 39
+f 31 43 44
+f 31 44 32
+f 31 42 43
+f 32 44 45
+f 32 45 33
+f 33 45 34
+f 36 42 37
+f 37 42 38
\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_104.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_104.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3a534124149c863b5ece2022547daee2fa80104
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_104.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.01548064 0.00002779 -0.06754479
+v -0.01724882 0.00002779 -0.06314264
+v -0.01463006 -0.00687309 -0.06754479
+v -0.02400435 0.00002779 -0.06754479
+v -0.01655495 -0.00687309 -0.06314264
+v -0.02402040 0.00002779 -0.06314264
+v -0.02369753 -0.00687309 -0.06754479
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+v -0.02427340 -0.00229524 -0.06316893
+v -0.02427340 -0.00229524 -0.06314264
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\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_105.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_105.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9836ade769b09243be23ea32fe2e9662a0ed999b
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_105.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v -0.00609417 0.02181903 -0.06674078
+v -0.00609417 0.02180191 -0.06319866
+v -0.00609417 0.01368733 -0.06674078
+v -0.00837167 0.02091949 -0.06747044
+v -0.00688599 0.02159337 -0.06674078
+v -0.00609417 0.01481565 -0.06319866
+v -0.00688599 0.02157469 -0.06319866
+v -0.00745577 0.01200807 -0.06674078
+v -0.00837167 0.01118323 -0.06747044
+v -0.00837167 0.02092260 -0.06621266
+v -0.00785740 0.02115604 -0.06674078
+v -0.01125977 0.01959507 -0.06747044
+v -0.01127283 0.01960285 -0.06319866
+v -0.00837167 0.02092260 -0.06620262
+v -0.01541641 0.00592136 -0.06319866
+v -0.01336585 0.00592136 -0.06747044
+v -0.01189812 0.00740763 -0.06747044
+v -0.01355523 0.01820217 -0.06747044
+v -0.01356666 0.01820996 -0.06319866
+v -0.02277135 0.00592136 -0.06319866
+v -0.02275666 0.00592136 -0.06747044
+v -0.01371196 0.01805899 -0.06747044
+v -0.01606456 0.01593308 -0.06319866
+v -0.02219014 0.00735783 -0.06319866
+v -0.02276646 0.00592136 -0.06492267
+v -0.02224075 0.00719286 -0.06747044
+v -0.01645966 0.01554556 -0.06747044
+v -0.01836819 0.01378071 -0.06681103
+v -0.01837308 0.01378693 -0.06319866
+v -0.02218198 0.00733604 -0.06747044
+v -0.01992734 0.01144936 -0.06319866
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+v -0.01836492 0.01377760 -0.06747044
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+v -0.01990938 0.01147893 -0.06319866
+v -0.02203831 0.00759439 -0.06747044
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+f 28 37 29
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+f 31 36 38
\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_106.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_106.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d16f7380b443482ce1f93f0e34390ab1ca7b7e6
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_106.obj
@@ -0,0 +1,213 @@
+# https://github.com/mikedh/trimesh
+v -0.00962293 0.00259959 0.09802097
+v -0.00962293 0.00413258 0.09498719
+v -0.00962412 0.00143066 0.10179089
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+v -0.00962412 0.00002876 0.10192474
+v -0.00962293 0.00259959 0.06479811
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+v -0.00962293 0.00520778 0.09253340
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+v -0.01444372 0.00259959 0.07494045
+v -0.01401513 0.00103943 0.07909703
+v -0.01377874 0.00004098 0.08143185
+v -0.01377874 0.00002876 0.08143185
+v -0.00962412 0.00002876 0.06624064
+v -0.00962293 0.00261318 0.06136280
+v -0.01011121 0.00587885 0.08827272
+v -0.01267084 0.00696628 0.07371355
+v -0.01325703 0.00696628 0.07110361
+v -0.01400199 0.00502711 0.07349048
+v -0.00962293 0.00696628 0.08668148
+v -0.00983901 0.00696628 0.08579662
+v -0.01032730 0.00696628 0.08376667
+v -0.01620347 0.00229530 0.06533348
+v -0.01541552 0.00229530 0.06991389
+v -0.01445566 0.00264374 0.07482148
+v -0.01829272 0.00441446 0.04900461
+v -0.01843240 0.00034867 0.05435090
+v -0.01843001 0.00002876 0.05432859
+v -0.00981275 0.00002876 0.06295404
+v -0.00962293 0.00696628 0.04488521
+v -0.01392081 0.00696628 0.06789881
+v -0.01432433 0.00562890 0.06992133
+v -0.01854104 0.00499587 0.04594852
+v -0.02035092 0.00229530 0.03780639
+v -0.01973728 0.00229530 0.04239424
+v -0.01895889 0.00264918 0.04727952
+v -0.01849209 0.00259959 0.05049175
+v -0.01847896 0.00002876 0.05401629
+v -0.01863774 0.00127784 0.05156993
+v -0.02057298 0.00002876 0.03780639
+v -0.01529136 0.00002876 0.02601331
+v -0.01260160 0.00696628 0.02602075
+v -0.01449864 0.00696628 0.06475349
+v -0.01472428 0.00637128 0.06532604
+v -0.01795127 0.00696628 0.04350216
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+v -0.01575338 0.00696628 0.05717648
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+v -0.02160686 0.00229530 0.02601331
+v -0.02151255 0.00259959 0.02601331
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+v -0.01920960 0.00696628 0.03429672
+v -0.01976713 0.00696628 0.02979810
+v -0.01989726 0.00696628 0.02872736
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\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_107.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_107.obj
new file mode 100644
index 0000000000000000000000000000000000000000..543557e3de83e569903d546fdc3790c65db39e03
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_107.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v -0.00834013 -0.01471004 0.01058602
+v -0.00834013 -0.01002114 0.04585842
+v -0.00767275 -0.01002114 0.04719437
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+v -0.00422550 -0.01471004 0.02365228
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+v -0.00834013 -0.01002114 0.08500019
+v -0.00422550 -0.01028046 0.05615502
+v -0.00422550 -0.01084087 0.05156880
+v -0.00422550 -0.01002114 0.05834631
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+v -0.00770981 -0.01471004 0.06533562
+v -0.00834013 -0.01446173 0.06533562
+v -0.00834013 -0.01338819 0.07119264
+v -0.00729375 -0.01002114 0.08776170
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\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_108.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_108.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7f85cba4ad0b5c7c97afc1f4180f497b2e47277
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_108.obj
@@ -0,0 +1,180 @@
+# https://github.com/mikedh/trimesh
+v 0.00332558 -0.02116765 0.01950053
+v 0.00332558 -0.01465364 0.01950053
+v 0.00688359 -0.02027753 0.01950053
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+v 0.00961909 -0.01087066 0.02046815
+v 0.00961909 -0.01100103 0.01950053
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+v 0.00691501 -0.02026405 0.01950053
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+v 0.00688359 -0.01983810 0.02403579
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+v 0.00961909 -0.00968609 0.03162163
+v 0.00961909 -0.01908173 0.01950053
+v 0.00332558 -0.00968609 0.09495271
+v 0.00961909 -0.01869961 0.02392499
+v 0.00961909 -0.01861869 0.02481875
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+v 0.00961909 -0.00968609 0.07763896
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+v 0.00470751 -0.01382646 0.07254234
+v 0.00369771 -0.00968609 0.09435441
+v 0.00961909 -0.01796909 0.03004094
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+f 54 57 55
\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_109.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_109.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a43edea77af747cc79e44e41a43dffaf59996be3
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_109.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.00516613 0.00002861 0.08806440
+v 0.00224013 0.00002861 0.09265045
+v 0.00516613 0.00263177 0.08349054
+v 0.00516613 0.00002861 0.11004088
+v 0.00123245 0.00227111 0.09264741
+v 0.00123245 0.00523900 0.08509337
+v 0.00196982 0.00002861 0.09544170
+v 0.00516613 0.00523900 0.07899285
+v 0.00516613 0.00258738 0.11004088
+v 0.00478223 0.00002861 0.11005307
+v 0.00177460 0.00002861 0.09746505
+v 0.00164215 0.00002861 0.09995157
+v 0.00153087 0.00002861 0.10204805
+v 0.00123245 0.00176762 0.09680990
+v 0.00123245 0.00523900 0.11001650
+v 0.00516613 0.00523900 0.10985501
+v 0.00242803 0.00523900 0.11001650
+v 0.00246461 0.00242057 0.11011706
+v 0.00246461 0.00144318 0.11012012
+v 0.00246461 0.00002861 0.11012012
+v 0.00153048 0.00002861 0.10664020
+v 0.00123245 0.00144981 0.10664020
+v 0.00123245 0.00145185 0.10619226
+v 0.00123245 0.00147328 0.10205110
+v 0.00123245 0.00168906 0.09746200
+v 0.00123245 0.00242057 0.11011706
+f 1 2 3
+f 1 3 8
+f 1 8 16
+f 1 16 9
+f 1 9 4
+f 1 4 10
+f 1 10 20
+f 1 20 21
+f 1 21 13
+f 1 13 12
+f 1 12 11
+f 1 11 7
+f 1 7 2
+f 2 5 6
+f 2 6 3
+f 2 7 5
+f 3 6 8
+f 4 9 10
+f 5 7 11
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 5 14 25
+f 5 25 24
+f 5 24 23
+f 5 23 22
+f 5 22 26
+f 5 26 15
+f 5 15 6
+f 6 15 17
+f 6 17 16
+f 6 16 8
+f 9 16 17
+f 9 17 18
+f 9 18 19
+f 9 19 10
+f 10 19 20
+f 13 21 22
+f 13 22 23
+f 13 23 24
+f 13 24 25
+f 13 25 14
+f 15 26 18
+f 15 18 17
+f 18 26 19
+f 19 26 20
+f 20 26 21
+f 21 26 22
\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_11.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bea1a6e9631e825fc81629bc670fc333a3c6a446
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_11.obj
@@ -0,0 +1,141 @@
+# https://github.com/mikedh/trimesh
+v 0.01404383 -0.00880571 0.03349014
+v 0.01404383 -0.01436383 0.03349014
+v 0.01414118 -0.01448347 0.03167202
+v 0.01404383 -0.00880571 0.03167202
+v -0.01996018 -0.00880571 0.03349014
+v 0.01404383 -0.01437428 0.03339314
+v 0.01388271 -0.01448347 0.03349014
+v 0.01392635 -0.01448347 0.03318741
+v 0.01188543 -0.01614335 0.03167202
+v -0.02015151 -0.00880571 0.03167202
+v -0.01941974 -0.01032737 0.03349014
+v 0.01202977 -0.01583786 0.03349014
+v 0.01048230 -0.01681010 0.03349014
+v 0.00887442 -0.01803323 0.03167202
+v -0.01951708 -0.01049696 0.03167202
+v -0.01794612 -0.01286308 0.03167202
+v -0.01782192 -0.01269349 0.03349014
+v 0.00835412 -0.01812267 0.03349014
+v 0.00825677 -0.01841422 0.03167202
+v -0.01791926 -0.01289328 0.03167202
+v -0.01545876 -0.01539646 0.03349014
+v 0.00803523 -0.01831898 0.03349014
+v 0.00788081 -0.01838519 0.03349014
+v 0.00795131 -0.01854316 0.03167202
+v -0.01557960 -0.01551378 0.03167202
+v -0.01232354 -0.01791127 0.03167202
+v -0.01197108 -0.01788223 0.03349014
+v 0.00682008 -0.01882891 0.03349014
+v 0.00671602 -0.01887188 0.03349014
+v 0.00566871 -0.01930050 0.03349014
+v 0.00589025 -0.01938646 0.03167202
+v -0.01000402 -0.01919248 0.03167202
+v -0.00980261 -0.01909839 0.03349014
+v 0.00408096 -0.01970589 0.03349014
+v 0.00275839 -0.02018446 0.03167202
+v -0.00714406 -0.02002532 0.03167202
+v -0.00727497 -0.01981043 0.03349014
+v 0.00391648 -0.01974655 0.03349014
+v 0.00371843 -0.01979301 0.03349014
+v 0.00236565 -0.02010663 0.03349014
+v 0.00236565 -0.02027506 0.03167202
+v -0.00643242 -0.02012987 0.03167202
+v -0.00466676 -0.02019491 0.03349014
+v -0.00500580 -0.02014497 0.03349014
+v 0.00006291 -0.02029946 0.03349014
+v -0.00169939 -0.02061540 0.03167202
+v -0.00236738 -0.02067116 0.03167202
+v -0.00236738 -0.02050041 0.03349014
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 5
+f 1 5 11
+f 1 11 17
+f 1 17 21
+f 1 21 27
+f 1 27 33
+f 1 33 37
+f 1 37 44
+f 1 44 43
+f 1 43 48
+f 1 48 45
+f 1 45 40
+f 1 40 39
+f 1 39 38
+f 1 38 34
+f 1 34 30
+f 1 30 29
+f 1 29 28
+f 1 28 23
+f 1 23 22
+f 1 22 18
+f 1 18 13
+f 1 13 12
+f 1 12 7
+f 1 7 2
+f 2 6 3
+f 2 7 6
+f 3 6 8
+f 3 8 9
+f 3 9 14
+f 3 14 19
+f 3 19 24
+f 3 24 31
+f 3 31 35
+f 3 35 41
+f 3 41 46
+f 3 46 47
+f 3 47 42
+f 3 42 36
+f 3 36 32
+f 3 32 26
+f 3 26 25
+f 3 25 20
+f 3 20 16
+f 3 16 15
+f 3 15 10
+f 3 10 4
+f 5 10 11
+f 6 7 8
+f 7 12 9
+f 7 9 8
+f 9 12 13
+f 9 13 14
+f 10 15 11
+f 11 15 16
+f 11 16 17
+f 13 18 19
+f 13 19 14
+f 16 20 21
+f 16 21 17
+f 18 22 19
+f 19 22 23
+f 19 23 24
+f 20 25 21
+f 21 25 26
+f 21 26 27
+f 23 28 24
+f 24 28 29
+f 24 29 30
+f 24 30 31
+f 26 32 33
+f 26 33 27
+f 30 34 31
+f 31 34 35
+f 32 36 33
+f 33 36 37
+f 34 38 35
+f 35 38 39
+f 35 39 40
+f 35 40 41
+f 36 42 43
+f 36 43 44
+f 36 44 37
+f 40 45 41
+f 41 45 46
+f 42 47 43
+f 43 47 48
+f 45 48 47
+f 45 47 46
\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_110.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_110.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f68ebbf5c0f2bf01003946da224a0b15bbcf8efb
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_110.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.01364463 0.01153088 -0.06316602
+v 0.01026481 0.01451263 -0.06316602
+v 0.01364463 0.02017866 -0.06316602
+v 0.01364463 0.01153989 -0.00881730
+v 0.01026481 0.01451463 -0.00881730
+v 0.01026481 0.02176219 -0.06316602
+v 0.01147149 0.02133551 -0.06316602
+v 0.01364463 0.02017966 -0.05857489
+v 0.01364463 0.02017966 -0.00881730
+v 0.01026481 0.02176219 -0.00881730
+v 0.01026481 0.02176319 -0.03563523
+v 0.01147381 0.02133450 -0.05857489
+v 0.01147381 0.02133450 -0.00881730
+f 1 2 6
+f 1 6 7
+f 1 7 3
+f 1 3 8
+f 1 8 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 10
+f 2 10 11
+f 2 11 6
+f 3 7 8
+f 4 9 13
+f 4 13 10
+f 4 10 5
+f 6 11 7
+f 7 12 8
+f 7 11 13
+f 7 13 12
+f 8 12 13
+f 8 13 9
+f 10 13 11
\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_111.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_111.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bdd5383cbc8808207c34537df2a6aa64e40c6108
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_111.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v -0.00014640 0.00242053 0.11011954
+v -0.00014640 0.00421538 0.11005537
+v -0.00152345 0.00242053 0.11012246
+v -0.00246383 0.00155763 0.11011954
+v -0.00014640 0.00227080 0.10958574
+v -0.00152345 0.00421538 0.11005537
+v -0.00014640 0.00421538 0.09125879
+v -0.00246383 0.00242080 0.11011954
+v -0.00319118 0.00155763 0.11009912
+v -0.00152345 0.00144933 0.10663967
+v -0.00014640 0.00144933 0.10663967
+v -0.00448166 0.00421511 0.10998828
+v -0.00358499 0.00421511 0.11001745
+v -0.00234968 0.00421511 0.11005245
+v -0.00152345 0.00421538 0.08802394
+v -0.00014640 0.00378812 0.09156215
+v -0.00211501 0.00421511 0.08597627
+v -0.00343943 0.00421511 0.08269766
+v -0.00448166 0.00238344 0.11006120
+v -0.00418419 0.00155763 0.11006996
+v -0.00152345 0.00147315 0.10206303
+v -0.00448166 0.00155763 0.11006120
+v -0.00448166 0.00155763 0.08761265
+v -0.00014640 0.00147343 0.10204845
+v -0.00448166 0.00421511 0.08032329
+v -0.00014640 0.00226999 0.09265016
+v -0.00448166 0.00209671 0.08552998
+v -0.00223977 0.00155763 0.09265016
+v -0.00014640 0.00148290 0.10184426
+v -0.00448166 0.00335356 0.08207052
+v -0.00014640 0.00221801 0.09307603
+v -0.00014640 0.00172794 0.09713637
+v -0.00014640 0.00168868 0.09746306
+v -0.00014640 0.00158254 0.09972075
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 24
+f 1 24 29
+f 1 29 34
+f 1 34 33
+f 1 33 32
+f 1 32 31
+f 1 31 26
+f 1 26 16
+f 1 16 7
+f 1 7 2
+f 2 6 3
+f 2 7 15
+f 2 15 6
+f 3 8 4
+f 3 6 8
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 5
+f 6 12 13
+f 6 13 14
+f 6 14 8
+f 6 15 25
+f 6 25 12
+f 7 16 17
+f 7 17 18
+f 7 18 15
+f 8 19 9
+f 8 14 13
+f 8 13 19
+f 9 19 20
+f 9 20 10
+f 10 21 11
+f 10 20 22
+f 10 22 23
+f 10 23 21
+f 11 21 24
+f 12 19 13
+f 12 25 30
+f 12 30 27
+f 12 27 23
+f 12 23 22
+f 12 22 19
+f 15 18 25
+f 16 26 17
+f 17 26 18
+f 18 26 25
+f 19 22 20
+f 21 23 24
+f 23 27 26
+f 23 26 28
+f 23 28 24
+f 24 28 29
+f 25 26 30
+f 26 31 28
+f 26 27 30
+f 28 31 32
+f 28 32 33
+f 28 33 34
+f 28 34 29
\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_112.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_112.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f2f20ec78ad44453fef8cf8a6bb385809b457df
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_112.obj
@@ -0,0 +1,186 @@
+# https://github.com/mikedh/trimesh
+v 0.00131652 0.00002847 -0.07716598
+v 0.00688353 0.00002847 -0.07716598
+v 0.00131652 0.00002847 -0.07028338
+v 0.00131652 0.00691206 -0.07716598
+v 0.01147223 0.00002847 -0.07714915
+v 0.00688353 0.00229576 -0.07716598
+v 0.01147223 0.00229576 -0.07715083
+v 0.01244292 0.00002847 -0.06983812
+v 0.01244619 0.00003301 -0.06983559
+v 0.01244619 0.00804911 -0.06856883
+v 0.00131652 0.01338713 -0.06856883
+v 0.00131652 0.01147615 -0.07714493
+v 0.00229701 0.01147615 -0.07714662
+v 0.00229701 0.00691433 -0.07716598
+v 0.01244619 0.00002847 -0.07712895
+v 0.01244619 0.00229576 -0.07713568
+v 0.00688353 0.00691206 -0.07716429
+v 0.01147223 0.00691206 -0.07714156
+v 0.01244619 0.00591118 -0.07712895
+v 0.01244619 0.00002847 -0.06984570
+v 0.01244619 0.02074279 -0.06856883
+v 0.00131652 0.02316215 -0.06856883
+v 0.00131652 0.01606068 -0.07702457
+v 0.00229701 0.01606068 -0.07702962
+v 0.00688353 0.01147615 -0.07713736
+v 0.00701426 0.00938815 -0.07714915
+v 0.01244619 0.00691206 -0.07711884
+v 0.00701426 0.01147615 -0.07713568
+v 0.01147114 0.01147615 -0.07707759
+v 0.01244619 0.02069286 -0.06909490
+v 0.01206162 0.02095159 -0.06856883
+v 0.00229701 0.02321435 -0.06856883
+v 0.00131652 0.02307363 -0.07081954
+v 0.00131652 0.02021171 -0.07578222
+v 0.00229701 0.02025483 -0.07578642
+v 0.00688353 0.01606068 -0.07698501
+v 0.01244619 0.01050251 -0.07706834
+v 0.00701426 0.01593131 -0.07698754
+v 0.01147114 0.01606068 -0.07663486
+v 0.01244619 0.01508703 -0.07664917
+v 0.01244619 0.01147615 -0.07699680
+v 0.01244619 0.02034108 -0.07234892
+v 0.01164327 0.02116947 -0.06856883
+v 0.01147114 0.02084946 -0.07234892
+v 0.00309556 0.02319846 -0.06856883
+v 0.00516658 0.02304867 -0.07066383
+v 0.00229701 0.02308952 -0.07092812
+v 0.00229701 0.02254936 -0.07322008
+v 0.00131652 0.02271504 -0.07233124
+v 0.00131652 0.02250851 -0.07300123
+v 0.00688353 0.02003922 -0.07574855
+v 0.00701426 0.01992802 -0.07577380
+v 0.01147114 0.01934701 -0.07544217
+v 0.01244619 0.01912005 -0.07528393
+v 0.01244619 0.01603344 -0.07639835
+v 0.01244619 0.02009369 -0.07327310
+v 0.01147114 0.02125571 -0.06856883
+v 0.00677241 0.02234283 -0.07225549
+v 0.00760909 0.02258568 -0.06856883
+v 0.00844142 0.02232241 -0.06856883
+v 0.00540735 0.02309179 -0.06856883
+v 0.00706220 0.02275362 -0.06856883
+v 0.00701426 0.02001880 -0.07574013
+f 1 2 5
+f 1 5 15
+f 1 15 20
+f 1 20 8
+f 1 8 3
+f 1 3 11
+f 1 11 22
+f 1 22 33
+f 1 33 49
+f 1 49 50
+f 1 50 34
+f 1 34 23
+f 1 23 12
+f 1 12 4
+f 1 4 14
+f 1 14 6
+f 1 6 2
+f 2 6 7
+f 2 7 5
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 4 12 13
+f 4 13 14
+f 5 7 16
+f 5 16 15
+f 6 17 7
+f 6 14 17
+f 7 17 18
+f 7 18 19
+f 7 19 16
+f 8 20 9
+f 9 20 15
+f 9 15 16
+f 9 16 19
+f 9 19 27
+f 9 27 37
+f 9 37 41
+f 9 41 40
+f 9 40 55
+f 9 55 54
+f 9 54 56
+f 9 56 42
+f 9 42 30
+f 9 30 21
+f 9 21 10
+f 10 21 31
+f 10 31 43
+f 10 43 57
+f 10 57 60
+f 10 60 59
+f 10 59 62
+f 10 62 61
+f 10 61 45
+f 10 45 32
+f 10 32 22
+f 10 22 11
+f 12 23 24
+f 12 24 13
+f 13 24 25
+f 13 25 17
+f 13 17 14
+f 17 25 26
+f 17 26 18
+f 18 27 19
+f 18 26 25
+f 18 25 28
+f 18 28 29
+f 18 29 27
+f 21 30 31
+f 22 32 33
+f 23 34 35
+f 23 35 24
+f 24 35 36
+f 24 36 25
+f 25 36 28
+f 27 29 37
+f 28 36 29
+f 29 36 38
+f 29 38 39
+f 29 39 40
+f 29 40 41
+f 29 41 37
+f 30 42 31
+f 31 42 44
+f 31 44 43
+f 32 45 46
+f 32 46 47
+f 32 47 33
+f 33 47 48
+f 33 48 49
+f 34 50 48
+f 34 48 35
+f 35 51 36
+f 35 48 51
+f 36 51 52
+f 36 52 39
+f 36 39 38
+f 39 52 53
+f 39 53 54
+f 39 54 55
+f 39 55 40
+f 42 56 44
+f 43 44 57
+f 44 58 59
+f 44 59 60
+f 44 60 57
+f 44 56 54
+f 44 54 53
+f 44 53 58
+f 45 61 46
+f 46 61 62
+f 46 62 58
+f 46 58 48
+f 46 48 47
+f 48 50 49
+f 48 58 51
+f 51 53 63
+f 51 63 52
+f 51 58 53
+f 52 63 53
+f 58 62 59
\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_113.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_113.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc40b83291f67e075b7a33a159384679ec41d122
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_113.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v 0.00961909 -0.00465405 0.09382064
+v 0.00778698 -0.00465405 0.10663760
+v 0.00961909 -0.00510972 0.09279282
+v 0.00961909 -0.00465405 0.05618276
+v 0.00961909 -0.00520381 0.09257038
+v 0.00724347 -0.00465405 0.10821768
+v 0.00640668 -0.00632943 0.10663760
+v 0.00961909 -0.00958461 0.07815800
+v 0.00961909 -0.00937427 0.07894037
+v 0.00961909 -0.00876540 0.08102667
+v 0.00961909 -0.00710480 0.04417117
+v 0.00789537 -0.00465405 0.06309365
+v 0.00623598 -0.00465405 0.10984377
+v 0.00580189 -0.00575110 0.10977474
+v 0.00444489 -0.00720579 0.10818700
+v 0.00444489 -0.00769938 0.10663760
+v 0.00961909 -0.00968609 0.07763643
+v 0.00961909 -0.00968609 0.03161498
+v 0.00692334 -0.00465405 0.06702848
+v 0.00555369 -0.00465405 0.10989746
+v 0.00444489 -0.00626293 0.10983610
+v 0.00444489 -0.00968609 0.09281583
+v 0.00473514 -0.00968609 0.09234795
+v 0.00537944 -0.00968609 0.09087526
+v 0.00815573 -0.00968609 0.08235362
+v 0.00862984 -0.00968609 0.08088861
+v 0.00929238 -0.00968609 0.07876395
+v 0.00953248 -0.00968609 0.07793557
+v 0.00444489 -0.00968609 0.05434191
+v 0.00444489 -0.00750135 0.06336211
+v 0.00444489 -0.00465405 0.07924718
+v 0.00473564 -0.00465405 0.10995883
+v 0.00444489 -0.00493336 0.10995883
+v 0.00444489 -0.00465405 0.10996649
+f 1 2 3
+f 1 3 5
+f 1 5 10
+f 1 10 9
+f 1 9 8
+f 1 8 17
+f 1 17 18
+f 1 18 11
+f 1 11 4
+f 1 4 12
+f 1 12 19
+f 1 19 31
+f 1 31 34
+f 1 34 32
+f 1 32 20
+f 1 20 13
+f 1 13 6
+f 1 6 2
+f 2 5 3
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 5
+f 4 11 12
+f 6 13 14
+f 6 14 7
+f 7 14 15
+f 7 15 16
+f 7 16 17
+f 7 17 8
+f 11 18 19
+f 11 19 12
+f 13 20 21
+f 13 21 14
+f 14 21 15
+f 15 21 33
+f 15 33 34
+f 15 34 31
+f 15 31 30
+f 15 30 29
+f 15 29 22
+f 15 22 16
+f 16 22 23
+f 16 23 24
+f 16 24 25
+f 16 25 26
+f 16 26 27
+f 16 27 28
+f 16 28 17
+f 17 28 27
+f 17 27 26
+f 17 26 25
+f 17 25 24
+f 17 24 23
+f 17 23 22
+f 17 22 29
+f 17 29 18
+f 18 29 30
+f 18 30 19
+f 19 30 31
+f 20 32 33
+f 20 33 21
+f 32 34 33
\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_114.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_114.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6cac81ccf9bd3d86623e5539c3775996303092f6
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_114.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.00961909 -0.00133911 0.10200556
+v 0.00961909 -0.00135377 0.10198446
+v 0.00961909 0.00002783 0.10195808
+v 0.00957199 0.00002783 0.10664222
+v 0.00957199 -0.00125021 0.10664222
+v 0.00961909 -0.00140601 0.10190534
+v 0.00961909 0.00002783 0.06629427
+v 0.00947676 0.00002783 0.10856230
+v 0.00943928 -0.00082954 0.10931133
+v 0.00870076 -0.00354462 0.10664222
+v 0.00961909 -0.00465356 0.09381886
+v 0.00961909 -0.00465356 0.05618222
+v 0.00841254 0.00002783 0.07001837
+v 0.00943928 0.00002783 0.10931133
+v 0.00723638 0.00002783 0.10998126
+v 0.00715229 -0.00233303 0.10998126
+v 0.00623598 -0.00465356 0.10984411
+v 0.00724347 -0.00465356 0.10821415
+v 0.00778698 -0.00465356 0.10664222
+v 0.00789537 -0.00465356 0.06309766
+v 0.00692334 -0.00465356 0.06702749
+v 0.00567779 0.00002783 0.08147552
+v 0.00478275 0.00002783 0.11005511
+v 0.00444489 -0.00032960 0.11006566
+v 0.00444489 -0.00238344 0.11006038
+v 0.00444489 -0.00465356 0.10997071
+v 0.00473564 -0.00465356 0.10996015
+v 0.00444489 -0.00465356 0.07924950
+v 0.00444489 -0.00337369 0.08214544
+v 0.00444489 -0.00211766 0.08558470
+v 0.00444489 0.00002783 0.09151900
+v 0.00444489 0.00002783 0.11006038
+f 1 2 6
+f 1 6 11
+f 1 11 12
+f 1 12 7
+f 1 7 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 13
+f 3 13 22
+f 3 22 31
+f 3 31 32
+f 3 32 23
+f 3 23 15
+f 3 15 14
+f 3 14 8
+f 3 8 4
+f 4 8 5
+f 5 8 9
+f 5 9 10
+f 5 10 11
+f 5 11 6
+f 7 12 13
+f 8 14 9
+f 9 14 15
+f 9 15 16
+f 9 16 17
+f 9 17 18
+f 9 18 10
+f 10 18 19
+f 10 19 11
+f 11 19 18
+f 11 18 17
+f 11 17 27
+f 11 27 26
+f 11 26 28
+f 11 28 21
+f 11 21 20
+f 11 20 12
+f 12 20 13
+f 13 20 21
+f 13 21 22
+f 15 23 24
+f 15 24 16
+f 16 24 25
+f 16 25 26
+f 16 26 27
+f 16 27 17
+f 21 28 22
+f 22 28 29
+f 22 29 30
+f 22 30 31
+f 23 32 24
+f 24 32 31
+f 24 31 30
+f 24 30 29
+f 24 29 28
+f 24 28 26
+f 24 26 25
\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_115.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_115.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44f1d563a538a0c7d24de9990d576680978f1780
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_115.obj
@@ -0,0 +1,186 @@
+# https://github.com/mikedh/trimesh
+v -0.00962293 0.00974134 0.03114172
+v -0.00962293 0.01086844 0.02046538
+v -0.00354769 0.00974134 0.05630012
+v -0.00962293 0.00974134 0.07734051
+v -0.00962293 0.01091494 0.02011676
+v -0.00354769 0.01452322 0.02011676
+v -0.00354769 0.01172650 0.04122251
+v -0.00354769 0.00974134 0.09429919
+v -0.00923635 0.00974134 0.07866961
+v -0.00882955 0.01356441 0.06193607
+v -0.00927976 0.01384231 0.05887843
+v -0.00962293 0.01361423 0.05852255
+v -0.00962293 0.01902720 0.02011676
+v -0.00354769 0.02105222 0.02011676
+v -0.00354769 0.00976238 0.09419751
+v -0.00358813 0.00974134 0.09424109
+v -0.00910134 0.00974134 0.07910537
+v -0.00826752 0.01323558 0.06533507
+v -0.00470743 0.01382681 0.07253979
+v -0.00517608 0.01405489 0.06992517
+v -0.00597362 0.01444461 0.06533507
+v -0.00713336 0.01464833 0.06054161
+v -0.00688416 0.01547871 0.05616213
+v -0.00791365 0.01780931 0.03780173
+v -0.00863626 0.01811157 0.03321162
+v -0.00960151 0.01407814 0.05616213
+v -0.00962293 0.01406042 0.05616213
+v -0.00729156 0.02004580 0.02011676
+v -0.00962293 0.01869727 0.02392974
+v -0.00688416 0.02021741 0.02011676
+v -0.00354769 0.02073668 0.02403869
+v -0.00354769 0.01354005 0.07567733
+v -0.00366486 0.01352566 0.07560470
+v -0.00465390 0.00974134 0.09221476
+v -0.00856548 0.00974134 0.08082667
+v -0.00747057 0.01277057 0.06992517
+v -0.00803795 0.00974134 0.08245353
+v -0.00580948 0.00996278 0.08827831
+v -0.00546572 0.00974134 0.09035548
+v -0.00354769 0.01396188 0.07333144
+v -0.00354769 0.01431397 0.07128332
+v -0.00354769 0.01493288 0.06732508
+v -0.00439103 0.01828872 0.04439637
+v -0.00503453 0.01852897 0.04133872
+v -0.00669206 0.01761113 0.04268234
+v -0.00561916 0.01875595 0.03780173
+v -0.00905793 0.01829093 0.03048807
+v -0.00962293 0.01409364 0.05597330
+v -0.00962293 0.01406707 0.05612582
+v -0.00938979 0.01848247 0.02742316
+v -0.00962293 0.01862087 0.02477223
+v -0.00688416 0.01983765 0.02403869
+v -0.00354769 0.02015763 0.03004504
+v -0.00354769 0.01836622 0.04507907
+v -0.00354769 0.01857769 0.04357567
+v -0.00354769 0.01910138 0.03942134
+v -0.00354769 0.01961733 0.03494018
+v -0.00634236 0.01903717 0.03321162
+v -0.00727015 0.01918885 0.02882488
+v -0.00962293 0.01829758 0.02761199
+v -0.00962293 0.01796653 0.03003051
+v -0.00962293 0.01781374 0.03111993
+v -0.00962293 0.01835958 0.02711812
+f 1 2 3
+f 1 3 8
+f 1 8 16
+f 1 16 34
+f 1 34 39
+f 1 39 37
+f 1 37 35
+f 1 35 17
+f 1 17 9
+f 1 9 4
+f 1 4 12
+f 1 12 27
+f 1 27 49
+f 1 49 48
+f 1 48 62
+f 1 62 61
+f 1 61 60
+f 1 60 63
+f 1 63 51
+f 1 51 29
+f 1 29 13
+f 1 13 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 3 7 6
+f 3 6 14
+f 3 14 31
+f 3 31 53
+f 3 53 57
+f 3 57 56
+f 3 56 55
+f 3 55 54
+f 3 54 42
+f 3 42 41
+f 3 41 40
+f 3 40 32
+f 3 32 15
+f 3 15 8
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 5 13 28
+f 5 28 30
+f 5 30 14
+f 5 14 6
+f 8 15 16
+f 9 17 18
+f 9 18 10
+f 10 18 19
+f 10 19 20
+f 10 20 21
+f 10 21 11
+f 11 21 22
+f 11 22 23
+f 11 23 24
+f 11 24 25
+f 11 25 26
+f 11 26 27
+f 11 27 12
+f 13 29 28
+f 14 30 31
+f 15 32 33
+f 15 33 16
+f 16 33 19
+f 16 19 34
+f 17 35 18
+f 18 36 19
+f 18 35 37
+f 18 37 38
+f 18 38 36
+f 19 36 39
+f 19 39 34
+f 19 33 40
+f 19 40 41
+f 19 41 42
+f 19 42 43
+f 19 43 44
+f 19 44 20
+f 20 44 21
+f 21 44 23
+f 21 23 22
+f 23 44 45
+f 23 45 24
+f 24 45 44
+f 24 44 46
+f 24 46 25
+f 25 46 47
+f 25 47 26
+f 26 47 48
+f 26 48 49
+f 26 49 27
+f 28 29 50
+f 28 50 30
+f 29 51 50
+f 30 50 52
+f 30 52 53
+f 30 53 31
+f 32 40 33
+f 36 38 39
+f 37 39 38
+f 42 54 43
+f 43 54 55
+f 43 55 56
+f 43 56 44
+f 44 56 57
+f 44 57 53
+f 44 53 46
+f 46 53 58
+f 46 58 47
+f 47 58 59
+f 47 59 50
+f 47 50 60
+f 47 60 61
+f 47 61 62
+f 47 62 48
+f 50 51 63
+f 50 63 60
+f 50 59 52
+f 52 59 58
+f 52 58 53
\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_116.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_116.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e589b0bf999847a14a4812e1caefe7130d281b0e
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_116.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.01701537 0.00227662 0.06213801
+v 0.01701054 0.00227662 0.06217279
+v 0.01701537 0.00002805 0.06103213
+v 0.01701537 0.00227662 0.00904181
+v 0.01655337 0.00227662 0.06533046
+v 0.01638191 0.00002805 0.06533046
+v 0.01701537 0.00002805 0.00548769
+v 0.01454842 0.00227662 0.03500567
+v 0.01654710 0.00227662 0.06537219
+v 0.01454842 0.00091669 0.07641014
+v 0.01559316 0.00002805 0.06992091
+v 0.01469622 0.00002805 0.03124985
+v 0.01454842 0.00227662 0.07638231
+v 0.01454842 0.00002805 0.03328773
+v 0.01576608 0.00227662 0.06992091
+v 0.01492058 0.00227662 0.07453918
+v 0.01454842 0.00211637 0.07654229
+v 0.01454842 0.00002805 0.07583981
+v 0.01575883 0.00227662 0.06996264
+v 0.01488725 0.00227662 0.07472001
+f 1 2 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 13
+f 1 13 20
+f 1 20 16
+f 1 16 19
+f 1 19 15
+f 1 15 9
+f 1 9 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 3 6 11
+f 3 11 18
+f 3 18 14
+f 3 14 12
+f 3 12 7
+f 4 7 8
+f 5 9 6
+f 6 9 10
+f 6 10 11
+f 7 12 8
+f 8 12 14
+f 8 14 18
+f 8 18 10
+f 8 10 17
+f 8 17 13
+f 9 15 10
+f 10 16 17
+f 10 18 11
+f 10 15 19
+f 10 19 16
+f 13 17 20
+f 16 20 17
\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_117.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_117.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e95f38504e9574615a0e4aca39ef19a4d6f63b28
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_117.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.00515010 -0.00511799 0.07954948
+v -0.00515010 -0.00264633 0.08348782
+v -0.00252418 -0.00511799 0.08348782
+v -0.00515010 -0.00511799 0.10986216
+v -0.00515010 0.00002783 0.08824017
+v -0.00224060 0.00002783 0.09264836
+v -0.00122984 -0.00511799 0.08652837
+v -0.00242940 -0.00511799 0.11002377
+v -0.00515010 -0.00258538 0.11004173
+v -0.00515010 0.00002783 0.11004173
+v -0.00177474 0.00002783 0.09746356
+v -0.00122984 -0.00227107 0.09264537
+v -0.00122984 -0.00511799 0.11002377
+v -0.00246432 -0.00242067 0.11012252
+v -0.00505532 -0.00143543 0.11004771
+v -0.00246470 0.00002783 0.11011953
+v -0.00153107 0.00002783 0.10204832
+v -0.00122984 -0.00168879 0.09746057
+v -0.00122984 -0.00242067 0.11011654
+v -0.00187336 0.00002783 0.10791992
+v -0.00122984 -0.00147371 0.10205131
+v -0.00153069 0.00002783 0.10663906
+v -0.00122984 -0.00145003 0.10664206
+v -0.00122984 -0.00145205 0.10619017
+f 1 2 3
+f 1 3 7
+f 1 7 13
+f 1 13 8
+f 1 8 4
+f 1 4 9
+f 1 9 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 7
+f 4 8 9
+f 5 10 16
+f 5 16 20
+f 5 20 22
+f 5 22 17
+f 5 17 11
+f 5 11 6
+f 6 11 12
+f 6 12 7
+f 7 12 18
+f 7 18 21
+f 7 21 24
+f 7 24 23
+f 7 23 19
+f 7 19 13
+f 8 13 14
+f 8 14 9
+f 9 14 15
+f 9 15 10
+f 10 15 16
+f 11 17 12
+f 12 17 18
+f 13 19 14
+f 14 16 15
+f 14 19 16
+f 16 19 20
+f 17 21 18
+f 17 22 23
+f 17 23 24
+f 17 24 21
+f 19 23 22
+f 19 22 20
\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_118.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_118.obj
new file mode 100644
index 0000000000000000000000000000000000000000..198740c1b9a2f5077940a74c3f5660ba906c5668
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_118.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v -0.01111081 -0.01127282 -0.06754436
+v -0.00688662 -0.01394308 -0.06754350
+v -0.00688662 -0.01396344 -0.06754436
+v -0.02204497 -0.01127282 -0.06754436
+v -0.01389078 -0.01127282 -0.06314308
+v -0.00688662 -0.01592345 -0.06314308
+v -0.00688662 -0.02282700 -0.06754436
+v -0.02185181 -0.01165170 -0.06754436
+v -0.02206577 -0.01127282 -0.06314738
+v -0.02141647 -0.01127282 -0.06314308
+v -0.00688662 -0.02282700 -0.06314308
+v -0.00779743 -0.02264039 -0.06754436
+v -0.02186073 -0.01167093 -0.06316936
+v -0.01966320 -0.01506050 -0.06754436
+v -0.02186073 -0.01167093 -0.06314308
+v -0.00784052 -0.02262003 -0.06314308
+v -0.01130694 -0.02140648 -0.06754436
+v -0.01957999 -0.01521658 -0.06314308
+v -0.01955622 -0.01522563 -0.06754436
+v -0.01147484 -0.02133410 -0.06314308
+v -0.01147484 -0.02134654 -0.06754436
+v -0.01956662 -0.01523694 -0.06316936
+v -0.01956662 -0.01523694 -0.06314308
+v -0.01745230 -0.01751814 -0.06754436
+v -0.01746567 -0.01752945 -0.06316936
+v -0.01517305 -0.01936618 -0.06314308
+v -0.01517305 -0.01936618 -0.06316936
+v -0.01515819 -0.01935713 -0.06754436
+v -0.01746567 -0.01752945 -0.06314308
+f 1 2 3
+f 1 3 7
+f 1 7 12
+f 1 12 17
+f 1 17 21
+f 1 21 28
+f 1 28 24
+f 1 24 19
+f 1 19 14
+f 1 14 8
+f 1 8 4
+f 1 4 9
+f 1 9 10
+f 1 10 5
+f 1 5 2
+f 2 6 11
+f 2 11 7
+f 2 7 3
+f 2 5 6
+f 4 8 9
+f 5 10 15
+f 5 15 18
+f 5 18 23
+f 5 23 29
+f 5 29 26
+f 5 26 20
+f 5 20 16
+f 5 16 11
+f 5 11 6
+f 7 11 12
+f 8 13 9
+f 8 14 13
+f 9 13 15
+f 9 15 10
+f 11 16 12
+f 12 16 17
+f 13 14 18
+f 13 18 15
+f 14 19 18
+f 16 20 17
+f 17 20 21
+f 18 19 22
+f 18 22 23
+f 19 24 25
+f 19 25 22
+f 20 26 21
+f 21 26 27
+f 21 27 28
+f 22 25 29
+f 22 29 23
+f 24 28 25
+f 25 28 27
+f 25 27 26
+f 25 26 29
\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_119.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_119.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cfc3355238288589b877136007c97a55c3e7185f
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_119.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.00131652 0.01338837 -0.06856715
+v 0.00760656 0.01217275 -0.06856715
+v 0.00131652 0.01531926 -0.06677814
+v 0.00131652 0.02316547 -0.06856715
+v 0.00760656 0.01457903 -0.06677814
+v 0.00760656 0.02258913 -0.06856715
+v 0.00131652 0.02320888 -0.06677814
+v 0.00131652 0.02320671 -0.06775819
+v 0.00229487 0.02321540 -0.06856715
+v 0.00760656 0.02267705 -0.06677814
+v 0.00706167 0.02275628 -0.06856715
+v 0.00760656 0.02267054 -0.06796521
+v 0.00160036 0.02322408 -0.06677814
+v 0.00229487 0.02326098 -0.06677814
+v 0.00229487 0.02325664 -0.06775819
+v 0.00309467 0.02320020 -0.06856715
+v 0.00760656 0.02268030 -0.06775819
+v 0.00550824 0.02311337 -0.06677814
+v 0.00540603 0.02309492 -0.06856715
+v 0.00481434 0.02314593 -0.06677814
+v 0.00549900 0.02311120 -0.06775819
+f 1 2 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 9
+f 1 9 16
+f 1 16 19
+f 1 19 11
+f 1 11 6
+f 1 6 2
+f 2 5 3
+f 2 6 12
+f 2 12 17
+f 2 17 10
+f 2 10 5
+f 3 5 10
+f 3 10 18
+f 3 18 20
+f 3 20 14
+f 3 14 13
+f 3 13 7
+f 4 8 15
+f 4 15 9
+f 6 11 12
+f 7 13 8
+f 8 13 14
+f 8 14 15
+f 9 15 16
+f 10 17 18
+f 11 17 12
+f 11 19 17
+f 14 20 21
+f 14 21 15
+f 15 21 16
+f 16 21 19
+f 17 19 21
+f 17 21 18
+f 18 21 20
\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_12.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1dc2fae54a729adb960f57602faee5f8244e350
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_12.obj
@@ -0,0 +1,201 @@
+# https://github.com/mikedh/trimesh
+v 0.00235995 0.02289362 0.00088704
+v 0.00235059 0.02206453 0.00739655
+v 0.00235995 0.02206453 0.00739655
+v 0.00412418 0.02272108 0.00088704
+v -0.00060227 0.02263593 0.00088704
+v -0.00235714 0.02166119 0.00739655
+v 0.00708172 0.02152674 0.00739655
+v 0.00709576 0.02240737 0.00088704
+v -0.00236650 0.02247908 0.00088704
+v -0.00237118 0.02165895 0.00739655
+v 0.00709576 0.02152450 0.00739655
+v 0.00885999 0.02181580 0.00088704
+v -0.00709763 0.02117046 0.00088704
+v -0.00710231 0.02033464 0.00739655
+v 0.01165842 0.01997388 0.00739655
+v 0.01167246 0.01997164 0.00738317
+v 0.01207023 0.02065956 0.00088704
+v -0.00914731 0.02027190 0.00088704
+v -0.00987734 0.01918288 0.00739655
+v 0.01403569 0.01884676 0.00739655
+v 0.01473763 0.01931733 0.00088704
+v -0.01060269 0.01960415 0.00088704
+v -0.01148714 0.01905291 0.00088704
+v -0.01297059 0.01808713 0.00088704
+v -0.01223589 0.01758072 0.00739655
+v 0.01655802 0.01652979 0.00739655
+v 0.01681072 0.01742834 0.00088704
+v -0.01480501 0.01660150 0.00088704
+v -0.01527766 0.01520997 0.00739655
+v -0.01224524 0.01757624 0.00738317
+v 0.01895868 0.01424867 0.00739655
+v 0.01896804 0.01424195 0.00738317
+v 0.01944536 0.01483127 0.00088704
+v -0.01582986 0.01572087 0.00088704
+v -0.01671431 0.01485144 0.00088704
+v -0.01819776 0.01327169 0.00088704
+v -0.01764088 0.01258601 0.00739655
+v 0.01896804 0.01423747 0.00739655
+v 0.02033918 0.01183310 0.00739655
+v 0.02127979 0.01183534 0.00088704
+v -0.01926940 0.01178605 0.00088704
+v -0.01941447 0.01021750 0.00739655
+v 0.02233739 0.00710504 0.00739655
+v 0.02313293 0.00754200 0.00088704
+v -0.01987776 0.01090990 0.00088704
+v -0.02069670 0.00934807 0.00088704
+v -0.02184321 0.00710280 0.00088704
+v -0.02095408 0.00710504 0.00739655
+v 0.02300190 0.00237250 0.00739655
+v 0.02382552 0.00539308 0.00092718
+v 0.02383020 0.00540205 0.00088704
+v -0.02227374 0.00593535 0.00088704
+v -0.02251240 0.00237250 0.00739655
+v 0.02300190 0.00235906 0.00739655
+v 0.02390507 0.00237026 0.00123176
+v 0.02395187 0.00237026 0.00088704
+v -0.02324711 0.00293046 0.00088704
+v -0.02381802 0.00076810 0.00090424
+v -0.02275106 0.00004433 0.00739655
+v 0.02385828 0.00002864 0.00088704
+v 0.02276324 0.00004433 0.00739655
+v -0.02381802 0.00077258 0.00088704
+v -0.02385546 0.00002864 0.00088704
+v -0.02384142 0.00002864 0.00098134
+v -0.02301312 0.00000175 0.00477643
+v 0.02301126 0.00000175 0.00477643
+v 0.02326396 0.00000175 0.00287761
+v -0.02326583 0.00000175 0.00287761
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 12
+f 1 12 17
+f 1 17 21
+f 1 21 27
+f 1 27 33
+f 1 33 40
+f 1 40 44
+f 1 44 51
+f 1 51 56
+f 1 56 60
+f 1 60 63
+f 1 63 62
+f 1 62 57
+f 1 57 52
+f 1 52 47
+f 1 47 46
+f 1 46 45
+f 1 45 41
+f 1 41 36
+f 1 36 35
+f 1 35 34
+f 1 34 28
+f 1 28 24
+f 1 24 23
+f 1 23 22
+f 1 22 18
+f 1 18 13
+f 1 13 9
+f 1 9 5
+f 1 5 6
+f 1 6 2
+f 2 6 10
+f 2 10 14
+f 2 14 19
+f 2 19 25
+f 2 25 29
+f 2 29 37
+f 2 37 42
+f 2 42 48
+f 2 48 53
+f 2 53 59
+f 2 59 61
+f 2 61 54
+f 2 54 49
+f 2 49 43
+f 2 43 39
+f 2 39 38
+f 2 38 31
+f 2 31 26
+f 2 26 20
+f 2 20 15
+f 2 15 11
+f 2 11 7
+f 2 7 3
+f 3 7 8
+f 3 8 4
+f 5 9 6
+f 6 9 10
+f 7 11 8
+f 8 11 12
+f 9 13 10
+f 10 13 14
+f 11 15 16
+f 11 16 12
+f 12 16 17
+f 13 18 19
+f 13 19 14
+f 15 20 16
+f 16 20 17
+f 17 20 21
+f 18 22 19
+f 19 22 23
+f 19 23 24
+f 19 24 25
+f 20 26 27
+f 20 27 21
+f 24 28 29
+f 24 29 30
+f 24 30 25
+f 25 30 29
+f 26 31 27
+f 27 31 32
+f 27 32 33
+f 28 34 29
+f 29 34 35
+f 29 35 36
+f 29 36 37
+f 31 38 32
+f 32 38 39
+f 32 39 40
+f 32 40 33
+f 36 41 42
+f 36 42 37
+f 39 43 44
+f 39 44 40
+f 41 45 42
+f 42 45 46
+f 42 46 47
+f 42 47 48
+f 43 49 50
+f 43 50 51
+f 43 51 44
+f 47 52 48
+f 48 52 53
+f 49 54 55
+f 49 55 50
+f 50 55 56
+f 50 56 51
+f 52 57 53
+f 53 57 58
+f 53 58 59
+f 54 60 55
+f 54 61 60
+f 55 60 56
+f 57 62 58
+f 58 62 63
+f 58 63 64
+f 58 64 59
+f 59 64 65
+f 59 65 66
+f 59 66 61
+f 60 61 66
+f 60 66 67
+f 60 67 68
+f 60 68 63
+f 63 68 65
+f 63 65 64
+f 65 68 67
+f 65 67 66
\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_120.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_120.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d44b5ca132587513f922f5537baefdd2f68d162
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_120.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v -0.00113002 -0.02321179 -0.06316934
+v -0.00113002 -0.02321179 -0.06316691
+v -0.00113002 -0.02319784 -0.06730018
+v 0.00091397 -0.02309201 -0.06730018
+v 0.00095714 -0.02310015 -0.06316934
+v 0.00095714 -0.02310015 -0.06316691
+v -0.00113002 -0.01651892 -0.06316691
+v -0.00113002 -0.01512453 -0.06730018
+v 0.00297908 -0.02270009 -0.06730018
+v 0.00325192 -0.02262217 -0.06316934
+v 0.00325100 -0.02262217 -0.06316691
+v 0.00643136 -0.01470354 -0.06316691
+v 0.00825487 -0.01373362 -0.06316974
+v 0.00825487 -0.01293350 -0.06449881
+v 0.00825487 -0.01133093 -0.06729977
+v 0.00207054 -0.01467911 -0.06730018
+v 0.00320783 -0.02265241 -0.06730018
+v 0.00688333 -0.02159760 -0.06730018
+v 0.00688333 -0.02157434 -0.06316691
+v 0.00825487 -0.01655032 -0.06316691
+v 0.00825487 -0.01467911 -0.06730018
+v 0.00732061 -0.02139989 -0.06730018
+v 0.00825487 -0.02097657 -0.06632431
+v 0.00825487 -0.02095913 -0.06316934
+v 0.00825487 -0.02097308 -0.06730018
+f 1 2 7
+f 1 7 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 11
+f 2 11 19
+f 2 19 20
+f 2 20 12
+f 2 12 7
+f 3 8 16
+f 3 16 21
+f 3 21 25
+f 3 25 22
+f 3 22 18
+f 3 18 17
+f 3 17 9
+f 3 9 4
+f 4 9 5
+f 5 9 6
+f 6 9 10
+f 6 10 11
+f 7 12 13
+f 7 13 14
+f 7 14 15
+f 7 15 8
+f 8 15 16
+f 9 17 10
+f 10 17 18
+f 10 18 19
+f 10 19 11
+f 12 20 13
+f 13 20 24
+f 13 24 23
+f 13 23 25
+f 13 25 21
+f 13 21 15
+f 13 15 14
+f 15 21 16
+f 18 22 23
+f 18 23 24
+f 18 24 19
+f 19 24 20
+f 22 25 23
\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_121.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_121.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ac845940c206e38b68137a0b7f8567c8af701ff
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_121.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v 0.01087502 0.01161874 0.02238383
+v 0.01087502 0.01978125 0.02238383
+v 0.00672550 0.01423502 0.02238383
+v 0.00672550 0.01597296 -0.00881730
+v 0.01087502 0.01402809 -0.00881730
+v 0.01087502 0.02004871 0.02003825
+v 0.00853253 0.02060125 0.02238383
+v 0.00672550 0.02114718 0.02238383
+v 0.00672550 0.02286311 -0.00881730
+v 0.01087502 0.02154562 -0.00881730
+v 0.01087502 0.02048458 0.01544787
+v 0.00688475 0.02113067 0.02238383
+v 0.00688475 0.02138492 0.01943964
+v 0.00672550 0.02138712 0.01959845
+v 0.00672550 0.02286091 -0.00572345
+v 0.00747829 0.02269911 -0.00881730
+v 0.00783946 0.02261986 -0.00881730
+v 0.01087502 0.02154562 -0.00733910
+v 0.01087502 0.02092154 0.01026194
+v 0.00688475 0.02215208 0.01026194
+v 0.00676247 0.02241404 0.00749794
+v 0.00672550 0.02249219 0.00667026
+v 0.00783946 0.02261986 -0.00809347
+v 0.00672550 0.02285871 -0.00350309
+v 0.00783174 0.02261766 -0.00350309
+v 0.01087502 0.02154231 -0.00350309
+v 0.01087502 0.02126164 0.00570210
+v 0.00672550 0.02256593 0.00574791
+v 0.00672550 0.02255382 0.00590978
+v 0.00672550 0.02282789 -0.00096815
+v 0.00768711 0.02259345 0.00108423
+v 0.01087502 0.02148508 0.00108423
+v 0.00672550 0.02280257 0.00108423
+f 1 2 7
+f 1 7 12
+f 1 12 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 18
+f 1 18 26
+f 1 26 32
+f 1 32 27
+f 1 27 19
+f 1 19 11
+f 1 11 6
+f 1 6 2
+f 2 6 7
+f 3 8 14
+f 3 14 22
+f 3 22 29
+f 3 29 28
+f 3 28 33
+f 3 33 30
+f 3 30 24
+f 3 24 15
+f 3 15 9
+f 3 9 4
+f 4 9 16
+f 4 16 17
+f 4 17 10
+f 4 10 5
+f 6 11 7
+f 7 11 12
+f 8 12 13
+f 8 13 14
+f 9 15 16
+f 10 17 23
+f 10 23 18
+f 11 13 12
+f 11 19 13
+f 13 19 20
+f 13 20 21
+f 13 21 22
+f 13 22 14
+f 15 23 16
+f 15 24 25
+f 15 25 23
+f 16 23 17
+f 18 23 26
+f 19 21 20
+f 19 27 28
+f 19 28 29
+f 19 29 21
+f 21 29 22
+f 23 25 26
+f 24 30 31
+f 24 31 25
+f 25 31 32
+f 25 32 26
+f 27 32 31
+f 27 31 28
+f 28 31 33
+f 30 33 31
\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_122.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_122.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ffc3e98477963917a22cd1c673aec97bc12dd848
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_122.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.00628631 0.00523951 0.07344792
+v 0.00409781 0.00523951 0.08106627
+v 0.00408748 0.00524034 0.08108212
+v 0.00408748 0.00736003 0.06991347
+v 0.00408748 0.00812796 0.06602504
+v 0.00628631 0.00712234 0.06531710
+v 0.00628631 0.00523951 0.10982265
+v 0.00408748 0.00523951 0.08276746
+v 0.00408748 0.00842175 0.06476765
+v 0.00628631 0.00718675 0.06504237
+v 0.00628631 0.00548011 0.10980680
+v 0.00408748 0.00666690 0.10986492
+v 0.00408748 0.00523951 0.10992304
+v 0.00408748 0.00845042 0.06464613
+v 0.00628631 0.00948429 0.05595529
+v 0.00628631 0.00614041 0.10901433
+v 0.00610121 0.00596796 0.10977511
+v 0.00408748 0.00870598 0.10664218
+v 0.00408748 0.00948429 0.06269136
+v 0.00628631 0.00948429 0.09235116
+v 0.00628631 0.00710031 0.10664218
+v 0.00511587 0.00948429 0.09589618
+v 0.00408748 0.00948429 0.09735434
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 10
+f 1 10 15
+f 1 15 20
+f 1 20 21
+f 1 21 16
+f 1 16 11
+f 1 11 7
+f 1 7 13
+f 1 13 8
+f 1 8 2
+f 2 8 3
+f 3 8 13
+f 3 13 12
+f 3 12 18
+f 3 18 23
+f 3 23 19
+f 3 19 14
+f 3 14 9
+f 3 9 5
+f 3 5 4
+f 5 9 6
+f 6 9 10
+f 7 11 12
+f 7 12 13
+f 9 14 10
+f 10 14 15
+f 11 16 17
+f 11 17 12
+f 12 17 18
+f 14 19 15
+f 15 19 23
+f 15 23 22
+f 15 22 20
+f 16 21 17
+f 17 21 18
+f 18 22 23
+f 18 21 20
+f 18 20 22
\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_123.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_123.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8cb076892b02f3bb6809d5a86d642997413140b4
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_123.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.00921650 0.00523978 0.09778751
+v 0.00628631 0.00523978 0.09778751
+v 0.00667754 0.00767475 0.09778751
+v 0.00839045 0.00523978 0.10664243
+v 0.00628631 0.00799918 0.09778751
+v 0.00628631 0.00523978 0.10982544
+v 0.00686311 0.00667877 0.10664243
+v 0.00628631 0.00614040 0.10901702
+v 0.00628631 0.00547993 0.10980894
+v 0.00637752 0.00523978 0.10982426
+v 0.00628631 0.00709991 0.10664243
+f 1 2 5
+f 1 5 3
+f 1 3 4
+f 1 4 10
+f 1 10 6
+f 1 6 2
+f 2 6 9
+f 2 9 8
+f 2 8 11
+f 2 11 5
+f 3 5 7
+f 3 7 4
+f 4 7 8
+f 4 8 9
+f 4 9 10
+f 5 11 7
+f 6 10 9
+f 7 11 8
\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_124.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_124.obj
new file mode 100644
index 0000000000000000000000000000000000000000..610685db53b0618b02dac287593bd67dca89ceef
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_124.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.01057638 -0.00229462 0.09533906
+v -0.01057638 -0.00230032 0.09532635
+v -0.01057638 0.00002783 0.09437307
+v -0.01377750 0.00002783 0.08144013
+v -0.01377750 -0.00008954 0.08144013
+v -0.01406728 -0.00188943 0.07912681
+v -0.01390862 -0.00230032 0.07962888
+v -0.01057638 -0.00230032 0.06077285
+v -0.01057638 0.00002783 0.05869468
+v -0.01377956 0.00002783 0.08142741
+v -0.01477508 -0.00222352 0.07532002
+v -0.01405043 -0.00230032 0.07892345
+v -0.01195169 -0.00230032 0.05157044
+v -0.01477508 0.00002783 0.03041380
+v -0.01477508 -0.00190310 0.07528824
+v -0.01477508 0.00002783 0.07427141
+v -0.01477508 -0.00174380 0.07526918
+v -0.01477508 -0.00230032 0.07524376
+v -0.01337058 -0.00230032 0.04224093
+v -0.01477508 -0.00230032 0.03336900
+f 1 2 8
+f 1 8 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 12
+f 2 12 18
+f 2 18 20
+f 2 20 19
+f 2 19 13
+f 2 13 8
+f 3 9 14
+f 3 14 16
+f 3 16 10
+f 3 10 4
+f 4 10 11
+f 4 11 5
+f 5 11 6
+f 6 11 12
+f 6 12 7
+f 8 13 14
+f 8 14 9
+f 10 15 11
+f 10 16 17
+f 10 17 15
+f 11 15 17
+f 11 17 16
+f 11 16 14
+f 11 14 20
+f 11 20 18
+f 11 18 12
+f 13 19 14
+f 14 19 20
\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_125.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_125.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0954a423233263ecd6561c7bebda19b18bf0e44f
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_125.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.02369703 -0.00687309 -0.06754479
+v -0.02369580 -0.00688429 -0.06754479
+v -0.02370320 -0.00687309 -0.06606707
+v -0.01463082 -0.00687309 -0.06754479
+v -0.02371184 -0.00688429 -0.06316937
+v -0.02302715 -0.00935575 -0.06754479
+v -0.02371307 -0.00687309 -0.06316937
+v -0.01655534 -0.00687309 -0.06314264
+v -0.01110993 -0.01127177 -0.06754479
+v -0.02303949 -0.00935962 -0.06314264
+v -0.02371184 -0.00688429 -0.06314264
+v -0.02204639 -0.01127177 -0.06754479
+v -0.02206243 -0.01127177 -0.06395757
+v -0.02302839 -0.00938718 -0.06314264
+v -0.02303456 -0.00937426 -0.06316937
+v -0.02371307 -0.00687309 -0.06314264
+v -0.01389062 -0.01127177 -0.06314264
+v -0.02303456 -0.00937426 -0.06314264
+v -0.02206366 -0.01127177 -0.06316937
+v -0.02206366 -0.01127177 -0.06314739
+v -0.02141722 -0.01127177 -0.06314264
+f 1 2 3
+f 1 3 7
+f 1 7 16
+f 1 16 8
+f 1 8 4
+f 1 4 9
+f 1 9 12
+f 1 12 6
+f 1 6 2
+f 2 5 3
+f 2 6 5
+f 3 5 7
+f 4 8 9
+f 5 10 11
+f 5 11 16
+f 5 16 7
+f 5 6 10
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 6 15 10
+f 8 17 9
+f 8 16 11
+f 8 11 10
+f 8 10 18
+f 8 18 14
+f 8 14 21
+f 8 21 17
+f 9 17 21
+f 9 21 20
+f 9 20 19
+f 9 19 13
+f 9 13 12
+f 10 15 18
+f 13 19 14
+f 14 18 15
+f 14 19 20
+f 14 20 21
\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_126.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_126.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4cc1cf5171c0715592b3d3ca33b6f76a42daa3b
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_126.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v -0.01477508 -0.00679257 0.02150099
+v -0.01477508 -0.00230032 0.03336861
+v -0.01337058 -0.00230032 0.04224402
+v -0.01087931 -0.00679257 0.04671787
+v -0.01477508 -0.00679257 0.06894255
+v -0.01477508 -0.00230032 0.07524496
+v -0.01195005 -0.00230032 0.05158200
+v -0.01081026 -0.00679257 0.04717320
+v -0.01449188 -0.00679257 0.07066270
+v -0.01424320 -0.00567874 0.07451498
+v -0.01477508 -0.00304214 0.07451498
+v -0.01393945 -0.00498178 0.07760836
+v -0.01405043 -0.00230032 0.07892378
+v -0.01057638 -0.00230032 0.06076820
+v -0.01057638 -0.00679257 0.04908850
+v -0.01368831 -0.00679257 0.07451498
+v -0.01269443 -0.00679257 0.07866359
+v -0.01264963 -0.00666066 0.07912615
+v -0.01057638 -0.00679257 0.08698248
+v -0.01057638 -0.00385124 0.09287292
+v -0.01057638 -0.00230032 0.09532306
+v -0.01358144 -0.00314943 0.08067284
+v -0.01390862 -0.00230032 0.07963208
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 15
+f 1 15 19
+f 1 19 17
+f 1 17 16
+f 1 16 9
+f 1 9 5
+f 1 5 11
+f 1 11 6
+f 1 6 2
+f 2 6 13
+f 2 13 23
+f 2 23 21
+f 2 21 14
+f 2 14 7
+f 2 7 3
+f 3 7 4
+f 4 7 8
+f 5 9 10
+f 5 10 11
+f 6 11 12
+f 6 12 13
+f 7 14 8
+f 8 14 15
+f 9 16 10
+f 10 16 12
+f 10 12 11
+f 12 17 18
+f 12 18 19
+f 12 19 20
+f 12 20 21
+f 12 21 22
+f 12 22 23
+f 12 23 13
+f 12 16 17
+f 14 21 20
+f 14 20 19
+f 14 19 15
+f 17 19 18
+f 21 23 22
\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_127.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_127.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd5dbf05c6147f33f399588e78227188d10038b6
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_127.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.00960083 0.00523951 0.06154029
+v 0.00787884 0.00523951 0.06523707
+v 0.00960083 0.00821813 0.04719178
+v 0.00960083 0.00523951 0.09623674
+v 0.00691223 0.00523951 0.06995202
+v 0.00628664 0.00718675 0.06504388
+v 0.00628664 0.00948429 0.05595335
+v 0.00824615 0.00948429 0.04719178
+v 0.00960083 0.00948429 0.04445053
+v 0.00960083 0.00524449 0.09622629
+v 0.00959791 0.00523951 0.09625762
+v 0.00628664 0.00712234 0.06532061
+v 0.00628664 0.00523951 0.07344516
+v 0.00628664 0.00948429 0.09234676
+v 0.00960083 0.00948429 0.08390892
+v 0.00960083 0.00947557 0.08393503
+v 0.00924683 0.00924452 0.08622724
+v 0.00921633 0.00523951 0.09778750
+v 0.00949732 0.00948429 0.08438408
+v 0.00628664 0.00523951 0.09778750
+v 0.00628664 0.00808474 0.09747944
+v 0.00864265 0.00948429 0.08670239
+v 0.00628664 0.00799914 0.09778750
+v 0.00667763 0.00767460 0.09778750
+v 0.00914462 0.00530849 0.09778750
+f 1 2 3
+f 1 3 9
+f 1 9 15
+f 1 15 16
+f 1 16 10
+f 1 10 4
+f 1 4 11
+f 1 11 18
+f 1 18 20
+f 1 20 13
+f 1 13 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 3 8 9
+f 4 10 11
+f 5 12 6
+f 5 13 12
+f 6 12 13
+f 6 13 20
+f 6 20 23
+f 6 23 21
+f 6 21 14
+f 6 14 7
+f 7 14 22
+f 7 22 19
+f 7 19 15
+f 7 15 9
+f 7 9 8
+f 10 16 11
+f 11 17 18
+f 11 16 19
+f 11 19 17
+f 14 21 17
+f 14 17 22
+f 15 19 16
+f 17 21 23
+f 17 23 24
+f 17 24 25
+f 17 25 18
+f 17 19 22
+f 18 25 24
+f 18 24 23
+f 18 23 20
\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_128.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_128.obj
new file mode 100644
index 0000000000000000000000000000000000000000..663e4acdf0500a8882530fc69d814e0ae624db0d
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_128.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.00152351 -0.00413350 0.09845968
+v 0.00152351 -0.00221862 0.09845968
+v 0.00290036 -0.00413350 0.09845968
+v 0.00152351 -0.00413350 0.11005851
+v 0.00152472 -0.00164265 0.09845968
+v 0.00152351 -0.00147401 0.10205349
+v 0.00290036 0.00002783 0.09845968
+v 0.00290036 -0.00413350 0.11004025
+v 0.00235452 -0.00413350 0.11005737
+v 0.00152351 -0.00335386 0.11008820
+v 0.00161515 0.00002783 0.10046322
+v 0.00164211 0.00002783 0.09995520
+v 0.00172162 0.00002783 0.09845968
+v 0.00153078 0.00002783 0.10205349
+v 0.00152351 -0.00147320 0.10206491
+v 0.00290036 0.00002783 0.11010875
+v 0.00290036 -0.00279785 0.11009391
+v 0.00246396 -0.00242025 0.11012131
+v 0.00152351 -0.00242025 0.11012245
+v 0.00153038 0.00002783 0.10664165
+v 0.00152351 -0.00144957 0.10664165
+v 0.00246396 0.00002783 0.11012131
+v 0.00290036 -0.00241170 0.11010875
+v 0.00152351 -0.00234326 0.10984732
+f 1 2 5
+f 1 5 13
+f 1 13 7
+f 1 7 3
+f 1 3 8
+f 1 8 9
+f 1 9 4
+f 1 4 10
+f 1 10 19
+f 1 19 24
+f 1 24 21
+f 1 21 15
+f 1 15 6
+f 1 6 2
+f 2 6 5
+f 3 7 16
+f 3 16 23
+f 3 23 17
+f 3 17 8
+f 4 9 10
+f 5 11 12
+f 5 12 13
+f 5 6 14
+f 5 14 11
+f 6 15 14
+f 7 13 12
+f 7 12 11
+f 7 11 14
+f 7 14 20
+f 7 20 22
+f 7 22 16
+f 8 17 9
+f 9 17 18
+f 9 18 10
+f 10 18 19
+f 14 15 20
+f 15 21 20
+f 16 22 18
+f 16 18 23
+f 17 23 18
+f 18 22 19
+f 19 22 20
+f 19 20 24
+f 20 21 24
\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_129.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_129.obj
new file mode 100644
index 0000000000000000000000000000000000000000..805cdc07f190aaceba67748dd2c732cee0132140
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_129.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.01454842 0.00325639 0.03377042
+v 0.01283961 0.00325639 0.04319731
+v 0.01454842 0.00948471 0.01102313
+v 0.01454842 0.00325639 0.07540656
+v 0.01226000 0.00325639 0.04702944
+v 0.01305993 0.00948471 0.01963448
+v 0.01454842 0.00948471 0.06334892
+v 0.01454842 0.00416479 0.07450333
+v 0.01393879 0.00498235 0.07760763
+v 0.01400997 0.00325639 0.07844947
+v 0.00960164 0.00821783 0.04720483
+v 0.00960164 0.00325639 0.06487475
+v 0.00960164 0.00948471 0.04446007
+v 0.01423271 0.00948471 0.06533075
+v 0.01454842 0.00881164 0.06533075
+v 0.01454842 0.00645042 0.07075888
+v 0.01424240 0.00567919 0.07450333
+v 0.01386374 0.00930364 0.06807551
+v 0.01350784 0.00870922 0.07112719
+v 0.00960164 0.00524450 0.09621586
+v 0.00960164 0.00325639 0.10060922
+v 0.00960164 0.00948471 0.08390391
+v 0.01400319 0.00948471 0.06671628
+v 0.01454842 0.00708264 0.06969781
+v 0.01454842 0.00704606 0.06977674
+v 0.01454842 0.00706313 0.06974166
+v 0.01364390 0.00948471 0.06818951
+f 1 2 3
+f 1 3 7
+f 1 7 15
+f 1 15 24
+f 1 24 26
+f 1 26 25
+f 1 25 16
+f 1 16 8
+f 1 8 4
+f 1 4 10
+f 1 10 21
+f 1 21 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 13
+f 3 13 22
+f 3 22 27
+f 3 27 23
+f 3 23 14
+f 3 14 7
+f 4 8 9
+f 4 9 10
+f 5 11 6
+f 5 12 11
+f 6 11 13
+f 7 14 15
+f 8 16 17
+f 8 17 9
+f 9 17 18
+f 9 18 19
+f 9 19 20
+f 9 20 21
+f 9 21 10
+f 11 12 21
+f 11 21 20
+f 11 20 22
+f 11 22 13
+f 14 23 18
+f 14 18 15
+f 15 18 24
+f 16 25 17
+f 17 25 26
+f 17 26 24
+f 17 24 18
+f 18 23 27
+f 18 27 22
+f 18 22 20
+f 18 20 19
\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_13.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..413316536730c647e62b7194bbf7c3a24625c8ce
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_13.obj
@@ -0,0 +1,147 @@
+# https://github.com/mikedh/trimesh
+v 0.02297985 0.00948471 -0.00878255
+v 0.02297985 0.00948471 -0.00881557
+v 0.02186139 0.01167013 -0.00809448
+v 0.02186021 0.01166659 -0.00350388
+v 0.02297630 0.00948471 -0.00350388
+v 0.02186139 0.01167013 -0.00881557
+v 0.01520987 0.00948471 -0.00881557
+v 0.01956760 0.01523694 -0.00809448
+v 0.02150121 0.01223095 -0.00881557
+v 0.01956523 0.01523457 -0.00350388
+v 0.01953324 0.01519561 0.00108324
+v 0.02182822 0.01160519 0.00108324
+v 0.02291706 0.00948471 0.00108324
+v 0.01087583 0.01402793 -0.00881557
+v 0.01471106 0.00948471 0.00893348
+v 0.01087583 0.01335967 0.00893348
+v 0.01746574 0.01753098 -0.00809448
+v 0.01746456 0.01752862 -0.00350388
+v 0.01956760 0.01523694 -0.00881557
+v 0.01742309 0.01748966 0.00108324
+v 0.01940646 0.01504213 0.00567210
+v 0.02187324 0.01104437 0.00539409
+v 0.02281398 0.00948471 0.00392239
+v 0.01087583 0.02154644 -0.00881557
+v 0.02224882 0.00948471 0.00893348
+v 0.01087583 0.02101986 0.00893348
+v 0.01517314 0.01936692 -0.00809448
+v 0.01746574 0.01753098 -0.00881557
+v 0.01517077 0.01936456 -0.00350388
+v 0.01512930 0.01933623 0.00108324
+v 0.01496579 0.01921934 0.00567210
+v 0.01725959 0.01733617 0.00567210
+v 0.01925955 0.01486384 0.00893348
+v 0.02138984 0.01135725 0.00893348
+v 0.02254266 0.00948471 0.00634453
+v 0.01087583 0.02154290 -0.00350388
+v 0.01147416 0.02133156 -0.00350388
+v 0.01147416 0.02133392 -0.00809448
+v 0.01147416 0.02133392 -0.00881557
+v 0.02205333 0.00991093 0.00893348
+v 0.01127511 0.02089707 0.00893348
+v 0.01087583 0.02126190 0.00570164
+v 0.01517314 0.01936692 -0.00881557
+v 0.01205590 0.02102458 -0.00881557
+v 0.01147416 0.02127725 0.00108324
+v 0.01147416 0.02107535 0.00567210
+v 0.01477741 0.01908474 0.00893348
+v 0.01707120 0.01715789 0.00893348
+v 0.01087583 0.02148505 0.00108324
+v 0.01147416 0.02083568 0.00893348
+f 1 2 6
+f 1 6 3
+f 1 3 4
+f 1 4 5
+f 1 5 13
+f 1 13 23
+f 1 23 35
+f 1 35 25
+f 1 25 15
+f 1 15 7
+f 1 7 2
+f 2 7 14
+f 2 14 24
+f 2 24 39
+f 2 39 44
+f 2 44 43
+f 2 43 28
+f 2 28 19
+f 2 19 9
+f 2 9 6
+f 3 8 4
+f 3 6 9
+f 3 9 8
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 5
+f 4 8 10
+f 7 15 16
+f 7 16 14
+f 8 17 18
+f 8 18 10
+f 8 9 19
+f 8 19 28
+f 8 28 17
+f 10 18 11
+f 11 20 21
+f 11 21 12
+f 11 18 20
+f 12 21 22
+f 12 22 23
+f 12 23 13
+f 14 16 26
+f 14 26 42
+f 14 42 49
+f 14 49 36
+f 14 36 24
+f 15 25 40
+f 15 40 34
+f 15 34 33
+f 15 33 48
+f 15 48 47
+f 15 47 50
+f 15 50 41
+f 15 41 26
+f 15 26 16
+f 17 27 18
+f 17 28 43
+f 17 43 27
+f 18 29 30
+f 18 30 20
+f 18 27 29
+f 20 30 31
+f 20 31 32
+f 20 32 21
+f 21 33 22
+f 21 32 33
+f 22 33 34
+f 22 34 23
+f 23 34 35
+f 24 36 37
+f 24 37 38
+f 24 38 39
+f 25 35 40
+f 26 41 42
+f 27 38 37
+f 27 37 29
+f 27 43 44
+f 27 44 38
+f 29 37 30
+f 30 45 46
+f 30 46 31
+f 30 37 45
+f 31 46 47
+f 31 47 32
+f 32 47 48
+f 32 48 33
+f 34 40 35
+f 36 49 45
+f 36 45 37
+f 38 44 39
+f 41 50 42
+f 42 50 46
+f 42 46 49
+f 45 49 46
+f 46 50 47
\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_130.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_130.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bffc60e9dc1113c297d6e3afe7cd0b18d78ba287
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_130.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.00152351 -0.00242069 0.11012037
+v -0.00122945 -0.00242069 0.11012250
+v 0.00152351 -0.00413350 0.11005854
+v 0.00152351 -0.00234423 0.10984747
+v 0.00152351 -0.00144933 0.10664084
+v -0.00122945 -0.00144933 0.10664084
+v -0.00122945 -0.00413350 0.11005854
+v 0.00152351 -0.00413350 0.08834133
+v 0.00152351 -0.00147324 0.10205050
+v -0.00122945 -0.00147324 0.10205050
+v -0.00122945 -0.00413350 0.08958006
+v -0.00122945 -0.00227066 0.09264810
+v 0.00152351 -0.00226935 0.09264810
+v 0.00152351 -0.00168869 0.09746656
+v -0.00122945 -0.00168869 0.09746656
+v -0.00122945 -0.00176751 0.09681202
+v 0.00152351 -0.00216557 0.09350732
+v 0.00152351 -0.00169526 0.09741113
+f 1 2 3
+f 1 3 8
+f 1 8 13
+f 1 13 17
+f 1 17 18
+f 1 18 14
+f 1 14 9
+f 1 9 5
+f 1 5 4
+f 1 4 2
+f 2 4 5
+f 2 5 6
+f 2 6 10
+f 2 10 15
+f 2 15 16
+f 2 16 12
+f 2 12 11
+f 2 11 7
+f 2 7 3
+f 3 7 11
+f 3 11 8
+f 5 9 10
+f 5 10 6
+f 8 11 12
+f 8 12 13
+f 9 14 15
+f 9 15 10
+f 12 16 13
+f 13 16 17
+f 14 18 15
+f 15 18 16
+f 16 18 17
\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_131.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_131.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4518be917101c423f00ae350a2c6271b9806cf3
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_131.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v -0.00183596 0.00421538 0.08693342
+v 0.00123207 0.00421538 0.08926526
+v -0.00183596 0.00421538 0.11005224
+v -0.00183596 0.00567368 0.07983566
+v 0.00123207 0.00543622 0.08256182
+v 0.00123207 0.00421538 0.11005224
+v -0.00065632 0.00421538 0.11005711
+v -0.00183596 0.00448475 0.11004250
+v -0.00183596 0.00858487 0.06580567
+v -0.00183596 0.00974134 0.06032413
+v 0.00123207 0.00885478 0.06639958
+v 0.00123207 0.00721852 0.10994514
+v -0.00183596 0.00702217 0.10995001
+v 0.00123207 0.00974134 0.06239796
+v -0.00183596 0.00974134 0.09649446
+v 0.00123207 0.00891591 0.10932202
+v -0.00054700 0.00932754 0.10916624
+v -0.00183596 0.00713090 0.10994514
+v 0.00123207 0.00974134 0.09732204
+v -0.00183596 0.00906141 0.10663967
+v -0.00082750 0.00940435 0.10663967
+v -0.00178070 0.00974134 0.09651880
+v 0.00094256 0.00932754 0.10916624
+v 0.00123207 0.00937352 0.10765225
+v -0.00183596 0.00897541 0.10790052
+v -0.00183596 0.00756958 0.10978450
+v -0.00167439 0.00974134 0.09655774
+f 1 2 6
+f 1 6 7
+f 1 7 3
+f 1 3 8
+f 1 8 13
+f 1 13 18
+f 1 18 26
+f 1 26 25
+f 1 25 20
+f 1 20 15
+f 1 15 10
+f 1 10 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 11
+f 2 11 14
+f 2 14 19
+f 2 19 24
+f 2 24 16
+f 2 16 12
+f 2 12 6
+f 3 7 8
+f 4 9 5
+f 5 9 10
+f 5 10 11
+f 6 12 7
+f 7 12 13
+f 7 13 8
+f 10 14 11
+f 10 15 22
+f 10 22 27
+f 10 27 19
+f 10 19 14
+f 12 16 17
+f 12 17 18
+f 12 18 13
+f 15 20 21
+f 15 21 17
+f 15 17 22
+f 16 23 17
+f 16 24 23
+f 17 21 20
+f 17 20 25
+f 17 25 26
+f 17 26 18
+f 17 23 19
+f 17 19 27
+f 17 27 22
+f 19 23 24
\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_132.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_132.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb3a0536a5762fda050348bc697cbe0a8872afba
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_132.obj
@@ -0,0 +1,135 @@
+# https://github.com/mikedh/trimesh
+v 0.00825629 -0.02097390 -0.06730061
+v 0.00825629 -0.02096978 -0.06775859
+v 0.01125757 -0.01959448 -0.06775859
+v 0.01125911 -0.01959448 -0.06730061
+v 0.02275065 -0.00593803 -0.06721246
+v 0.01374527 -0.00593803 -0.06721246
+v 0.00825629 -0.01133030 -0.06730061
+v 0.00825629 -0.02075393 -0.06983800
+v 0.01107712 -0.01948347 -0.06983800
+v 0.01355249 -0.01820067 -0.06775859
+v 0.01355403 -0.01820272 -0.06730061
+v 0.02279383 -0.00583319 -0.06721246
+v 0.01380388 -0.01797453 -0.06730061
+v 0.01644272 -0.01556107 -0.06730061
+v 0.01769814 -0.01439956 -0.06730061
+v 0.01836595 -0.01377872 -0.06730061
+v 0.01881012 -0.01311060 -0.06730061
+v 0.01964141 -0.01185658 -0.06730061
+v 0.02195483 -0.00774916 -0.06730061
+v 0.02218155 -0.00733801 -0.06730061
+v 0.01563302 0.00002779 -0.06721246
+v 0.00825629 -0.01022430 -0.06815283
+v 0.01243742 0.00001957 -0.06983800
+v 0.00825629 -0.00807808 -0.06983800
+v 0.01337050 -0.01806088 -0.06983800
+v 0.01829809 -0.01381778 -0.06983800
+v 0.01651984 -0.01548706 -0.06812122
+v 0.02227563 -0.00710776 -0.06730061
+v 0.02274911 -0.00593803 -0.06775885
+v 0.02311463 -0.00504172 -0.06721246
+v 0.01835515 -0.01376433 -0.06983800
+v 0.01839371 -0.01370677 -0.06983800
+v 0.01958743 -0.01193059 -0.06812122
+v 0.02218001 -0.00733595 -0.06775859
+v 0.02401069 0.00002779 -0.06721246
+v 0.01244513 0.00002779 -0.06983671
+v 0.01426656 0.00002779 -0.06983800
+v 0.02306836 -0.00492043 -0.06983800
+v 0.02311309 -0.00503966 -0.06775885
+v 0.02375622 -0.00229727 -0.06775885
+v 0.02375776 -0.00229727 -0.06721246
+v 0.01959823 -0.01159139 -0.06983800
+v 0.02207822 -0.00699470 -0.06983800
+v 0.02400915 0.00002779 -0.06775885
+v 0.02381020 0.00002779 -0.06983800
+v 0.02356806 -0.00227877 -0.06983800
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 22
+f 1 22 24
+f 1 24 8
+f 1 8 2
+f 2 8 9
+f 2 9 3
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 4 11 5
+f 5 12 30
+f 5 30 41
+f 5 41 35
+f 5 35 21
+f 5 21 6
+f 5 11 13
+f 5 13 14
+f 5 14 15
+f 5 15 16
+f 5 16 17
+f 5 17 18
+f 5 18 19
+f 5 19 20
+f 5 20 12
+f 6 21 7
+f 7 21 23
+f 7 23 22
+f 8 24 23
+f 8 23 37
+f 8 37 45
+f 8 45 46
+f 8 46 38
+f 8 38 43
+f 8 43 42
+f 8 42 32
+f 8 32 31
+f 8 31 26
+f 8 26 25
+f 8 25 9
+f 9 25 10
+f 10 25 26
+f 10 26 27
+f 10 27 13
+f 10 13 11
+f 12 28 29
+f 12 29 30
+f 12 20 28
+f 13 27 14
+f 14 27 15
+f 15 27 26
+f 15 26 16
+f 16 26 31
+f 16 31 32
+f 16 32 17
+f 17 32 33
+f 17 33 18
+f 18 33 19
+f 19 33 34
+f 19 34 20
+f 20 34 28
+f 21 35 44
+f 21 44 45
+f 21 45 37
+f 21 37 36
+f 21 36 23
+f 22 23 24
+f 23 36 37
+f 28 34 29
+f 29 34 38
+f 29 38 39
+f 29 39 30
+f 30 39 40
+f 30 40 41
+f 32 42 33
+f 33 42 34
+f 34 42 43
+f 34 43 38
+f 35 41 40
+f 35 40 44
+f 38 46 40
+f 38 40 39
+f 40 46 44
+f 44 46 45
\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_133.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_133.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3649302962288c642c79d292335ae154cff1fdf1
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_133.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v 0.00960116 0.00002804 0.06648988
+v 0.00841220 0.00002804 0.07001778
+v 0.00787828 0.00523951 0.06523636
+v 0.00960116 0.00523951 0.06153753
+v 0.00960116 0.00002804 0.10210125
+v 0.00567791 0.00002804 0.08147514
+v 0.00691244 0.00523951 0.06995131
+v 0.00960116 0.00523951 0.09623250
+v 0.00960116 0.00005661 0.10210125
+v 0.00957164 0.00002804 0.10664051
+v 0.00516656 0.00002804 0.08806088
+v 0.00516656 0.00263173 0.08348838
+v 0.00516656 0.00523951 0.07898710
+v 0.00960116 0.00269601 0.10200154
+v 0.00839006 0.00523951 0.10663577
+v 0.00915709 0.00451666 0.10663577
+v 0.00957164 0.00222261 0.10663577
+v 0.00960116 0.00221700 0.10202054
+v 0.00957164 0.00221700 0.10664051
+v 0.00943924 0.00002804 0.10931374
+v 0.00516656 0.00002804 0.11004022
+v 0.00516656 0.00523951 0.10985504
+v 0.00637809 0.00523951 0.10981705
+v 0.00943924 0.00147374 0.10931374
+v 0.00818257 0.00221700 0.10970785
+v 0.00733307 0.00271999 0.10997374
+v 0.00731484 0.00221700 0.10997849
+v 0.00723714 0.00002804 0.10997849
+v 0.00516656 0.00043308 0.11004497
+v 0.00516656 0.00258684 0.11004022
+v 0.00692807 0.00221700 0.10999274
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 14
+f 1 14 18
+f 1 18 9
+f 1 9 5
+f 1 5 10
+f 1 10 20
+f 1 20 28
+f 1 28 21
+f 1 21 11
+f 1 11 6
+f 1 6 2
+f 2 6 3
+f 3 6 7
+f 3 7 13
+f 3 13 22
+f 3 22 23
+f 3 23 15
+f 3 15 8
+f 3 8 4
+f 5 9 19
+f 5 19 10
+f 6 11 12
+f 6 12 13
+f 6 13 7
+f 8 15 16
+f 8 16 17
+f 8 17 14
+f 9 18 19
+f 10 19 24
+f 10 24 20
+f 11 21 29
+f 11 29 30
+f 11 30 22
+f 11 22 13
+f 11 13 12
+f 14 17 19
+f 14 19 18
+f 15 23 16
+f 16 23 24
+f 16 24 17
+f 17 24 19
+f 20 24 25
+f 20 25 26
+f 20 26 27
+f 20 27 28
+f 21 28 29
+f 22 30 26
+f 22 26 23
+f 23 25 24
+f 23 26 25
+f 26 30 31
+f 26 31 27
+f 27 31 28
+f 28 31 29
+f 29 31 30
\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_134.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_134.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b6d62a8eba4d8de6f8984648931ba4a9d674bfd
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_134.obj
@@ -0,0 +1,141 @@
+# https://github.com/mikedh/trimesh
+v -0.02400628 0.00002779 -0.06718255
+v -0.02400322 0.00002779 -0.06775842
+v -0.01563930 0.00002779 -0.06718255
+v -0.02375835 0.00229574 -0.06718255
+v -0.02380885 0.00002779 -0.06978111
+v -0.02375529 0.00229574 -0.06775842
+v -0.02357163 0.00227938 -0.06978111
+v -0.02367723 0.00128549 -0.06978111
+v -0.01379970 0.00592159 -0.06718255
+v -0.01251105 0.00002779 -0.06978111
+v -0.00837271 0.01118143 -0.06747049
+v -0.02311403 0.00504223 -0.06718255
+v -0.02311250 0.00504018 -0.06775842
+v -0.02307118 0.00492566 -0.06978111
+v -0.02275743 0.00592159 -0.06718255
+v -0.00837271 0.02091990 -0.06747049
+v -0.00837271 0.00804434 -0.06978111
+v -0.00837271 0.00805457 -0.06977272
+v -0.00837271 0.01011392 -0.06815625
+v -0.02275743 0.00592159 -0.06747049
+v -0.02275590 0.00592159 -0.06775842
+v -0.02218045 0.00733471 -0.06775842
+v -0.02208097 0.00700342 -0.06978111
+v -0.01126068 0.01959471 -0.06747049
+v -0.01341096 0.01828998 -0.06747049
+v -0.01355482 0.01820204 -0.06747049
+v -0.01646115 0.01554349 -0.06747049
+v -0.01834361 0.01379703 -0.06747049
+v -0.01836503 0.01377658 -0.06747049
+v -0.01837881 0.01375613 -0.06747049
+v -0.01898793 0.01284200 -0.06747049
+v -0.01962919 0.01187061 -0.06747049
+v -0.02203965 0.00759443 -0.06747049
+v -0.02218045 0.00733676 -0.06747049
+v -0.02221871 0.00724473 -0.06747049
+v -0.00837271 0.02091785 -0.06775842
+v -0.01125914 0.01959471 -0.06775842
+v -0.00837271 0.02070517 -0.06978111
+v -0.01958787 0.01193196 -0.06810868
+v -0.01959705 0.01160066 -0.06978111
+v -0.01355329 0.01820204 -0.06775842
+v -0.01651931 0.01548623 -0.06810868
+v -0.01826096 0.01385429 -0.06978111
+v -0.01835432 0.01376636 -0.06978111
+v -0.01841860 0.01367024 -0.06978111
+v -0.00837271 0.02077879 -0.06909306
+v -0.01108161 0.01948633 -0.06978111
+v -0.01337576 0.01806503 -0.06978111
+f 1 2 5
+f 1 5 10
+f 1 10 3
+f 1 3 9
+f 1 9 15
+f 1 15 12
+f 1 12 4
+f 1 4 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 5
+f 3 10 11
+f 3 11 9
+f 4 12 13
+f 4 13 6
+f 5 8 7
+f 5 7 14
+f 5 14 23
+f 5 23 40
+f 5 40 45
+f 5 45 44
+f 5 44 43
+f 5 43 48
+f 5 48 47
+f 5 47 38
+f 5 38 17
+f 5 17 10
+f 6 13 14
+f 6 14 7
+f 9 11 16
+f 9 16 15
+f 10 17 18
+f 10 18 19
+f 10 19 11
+f 11 19 18
+f 11 18 17
+f 11 17 38
+f 11 38 46
+f 11 46 36
+f 11 36 16
+f 12 15 20
+f 12 20 13
+f 13 20 21
+f 13 21 14
+f 14 21 22
+f 14 22 23
+f 15 16 24
+f 15 24 25
+f 15 25 26
+f 15 26 27
+f 15 27 28
+f 15 28 29
+f 15 29 30
+f 15 30 31
+f 15 31 32
+f 15 32 33
+f 15 33 34
+f 15 34 35
+f 15 35 20
+f 16 36 37
+f 16 37 24
+f 20 35 21
+f 21 35 22
+f 22 35 34
+f 22 34 33
+f 22 33 39
+f 22 39 40
+f 22 40 23
+f 24 37 25
+f 25 37 41
+f 25 41 26
+f 26 41 27
+f 27 41 42
+f 27 42 28
+f 28 43 44
+f 28 44 29
+f 28 42 43
+f 29 44 30
+f 30 45 31
+f 30 44 45
+f 31 45 39
+f 31 39 32
+f 32 39 33
+f 36 46 47
+f 36 47 37
+f 37 47 41
+f 38 47 46
+f 39 45 40
+f 41 47 48
+f 41 48 43
+f 41 43 42
\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_135.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_135.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cbfb6b3d307d2b5a20eeb94ad4ad0f3b718f80d7
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_135.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.00290036 -0.00413325 0.08438390
+v 0.00216422 -0.00413325 0.08613086
+v 0.00152351 -0.00226943 0.09264476
+v 0.00223929 -0.00164026 0.09264476
+v 0.00290036 -0.00164026 0.09230860
+v 0.00290036 -0.00413325 0.09845878
+v 0.00152351 -0.00413325 0.08834212
+v 0.00152351 -0.00216570 0.09350447
+v 0.00152351 -0.00169541 0.09740757
+v 0.00152351 -0.00168883 0.09746269
+v 0.00152351 -0.00167247 0.09780987
+v 0.00152472 -0.00164197 0.09845878
+v 0.00177432 -0.00164026 0.09746269
+v 0.00290036 -0.00164026 0.09845878
+v 0.00152351 -0.00413325 0.09845878
+v 0.00152351 -0.00221915 0.09845878
+v 0.00172162 -0.00164026 0.09845878
+v 0.00177284 -0.00164026 0.09749024
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 14
+f 1 14 6
+f 1 6 15
+f 1 15 7
+f 1 7 2
+f 2 7 3
+f 3 8 4
+f 3 7 15
+f 3 15 16
+f 3 16 11
+f 3 11 10
+f 3 10 9
+f 3 9 8
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 18
+f 4 18 17
+f 4 17 14
+f 4 14 5
+f 6 14 17
+f 6 17 12
+f 6 12 16
+f 6 16 15
+f 11 16 12
+f 12 17 18
+f 12 18 13
\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_136.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_136.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5c5da95a9a01acf3706559223e63e568b7adf16
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_136.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v -0.00122929 -0.01002114 0.06086334
+v -0.00216003 -0.01002114 0.06132344
+v 0.00186896 -0.00968572 0.06057760
+v -0.00122929 -0.01002114 0.09596653
+v -0.00216003 -0.00511900 0.08448826
+v -0.00216003 -0.01002114 0.09620869
+v 0.00186896 -0.00858208 0.06580336
+v 0.00186896 -0.00968572 0.09677050
+v 0.00082700 -0.00940390 0.10663601
+v 0.00054660 -0.00932783 0.10915929
+v -0.00204211 -0.01002114 0.09618448
+v -0.00216003 -0.00511842 0.08617852
+v -0.00122929 -0.00413350 0.08957357
+v 0.00186896 -0.00413350 0.08714715
+v -0.00094219 -0.00932783 0.10915929
+v -0.00216003 -0.00926616 0.10664085
+v 0.00186896 -0.00904947 0.10663601
+v 0.00186896 -0.00896590 0.10786617
+v 0.00186896 -0.00752396 0.10979859
+v 0.00186896 -0.00713034 0.10994388
+v -0.00122929 -0.00721794 0.10994388
+v -0.00216003 -0.00759543 0.10981312
+v -0.00122929 -0.00891922 0.10931427
+v -0.00216003 -0.00511842 0.11002137
+v -0.00122929 -0.00413350 0.11005527
+v 0.00186896 -0.00413350 0.11005527
+v -0.00122929 -0.00608894 0.10998747
+v -0.00216003 -0.00701335 0.10994872
+v -0.00216003 -0.00724503 0.10993903
+f 1 2 3
+f 1 3 8
+f 1 8 4
+f 1 4 11
+f 1 11 6
+f 1 6 2
+f 2 5 3
+f 2 6 16
+f 2 16 22
+f 2 22 29
+f 2 29 28
+f 2 28 24
+f 2 24 12
+f 2 12 5
+f 3 5 7
+f 3 7 14
+f 3 14 26
+f 3 26 20
+f 3 20 19
+f 3 19 18
+f 3 18 17
+f 3 17 8
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 5 12 13
+f 5 13 14
+f 5 14 7
+f 6 11 10
+f 6 10 15
+f 6 15 16
+f 8 17 9
+f 9 17 18
+f 9 18 10
+f 10 18 19
+f 10 19 20
+f 10 20 21
+f 10 21 22
+f 10 22 23
+f 10 23 15
+f 12 24 25
+f 12 25 13
+f 13 25 26
+f 13 26 14
+f 15 23 16
+f 16 23 22
+f 20 26 27
+f 20 27 21
+f 21 27 28
+f 21 28 29
+f 21 29 22
+f 24 28 27
+f 24 27 26
+f 24 26 25
\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_137.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_137.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8197d91723a459d32b324e06e5bbdb326fb82a89
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_137.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.00444439 -0.00968609 0.05434687
+v 0.00301751 -0.00968609 0.05775013
+v 0.00444439 -0.00750169 0.06336223
+v 0.00444439 -0.00968609 0.09281352
+v 0.00186896 -0.00968609 0.06058072
+v 0.00348667 -0.00413350 0.08288189
+v 0.00444439 -0.00413350 0.08062396
+v 0.00186896 -0.00858220 0.06580014
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+f 20 22 21
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\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_138.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_138.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69c0fa03e5b7cf2402b3b0018e7eacc3b4d589b2
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_138.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v -0.01057597 -0.01002066 0.03533021
+v -0.01057597 -0.00511824 0.05436185
+v -0.00767358 -0.01002066 0.04719855
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+v -0.00590434 -0.01002066 0.05447127
+v -0.01057597 -0.00511824 0.08995955
+v -0.01031623 -0.01002066 0.07909787
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+v -0.01057597 -0.00964776 0.07909787
+v -0.00698582 -0.00511824 0.06995773
+v -0.00590434 -0.00729709 0.06544236
+v -0.00590434 -0.00740748 0.06497551
+v -0.00590434 -0.01002066 0.09086408
+v -0.01057597 -0.00701202 0.08662591
+v -0.01006061 -0.01002066 0.08023584
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\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_139.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_139.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8139557832ac47f2746372978e9cbe4ed07024f3
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_139.obj
@@ -0,0 +1,132 @@
+# https://github.com/mikedh/trimesh
+v 0.02427411 0.00229440 -0.00881730
+v 0.02402614 0.00002822 -0.00809481
+v 0.02402614 0.00002822 -0.00881730
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+v 0.01843093 0.00002822 0.05431747
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\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_14.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d3f64eb5f777f4b8e15712b7577a08bffb20cc9
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_14.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.02427437 0.00229479 -0.03563523
+v 0.02402637 0.00002779 -0.06316602
+v 0.02427361 0.00229210 -0.06316602
+v 0.02427361 0.00229479 -0.05857489
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+v 0.01657949 0.00688787 -0.00881730
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+f 17 20 18
\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_140.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_140.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5146976edacffd9c752c15c72550db6820278f20
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_140.obj
@@ -0,0 +1,282 @@
+# https://github.com/mikedh/trimesh
+v -0.02270389 -0.01002015 -0.00881730
+v -0.02303399 -0.00937291 -0.00881730
+v -0.01492757 -0.01002015 -0.00881730
+v -0.02270389 -0.01002015 -0.00808426
+v -0.02371185 -0.00688428 -0.00881730
+v -0.02303399 -0.00937291 -0.00808426
+v -0.01477694 -0.01002015 0.00319960
+v -0.01729125 0.00002684 -0.00881730
+v -0.01477508 0.00002684 0.03042913
+v -0.02270296 -0.01002015 -0.00679115
+v -0.02303306 -0.00936996 -0.00349659
+v -0.02427441 -0.00229457 -0.00881730
+v -0.02371185 -0.00688428 -0.00808426
+v -0.02404752 -0.00414777 -0.00808426
+v -0.01477601 -0.00980080 0.00570347
+v -0.01477601 -0.01002015 0.00570347
+v -0.02401963 0.00002684 -0.00881730
+v -0.01477508 0.00002684 0.07426324
+v -0.01477508 -0.00414777 0.02944076
+v -0.02270018 -0.01002015 -0.00349659
+v -0.02370906 -0.00688428 -0.00349659
+v -0.02300517 -0.00930898 0.00109108
+v -0.02427441 -0.00229457 -0.00809250
+v -0.02404474 -0.00414777 -0.00350483
+v -0.01477601 -0.01002015 0.06037668
+v -0.02401963 0.00002684 -0.00809250
+v -0.01558963 0.00002684 0.06992266
+v -0.01477508 -0.00174569 0.07525985
+v -0.01477508 -0.00414777 0.07269833
+v -0.02264066 -0.01002015 0.00109108
+v -0.02365327 -0.00688428 0.00109108
+v -0.02398987 -0.00414777 0.00109108
+v -0.02401219 -0.00414777 -0.00076211
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+v -0.02426976 -0.00229457 -0.00350483
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+v -0.02421676 -0.00229457 0.00109108
+v -0.01477601 -0.00990408 0.06073908
+v -0.01836429 -0.00918700 0.04470281
+v -0.01759531 -0.01002015 0.04553469
+v -0.01843217 0.00002684 0.05432292
+v -0.01477508 -0.00222375 0.07532574
+v -0.01576909 -0.00229457 0.06992266
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+v -0.02399080 0.00002684 -0.00118216
+v -0.02396291 0.00002684 0.00109108
+v -0.02400475 -0.00229457 0.00567876
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+v -0.02069542 -0.00688428 0.03321303
+v -0.01854561 -0.00950767 0.04237191
+v -0.01818204 -0.01002015 0.04237191
+v -0.01848052 0.00002684 0.05400170
+v -0.01882085 -0.00229457 0.05156373
+v -0.01841822 -0.00229457 0.05422409
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+v -0.01492757 -0.00229457 0.07450209
+v -0.02312604 -0.00528683 0.01486234
+v -0.02079399 -0.01002015 0.02089962
+v -0.01996642 -0.01002015 0.02863360
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+v -0.01883666 -0.01002015 0.03842667
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+v -0.01945129 -0.01002015 0.03321303
+v -0.02329156 -0.00229457 0.01486234
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+v -0.02302655 -0.00229457 0.01797570
+v -0.02299680 0.00002684 0.01769566
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+f 86 90 95
+f 86 95 93
+f 92 94 95
+f 93 95 94
\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_141.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_141.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e85e57840e9b1eef09bd92908cf28f17d48225e0
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_141.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.00408748 0.00523951 0.08276484
+v 0.00278527 0.00523951 0.08314936
+v 0.00408748 0.00524034 0.08108312
+v 0.00408748 0.00523951 0.10992251
+v 0.00239480 0.00523951 0.08348756
+v 0.00123235 0.00523951 0.08509515
+v 0.00123235 0.00543606 0.08256100
+v 0.00408748 0.00735712 0.06992725
+v 0.00408748 0.00666690 0.10986691
+v 0.00240151 0.00725240 0.10994568
+v 0.00242751 0.00523951 0.11001517
+v 0.00123235 0.00523951 0.11001980
+v 0.00123235 0.00885516 0.06639704
+v 0.00408748 0.00812796 0.06602641
+v 0.00123235 0.00891583 0.10932024
+v 0.00408748 0.00870598 0.10664246
+v 0.00372105 0.00897317 0.10664246
+v 0.00123235 0.00721916 0.10994568
+v 0.00123235 0.00948429 0.06438175
+v 0.00408748 0.00845042 0.06464119
+v 0.00123235 0.00937334 0.10765242
+v 0.00408748 0.00948429 0.09735363
+v 0.00142660 0.00940409 0.10664246
+v 0.00408748 0.00948429 0.06269077
+v 0.00123235 0.00948429 0.10141663
+v 0.00123235 0.00940409 0.10664246
+v 0.00308406 0.00948429 0.09928089
+v 0.00181707 0.00948429 0.10141663
+f 1 2 3
+f 1 3 8
+f 1 8 14
+f 1 14 20
+f 1 20 24
+f 1 24 22
+f 1 22 16
+f 1 16 9
+f 1 9 4
+f 1 4 11
+f 1 11 12
+f 1 12 6
+f 1 6 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 3 6 7
+f 3 7 8
+f 4 9 10
+f 4 10 11
+f 6 12 18
+f 6 18 15
+f 6 15 21
+f 6 21 26
+f 6 26 25
+f 6 25 19
+f 6 19 13
+f 6 13 7
+f 7 13 14
+f 7 14 8
+f 9 15 10
+f 9 16 17
+f 9 17 15
+f 10 15 18
+f 10 18 12
+f 10 12 11
+f 13 19 20
+f 13 20 14
+f 15 17 21
+f 16 22 17
+f 17 23 21
+f 17 22 23
+f 19 24 20
+f 19 25 28
+f 19 28 27
+f 19 27 22
+f 19 22 24
+f 21 23 26
+f 22 27 23
+f 23 27 28
+f 23 28 25
+f 23 25 26
\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_142.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_142.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b28673fba263a98beceb80ddce96b151d7b17e6
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_142.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.02405376 0.00409640 -0.00861506
+v 0.02405376 0.00409640 -0.00881589
+v 0.02371212 0.00688418 -0.00809461
+v 0.02405197 0.00409640 -0.00530568
+v 0.02371212 0.00688418 -0.00881589
+v 0.01718629 0.00409640 -0.00881589
+v 0.02303599 0.00937393 -0.00809461
+v 0.02303421 0.00937077 -0.00350532
+v 0.02370945 0.00688418 -0.00350532
+v 0.02360597 0.00727611 -0.00881589
+v 0.02405019 0.00409640 -0.00350532
+v 0.01520963 0.00948471 -0.00881589
+v 0.01688926 0.00409640 0.00563085
+v 0.02303599 0.00937393 -0.00881589
+v 0.02297979 0.00948471 -0.00809461
+v 0.02297623 0.00948471 -0.00350532
+v 0.02300655 0.00930958 0.00108398
+v 0.02365504 0.00688418 0.00108398
+v 0.02401808 0.00409640 -0.00071780
+v 0.01494114 0.00948471 0.00563085
+v 0.02297979 0.00948471 -0.00881589
+v 0.02377367 0.00409640 0.00563085
+v 0.02291736 0.00948471 0.00108398
+v 0.02296909 0.00922729 0.00367916
+v 0.02386822 0.00409640 0.00387150
+v 0.02399667 0.00409640 0.00108398
+v 0.02339279 0.00713843 0.00539467
+v 0.02338922 0.00708410 0.00563085
+v 0.02262300 0.00948471 0.00563085
+v 0.02377813 0.00409640 0.00557003
+v 0.02281388 0.00948471 0.00392241
+v 0.02287365 0.00897937 0.00563085
+f 1 2 5
+f 1 5 3
+f 1 3 4
+f 1 4 11
+f 1 11 19
+f 1 19 26
+f 1 26 25
+f 1 25 30
+f 1 30 22
+f 1 22 13
+f 1 13 6
+f 1 6 2
+f 2 6 12
+f 2 12 21
+f 2 21 14
+f 2 14 10
+f 2 10 5
+f 3 7 8
+f 3 8 9
+f 3 9 4
+f 3 5 10
+f 3 10 7
+f 4 9 11
+f 6 13 12
+f 7 10 14
+f 7 14 21
+f 7 21 15
+f 7 15 8
+f 8 15 16
+f 8 16 17
+f 8 17 9
+f 9 17 18
+f 9 18 19
+f 9 19 11
+f 12 20 29
+f 12 29 31
+f 12 31 23
+f 12 23 16
+f 12 16 15
+f 12 15 21
+f 12 13 20
+f 13 22 28
+f 13 28 32
+f 13 32 29
+f 13 29 20
+f 16 23 17
+f 17 23 24
+f 17 24 18
+f 18 25 26
+f 18 26 19
+f 18 24 27
+f 18 27 28
+f 18 28 25
+f 22 30 28
+f 23 31 24
+f 24 31 29
+f 24 29 32
+f 24 32 28
+f 24 28 27
+f 25 28 30
\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_143.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_143.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f885aa78ebd2a975ebe77b458b9a67984ce7f657
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_143.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v -0.00590434 -0.01002114 0.05446738
+v -0.00590434 -0.00740734 0.06496962
+v -0.00216003 -0.01002114 0.06132021
+v -0.00590434 -0.01002114 0.09086899
+v -0.00590434 -0.00729743 0.06544280
+v -0.00252398 -0.00511799 0.08348316
+v -0.00216003 -0.00511895 0.08448389
+v -0.00216003 -0.01002114 0.09621529
+v -0.00486418 -0.01002114 0.09287045
+v -0.00216003 -0.00926666 0.10664139
+v -0.00372102 -0.00897341 0.10664139
+v -0.00590434 -0.00985700 0.09203288
+v -0.00590434 -0.00511799 0.07571661
+v -0.00216003 -0.00511799 0.08618078
+v -0.00251079 -0.01002114 0.09630775
+v -0.00216003 -0.00759548 0.10981762
+v -0.00590434 -0.00603613 0.10978499
+v -0.00590434 -0.00737902 0.10664139
+v -0.00590434 -0.00511799 0.10983938
+v -0.00216003 -0.00511799 0.11001886
+v -0.00216003 -0.00724560 0.10994272
+v -0.00240156 -0.00725232 0.10994272
+v -0.00242942 -0.00511799 0.11001886
+v -0.00216003 -0.00533589 0.11001342
+v -0.00216003 -0.00701282 0.10995360
+f 1 2 3
+f 1 3 8
+f 1 8 15
+f 1 15 9
+f 1 9 4
+f 1 4 12
+f 1 12 18
+f 1 18 17
+f 1 17 19
+f 1 19 13
+f 1 13 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 3 6 7
+f 3 7 14
+f 3 14 20
+f 3 20 24
+f 3 24 25
+f 3 25 21
+f 3 21 16
+f 3 16 10
+f 3 10 8
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 5 13 6
+f 6 14 7
+f 6 13 19
+f 6 19 23
+f 6 23 20
+f 6 20 14
+f 8 10 15
+f 9 15 10
+f 10 16 11
+f 11 16 17
+f 11 17 18
+f 11 18 12
+f 16 21 22
+f 16 22 17
+f 17 22 19
+f 19 22 23
+f 20 23 24
+f 21 25 22
+f 22 25 23
+f 23 25 24
\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_144.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_144.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76cdbdd2b62fc997f7e1bf39e2f06560c06ffc43
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_144.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v -0.00448166 0.00823356 0.09707688
+v -0.00448166 0.00499496 0.09707688
+v -0.00448166 0.00923813 0.09546969
+v -0.00448216 0.00824424 0.09707688
+v -0.00809403 0.00499496 0.09707688
+v -0.00448166 0.00499496 0.07796486
+v -0.00448166 0.00929249 0.09518569
+v -0.00464220 0.00921211 0.09535351
+v -0.00673373 0.00686795 0.09707688
+v -0.00684344 0.00676759 0.09707688
+v -0.00895611 0.00499496 0.09585051
+v -0.00675739 0.00499496 0.06662417
+v -0.00448166 0.00748361 0.06332587
+v -0.00448166 0.00974088 0.09248767
+v -0.00465378 0.00974088 0.09221012
+v -0.00871555 0.00874792 0.08452917
+v -0.00680117 0.00681684 0.09707688
+v -0.00546603 0.00974088 0.09035120
+v -0.00919767 0.00919631 0.08146970
+v -0.00908343 0.00499496 0.09539224
+v -0.00773672 0.00499496 0.06251260
+v -0.00962293 0.00710167 0.04416222
+v -0.00962293 0.00974088 0.03113688
+v -0.00448166 0.00974088 0.05379891
+v -0.00803817 0.00974088 0.08245080
+v -0.00856558 0.00974088 0.08082424
+v -0.00923642 0.00974088 0.07866841
+v -0.00950315 0.00947835 0.07910087
+v -0.00962293 0.00937102 0.07893951
+v -0.00962293 0.00876186 0.08102434
+v -0.00946843 0.00499496 0.09392059
+v -0.00962293 0.00499496 0.05501237
+v -0.00962293 0.00634244 0.04802206
+v -0.00962293 0.00974088 0.07733877
+v -0.00962293 0.00958801 0.07812623
+v -0.00962293 0.00520869 0.09253931
+v -0.00962293 0.00510461 0.09278458
+v -0.00962293 0.00499496 0.09301695
+f 1 2 6
+f 1 6 13
+f 1 13 24
+f 1 24 14
+f 1 14 7
+f 1 7 3
+f 1 3 4
+f 1 4 9
+f 1 9 17
+f 1 17 10
+f 1 10 5
+f 1 5 2
+f 2 5 11
+f 2 11 20
+f 2 20 31
+f 2 31 38
+f 2 38 32
+f 2 32 21
+f 2 21 12
+f 2 12 6
+f 3 7 8
+f 3 8 4
+f 4 8 9
+f 5 10 11
+f 6 12 13
+f 7 14 15
+f 7 15 8
+f 8 16 17
+f 8 17 9
+f 8 15 18
+f 8 18 19
+f 8 19 16
+f 10 17 11
+f 11 17 16
+f 11 16 19
+f 11 19 20
+f 12 21 13
+f 13 21 22
+f 13 22 23
+f 13 23 24
+f 14 24 23
+f 14 23 34
+f 14 34 27
+f 14 27 26
+f 14 26 25
+f 14 25 18
+f 14 18 15
+f 18 25 19
+f 19 25 26
+f 19 26 27
+f 19 27 28
+f 19 28 29
+f 19 29 30
+f 19 30 31
+f 19 31 20
+f 21 32 33
+f 21 33 22
+f 22 33 32
+f 22 32 38
+f 22 38 37
+f 22 37 36
+f 22 36 30
+f 22 30 29
+f 22 29 35
+f 22 35 34
+f 22 34 23
+f 27 34 35
+f 27 35 28
+f 28 35 29
+f 30 36 31
+f 31 36 37
+f 31 37 38
\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_145.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_145.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3abb55b4a19a30c3cb61f7c9fb9e57c101191d01
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_145.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.02402688 0.00002779 -0.06316888
+v 0.02402587 0.00002663 -0.06316730
+v 0.02377324 -0.00229531 -0.06316888
+v 0.02398159 -0.00024895 -0.06721245
+v 0.02401178 0.00002779 -0.06721245
+v 0.01725522 0.00002779 -0.06316730
+v 0.02377224 -0.00229648 -0.06316730
+v 0.02375815 -0.00229531 -0.06721245
+v 0.02312205 -0.00506096 -0.06316730
+v 0.02312205 -0.00506096 -0.06316888
+v 0.02311500 -0.00504111 -0.06721245
+v 0.01563075 0.00002779 -0.06721245
+v 0.01374459 -0.00593673 -0.06721245
+v 0.01541637 -0.00593673 -0.06316888
+v 0.01697341 -0.00229531 -0.06316730
+v 0.02276676 -0.00593673 -0.06316888
+v 0.02072560 -0.00593673 -0.06316730
+v 0.02276072 -0.00593673 -0.06493703
+v 0.02275166 -0.00593673 -0.06721245
+f 1 2 7
+f 1 7 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 6
+f 1 6 2
+f 2 6 15
+f 2 15 17
+f 2 17 9
+f 2 9 7
+f 3 8 4
+f 3 7 9
+f 3 9 10
+f 3 10 11
+f 3 11 8
+f 4 8 11
+f 4 11 19
+f 4 19 13
+f 4 13 12
+f 4 12 5
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 9 16 10
+f 9 17 16
+f 10 16 18
+f 10 18 11
+f 11 18 19
+f 13 19 18
+f 13 18 16
+f 13 16 17
+f 13 17 14
+f 14 17 15
\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_146.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_146.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7890626d89310b4adec7d5a2853116fb8b89ac05
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_146.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.00448166 0.00499449 0.10995456
+v -0.00448166 0.00624868 0.10983859
+v -0.00580225 0.00575084 0.10977808
+v -0.00610113 0.00499449 0.10982346
+v -0.00448166 0.00499449 0.09707688
+v -0.00448166 0.00716626 0.10823266
+v -0.00448166 0.00767386 0.10664186
+v -0.00640625 0.00632946 0.10664186
+v -0.00750644 0.00499449 0.10664186
+v -0.00679572 0.00499449 0.10870284
+v -0.00809394 0.00499449 0.09707688
+v -0.00448166 0.00823363 0.09707688
+v -0.00448166 0.00843290 0.09810296
+v -0.00673301 0.00686736 0.09707688
+v -0.00680049 0.00681619 0.09707688
+v -0.00684303 0.00676705 0.09707688
+v -0.00822816 0.00499449 0.09815968
+v -0.00448166 0.00824104 0.09708318
+v -0.00448240 0.00824407 0.09707688
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 9
+f 1 9 17
+f 1 17 11
+f 1 11 5
+f 1 5 12
+f 1 12 18
+f 1 18 13
+f 1 13 7
+f 1 7 6
+f 1 6 2
+f 2 6 3
+f 3 6 7
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 5 11 16
+f 5 16 15
+f 5 15 14
+f 5 14 19
+f 5 19 12
+f 7 13 8
+f 8 13 14
+f 8 14 15
+f 8 15 16
+f 8 16 17
+f 8 17 9
+f 11 17 16
+f 12 19 18
+f 13 18 19
+f 13 19 14
\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_147.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_147.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5f421eeb01440fa3c63d4d1614181c937b97817
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_147.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.00131652 0.01531894 -0.06677761
+v 0.00760604 0.01457993 -0.06677761
+v 0.01005733 0.01326069 -0.06671964
+v 0.00131652 0.01653820 -0.06316603
+v 0.00131652 0.02320888 -0.06677761
+v 0.00760604 0.02267766 -0.06677761
+v 0.01005733 0.01460051 -0.06316921
+v 0.01005733 0.02184456 -0.06671964
+v 0.00688306 0.01592367 -0.06316603
+v 0.00131652 0.02322064 -0.06316603
+v 0.00131652 0.02322064 -0.06316921
+v 0.00229532 0.02327357 -0.06316921
+v 0.00229532 0.02325985 -0.06677761
+v 0.00550896 0.02311283 -0.06677761
+v 0.00554575 0.02311871 -0.06316603
+v 0.00780368 0.02263649 -0.06671964
+v 0.01005733 0.01966576 -0.06316638
+v 0.00760604 0.01677637 -0.06316603
+v 0.01005733 0.02184358 -0.06596946
+v 0.00229361 0.02327259 -0.06316603
+v 0.00481507 0.02314517 -0.06677761
+v 0.00783876 0.02261885 -0.06316638
+v 0.00760604 0.02267080 -0.06316921
+v 0.00760604 0.02098989 -0.06316603
+v 0.01005733 0.02120944 -0.06316638
+v 0.01005733 0.02184162 -0.06533595
+v 0.01005733 0.02183476 -0.06316921
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 11
+f 1 11 5
+f 1 5 13
+f 1 13 21
+f 1 21 14
+f 1 14 6
+f 1 6 2
+f 2 6 8
+f 2 8 3
+f 3 7 4
+f 3 8 19
+f 3 19 26
+f 3 26 27
+f 3 27 25
+f 3 25 17
+f 3 17 7
+f 4 7 9
+f 4 9 18
+f 4 18 24
+f 4 24 15
+f 4 15 20
+f 4 20 10
+f 5 11 12
+f 5 12 13
+f 6 14 15
+f 6 15 16
+f 6 16 8
+f 7 17 18
+f 7 18 9
+f 8 16 19
+f 10 20 12
+f 10 12 11
+f 12 20 15
+f 12 15 14
+f 12 14 21
+f 12 21 13
+f 15 22 23
+f 15 23 16
+f 15 24 25
+f 15 25 22
+f 16 23 22
+f 16 22 19
+f 17 25 24
+f 17 24 18
+f 19 22 26
+f 22 25 27
+f 22 27 26
\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_148.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_148.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9bced9ba0be550400a94f3c21dfa3a9e50ac3bf7
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_148.obj
@@ -0,0 +1,132 @@
+# https://github.com/mikedh/trimesh
+v 0.02377396 0.00409640 0.00563760
+v 0.02338926 0.00708410 0.00563760
+v 0.02331340 0.00601329 0.01026775
+v 0.02312737 0.00528852 0.01485742
+v 0.02300456 0.00481220 0.01773270
+v 0.02349311 0.00409640 0.01026775
+v 0.01688912 0.00409640 0.00563760
+v 0.02287362 0.00897937 0.00563760
+v 0.02248711 0.00758258 0.01485742
+v 0.02301088 0.00409640 0.01780020
+v 0.02232998 0.00655925 0.01933908
+v 0.02124091 0.00688418 0.02862639
+v 0.02069637 0.00688418 0.03321605
+v 0.02076049 0.00409640 0.03600360
+v 0.01494125 0.00948471 0.00563760
+v 0.01563750 0.00409640 0.01956857
+v 0.02281944 0.00883800 0.00674451
+v 0.02262257 0.00948471 0.00563760
+v 0.02166895 0.00948471 0.01485742
+v 0.02018525 0.00948471 0.02862639
+v 0.01966419 0.00948471 0.03321605
+v 0.01911152 0.00948471 0.03780571
+v 0.01855254 0.00948471 0.04238863
+v 0.01853176 0.00948471 0.04255061
+v 0.01836380 0.00918773 0.04471045
+v 0.02007869 0.00688418 0.03780571
+v 0.01836109 0.00459857 0.05387628
+v 0.01837283 0.00409640 0.05395052
+v 0.01454932 0.00948471 0.01102370
+v 0.01454932 0.00409640 0.03208889
+v 0.01808927 0.00948471 0.04500743
+v 0.01454932 0.00948471 0.06335258
+v 0.01454932 0.00881216 0.06533692
+v 0.01454932 0.00708304 0.06969710
+v 0.01454932 0.00707197 0.06972410
+v 0.01454932 0.00704612 0.06978485
+v 0.01545147 0.00688418 0.06533692
+v 0.01809559 0.00842709 0.04777473
+v 0.01853899 0.00517986 0.05156795
+v 0.01878642 0.00689209 0.04653282
+v 0.01942036 0.00688418 0.04238863
+v 0.01776147 0.00747391 0.05156795
+v 0.01454932 0.00416444 0.07450950
+v 0.01456287 0.00409640 0.07450950
+v 0.01454932 0.00409640 0.07457699
+f 1 2 3
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+f 1 15 18
+f 1 18 8
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+f 15 16 30
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+f 24 31 25
+f 25 31 32
+f 25 32 33
+f 25 33 34
+f 25 34 35
+f 25 35 36
+f 25 36 37
+f 25 37 38
+f 25 38 27
+f 25 27 39
+f 25 39 40
+f 25 40 41
+f 25 41 26
+f 26 41 27
+f 27 41 39
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+f 27 42 37
+f 27 37 43
+f 27 43 44
+f 27 44 28
+f 29 30 45
+f 29 45 43
+f 29 43 36
+f 29 36 35
+f 29 35 34
+f 29 34 33
+f 29 33 32
+f 36 43 37
+f 37 42 38
+f 39 41 40
+f 43 45 44
\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_149.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_149.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69a84522491c6f06d7d5ae2bdb1e200f37451039
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_149.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v -0.00152325 0.00155743 0.10702819
+v -0.00246411 0.00155743 0.11012030
+v -0.00246411 0.00002798 0.11012250
+v -0.00187336 0.00002798 0.10792078
+v -0.00153049 0.00002798 0.10664030
+v -0.00152325 0.00144932 0.10664030
+v -0.00152325 0.00155743 0.10199884
+v -0.00328133 0.00155743 0.11009825
+v -0.00418455 0.00155743 0.11007181
+v -0.00448166 0.00002798 0.11006300
+v -0.00153078 0.00002798 0.10205173
+v -0.00152325 0.00147298 0.10206275
+v -0.00152325 0.00147313 0.10205173
+v -0.00152759 0.00155743 0.10025554
+v -0.00448166 0.00155743 0.11006300
+v -0.00448166 0.00002798 0.09150596
+v -0.00164661 0.00002798 0.09987205
+v -0.00177461 0.00002798 0.09746537
+v -0.00177461 0.00155743 0.09746537
+v -0.00448166 0.00155743 0.08760722
+v -0.00224026 0.00002798 0.09264539
+v -0.00197616 0.00002798 0.09537384
+v -0.00209200 0.00155743 0.09417491
+v -0.00223968 0.00155743 0.09264539
+v -0.00215599 0.00155743 0.09351153
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 12
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+f 1 13 7
+f 1 7 14
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+f 1 19 23
+f 1 23 25
+f 1 25 24
+f 1 24 20
+f 1 20 15
+f 1 15 9
+f 1 9 8
+f 1 8 2
+f 2 8 3
+f 3 8 9
+f 3 9 10
+f 3 10 16
+f 3 16 21
+f 3 21 22
+f 3 22 18
+f 3 18 17
+f 3 17 11
+f 3 11 5
+f 3 5 4
+f 5 11 12
+f 5 12 6
+f 7 13 14
+f 9 15 10
+f 10 15 20
+f 10 20 16
+f 11 13 12
+f 11 17 14
+f 11 14 13
+f 14 17 18
+f 14 18 19
+f 16 20 21
+f 18 22 19
+f 19 22 23
+f 20 24 21
+f 21 24 22
+f 22 24 25
+f 22 25 23
\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_15.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62a672818cc88fa12f1b7745fac8e814ba570abc
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_15.obj
@@ -0,0 +1,321 @@
+# https://github.com/mikedh/trimesh
+v -0.02447599 -0.00298646 -0.04001664
+v -0.02431810 -0.00449792 -0.04001664
+v -0.02439502 -0.00376832 -0.03210901
+v -0.02446790 -0.00298646 -0.00682460
+v 0.01687962 -0.00298646 -0.04001664
+v -0.02411163 -0.00646160 -0.04001664
+v -0.02411163 -0.00646160 -0.00682861
+v -0.02431405 -0.00449792 -0.00682861
+v -0.02400637 -0.00609178 -0.00209204
+v -0.02414807 -0.00449792 -0.00209204
+v -0.02428167 -0.00298646 -0.00208803
+v 0.01687962 -0.00298646 0.00088684
+v 0.01688367 -0.00449792 -0.04001664
+v -0.02348816 -0.00880315 -0.04001664
+v -0.02348006 -0.00882928 -0.00682861
+v -0.02339099 -0.00846146 -0.00209204
+v -0.02382823 -0.00540439 0.00087883
+v -0.02386062 -0.00449792 0.00088684
+v -0.02390920 -0.00298646 0.00088684
+v 0.01687962 -0.00449792 0.00088684
+v 0.01688367 -0.00449792 0.00087883
+v 0.01688367 -0.01549415 -0.04001664
+v -0.02348006 -0.00883129 -0.04001664
+v -0.02348006 -0.00883129 -0.03522401
+v -0.02344767 -0.00890565 -0.04001664
+v -0.02205903 -0.01184214 -0.00682861
+v -0.02182017 -0.01184214 -0.00209204
+v -0.02313189 -0.00754293 0.00087883
+v -0.02128171 -0.01184214 0.00087883
+v -0.01944369 -0.01483088 0.00087883
+v -0.01680810 -0.01742768 0.00087883
+v -0.01474336 -0.01931700 0.00087883
+v -0.01207538 -0.02065761 0.00087883
+v -0.00886086 -0.02181532 0.00087883
+v -0.00709976 -0.02240423 0.00087883
+v -0.00412814 -0.02271978 0.00087883
+v -0.00335892 -0.02279616 0.00087883
+v -0.00236704 -0.02289062 0.00087883
+v 0.00060457 -0.02263537 0.00087883
+v 0.00236568 -0.02248060 0.00087883
+v 0.00709840 -0.02117014 0.00087883
+v 0.00914695 -0.02026970 0.00087883
+v 0.01060037 -0.01960442 0.00087883
+v 0.01148699 -0.01905169 0.00087883
+v 0.01296875 -0.01808693 0.00087883
+v 0.01480273 -0.01660161 0.00087883
+v 0.01582700 -0.01571926 0.00087883
+v 0.01670958 -0.01484897 0.00087883
+v 0.01688367 -0.01467008 0.00087883
+v 0.01688367 -0.01549415 -0.01156118
+v 0.01624805 -0.01610315 -0.03522401
+v 0.01626424 -0.01608707 -0.04001664
+v -0.02205903 -0.01184214 -0.04001664
+v -0.02203474 -0.01188233 -0.04001664
+v -0.01987688 -0.01534943 -0.00682861
+v -0.01973113 -0.01517859 -0.00209204
+v -0.01743562 -0.01754426 -0.00209204
+v -0.01507129 -0.01955819 -0.00209204
+v -0.01183652 -0.02129475 -0.00209204
+v -0.00709976 -0.02288057 -0.00209204
+v -0.00526578 -0.02278209 -0.00025426
+v -0.00236704 -0.02334486 -0.00209204
+v 0.00236568 -0.02292680 -0.00209204
+v 0.00709840 -0.02164046 -0.00209204
+v 0.01101331 -0.01985164 -0.00209204
+v 0.01338170 -0.01836631 -0.00209204
+v 0.01613064 -0.01599863 -0.00209204
+v 0.01688367 -0.01491127 -0.00028629
+v 0.01688367 -0.01473842 0.00060257
+v 0.01688367 -0.01549013 -0.00682460
+v 0.01624805 -0.01610315 -0.01156118
+v 0.01355983 -0.01847083 -0.04001664
+v -0.01987688 -0.01534943 -0.04001664
+v -0.01762590 -0.01771711 -0.00682861
+v -0.01525752 -0.01970089 -0.00682861
+v -0.01183652 -0.02152388 -0.00682861
+v -0.00709976 -0.02305343 -0.00682861
+v -0.00526578 -0.02306147 -0.00209204
+v -0.00236704 -0.02351772 -0.00682460
+v 0.00236568 -0.02309363 -0.00682460
+v 0.00709840 -0.02183743 -0.00682460
+v 0.01119145 -0.01996419 -0.00682460
+v 0.01355983 -0.01846681 -0.00682460
+v 0.01624400 -0.01609913 -0.00682460
+v 0.01688367 -0.01534340 -0.00351741
+v 0.01688367 -0.01526100 -0.00209204
+v 0.01355983 -0.01847083 -0.01156118
+v 0.01119145 -0.01996419 -0.04001664
+v -0.01762590 -0.01771711 -0.04001664
+v -0.01525752 -0.01970089 -0.04001664
+v -0.01183652 -0.02152991 -0.01156118
+v -0.00709976 -0.02306147 -0.01156118
+v -0.00526578 -0.02323432 -0.00730907
+v -0.00242372 -0.02351169 -0.04001664
+v -0.00236704 -0.02351370 -0.04001664
+v 0.00236568 -0.02309563 -0.03522401
+v 0.00236568 -0.02309563 -0.01156118
+v -0.00709976 -0.02306147 -0.01629374
+v 0.00709840 -0.02184145 -0.01156118
+v 0.00709840 -0.02184145 -0.03522401
+v 0.00709840 -0.02183743 -0.04001664
+v -0.01183652 -0.02152388 -0.04001664
+v -0.01183652 -0.02152991 -0.03522401
+v -0.00709976 -0.02305946 -0.03522401
+v -0.00709976 -0.02305343 -0.04001664
+v 0.00230900 -0.02309965 -0.04001664
+v 0.00236568 -0.02309363 -0.04001664
+v -0.00722121 -0.02301524 -0.04001664
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+f 12 20 49
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+f 18 34 35
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+f 20 45 46
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+f 22 50 71
+f 22 71 51
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+f 23 25 24
+f 25 53 26
+f 26 53 54
+f 26 54 55
+f 26 55 27
+f 27 55 56
+f 27 56 30
+f 27 30 29
+f 30 56 57
+f 30 57 31
+f 31 57 32
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+f 32 59 33
+f 33 59 34
+f 34 59 60
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+f 80 97 99
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+f 81 99 82
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+f 88 100 101
+f 90 102 103
+f 91 103 98
+f 91 98 92
+f 94 98 104
+f 94 104 105
+f 95 106 96
+f 96 106 107
+f 96 107 100
+f 96 100 99
+f 96 99 97
+f 98 103 104
+f 100 107 101
+f 102 108 103
+f 103 108 104
+f 104 108 105
\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_150.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_150.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12a50346f232fa2c76e512f691e9731178ce32e1
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_150.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.00014640 0.00144933 0.10664173
+v 0.00123207 0.00144933 0.10664173
+v -0.00014640 0.00242053 0.11012244
+v -0.00014640 0.00147343 0.10205252
+v 0.00123207 0.00212108 0.10904862
+v 0.00123207 0.00147343 0.10205252
+v 0.00123207 0.00242053 0.11012039
+v 0.00123207 0.00421538 0.11005506
+v -0.00014640 0.00331728 0.11008977
+v -0.00014640 0.00148290 0.10184429
+v 0.00123207 0.00149265 0.10163810
+v -0.00014640 0.00421538 0.11005506
+v 0.00123207 0.00421538 0.08926682
+v -0.00014640 0.00158254 0.09972321
+v 0.00123207 0.00168868 0.09746535
+v -0.00014640 0.00421538 0.09125521
+v 0.00123207 0.00227053 0.09264545
+v -0.00014640 0.00226999 0.09264545
+v -0.00014640 0.00168868 0.09746535
+v 0.00123207 0.00176693 0.09681412
+v -0.00014640 0.00196647 0.09515849
+v -0.00014640 0.00172794 0.09713871
+f 1 2 3
+f 1 3 9
+f 1 9 12
+f 1 12 16
+f 1 16 18
+f 1 18 21
+f 1 21 22
+f 1 22 19
+f 1 19 14
+f 1 14 10
+f 1 10 4
+f 1 4 6
+f 1 6 2
+f 2 5 3
+f 2 6 11
+f 2 11 15
+f 2 15 20
+f 2 20 17
+f 2 17 13
+f 2 13 8
+f 2 8 7
+f 2 7 5
+f 3 7 8
+f 3 8 9
+f 3 5 7
+f 4 10 6
+f 6 10 11
+f 8 12 9
+f 8 13 16
+f 8 16 12
+f 10 14 11
+f 11 14 15
+f 13 17 18
+f 13 18 16
+f 14 19 15
+f 15 19 20
+f 17 20 18
+f 18 20 21
+f 19 22 20
+f 20 22 21
\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_151.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_151.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5cdd3c330feaaa1ecdb90fdf1c64066bfe69f89e
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_151.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.00760657 0.01217307 -0.06856697
+v 0.01244680 0.00804937 -0.06856697
+v 0.00760657 0.01465675 -0.06671976
+v 0.00760657 0.02258904 -0.06856697
+v 0.01244680 0.01075649 -0.06671976
+v 0.01191800 0.01098709 -0.06671976
+v 0.01244680 0.02074562 -0.06856697
+v 0.00760657 0.02267785 -0.06671976
+v 0.00760657 0.02267069 -0.06796516
+v 0.00760988 0.02258904 -0.06856697
+v 0.01244680 0.02081867 -0.06671976
+v 0.01206347 0.02095331 -0.06856697
+v 0.01244680 0.02082154 -0.06775829
+v 0.00780415 0.02263631 -0.06671976
+v 0.00779420 0.02264204 -0.06775829
+v 0.00760657 0.02268071 -0.06775829
+v 0.00844241 0.02232549 -0.06856697
+v 0.01222694 0.02093756 -0.06671976
+v 0.01147354 0.02125983 -0.06856697
+v 0.01147354 0.02134720 -0.06775829
+v 0.01065096 0.02163511 -0.06671976
+v 0.01147354 0.02134434 -0.06671976
+f 1 2 3
+f 1 3 8
+f 1 8 16
+f 1 16 9
+f 1 9 4
+f 1 4 10
+f 1 10 17
+f 1 17 19
+f 1 19 12
+f 1 12 7
+f 1 7 2
+f 2 5 6
+f 2 6 3
+f 2 7 13
+f 2 13 11
+f 2 11 5
+f 3 6 5
+f 3 5 11
+f 3 11 18
+f 3 18 22
+f 3 22 21
+f 3 21 14
+f 3 14 8
+f 4 9 10
+f 7 12 13
+f 8 14 15
+f 8 15 16
+f 9 16 15
+f 9 15 10
+f 10 15 17
+f 11 13 18
+f 12 19 20
+f 12 20 13
+f 13 20 18
+f 14 21 15
+f 15 21 20
+f 15 20 19
+f 15 19 17
+f 18 20 22
+f 20 21 22
\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_152.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_152.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a945f26eae504bd1a95df0d153b79ac92f691b5d
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_152.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.00422521 -0.01471004 0.02365209
+v -0.00422521 -0.01140908 0.04707200
+v -0.00122975 -0.01471004 0.02632621
+v -0.00422521 -0.01471004 0.07037101
+v -0.00422521 -0.01084087 0.05157391
+v -0.00122975 -0.01011890 0.05983098
+v -0.00122975 -0.01471004 0.07229126
+v -0.00232013 -0.01471004 0.07271087
+v -0.00422521 -0.01380861 0.07700653
+v -0.00422521 -0.01028046 0.05616117
+v -0.00422521 -0.01002114 0.05835168
+v -0.00122975 -0.01002114 0.06086223
+v -0.00122975 -0.01421802 0.07560546
+v -0.00229490 -0.01471004 0.07273932
+v -0.00229490 -0.01440207 0.07450310
+v -0.00229490 -0.01388434 0.07741192
+v -0.00229490 -0.01168952 0.08827910
+v -0.00251075 -0.01002114 0.09630858
+v -0.00422521 -0.01002114 0.09379803
+v -0.00122975 -0.01002114 0.09596721
+v -0.00122975 -0.01389031 0.07743326
+f 1 2 3
+f 1 3 7
+f 1 7 14
+f 1 14 8
+f 1 8 4
+f 1 4 9
+f 1 9 19
+f 1 19 11
+f 1 11 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 12
+f 3 12 20
+f 3 20 21
+f 3 21 13
+f 3 13 7
+f 4 8 9
+f 5 10 6
+f 6 10 11
+f 6 11 12
+f 7 13 14
+f 8 14 9
+f 9 14 15
+f 9 15 16
+f 9 16 17
+f 9 17 18
+f 9 18 19
+f 11 19 18
+f 11 18 20
+f 11 20 12
+f 13 21 16
+f 13 16 15
+f 13 15 14
+f 16 21 17
+f 17 21 20
+f 17 20 18
\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_153.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_153.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc02aa0f3121e10fe2249b0add9fff6024e23197
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_153.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.00515010 0.00002783 0.11004052
+v -0.00723526 0.00002783 0.10998020
+v -0.00702387 -0.00254517 0.10999025
+v -0.00515010 -0.00254517 0.11004052
+v -0.00515010 0.00002783 0.08823489
+v -0.00943938 0.00002783 0.10931166
+v -0.00732661 -0.00254517 0.10998020
+v -0.00719436 -0.00254517 0.10998522
+v -0.00515010 -0.00254517 0.08398737
+v -0.00568228 0.00002783 0.08142377
+v -0.01057544 -0.00229455 0.09533755
+v -0.00943938 -0.00147315 0.10931166
+v -0.01057544 0.00002783 0.09437746
+v -0.00762722 -0.00254517 0.10988469
+v -0.00525792 -0.00254517 0.08348973
+v -0.01057544 0.00002783 0.05869324
+v -0.01057544 -0.00254517 0.09494045
+v -0.00957216 -0.00222125 0.10663747
+v -0.00951321 -0.00254517 0.10663747
+v -0.01057544 -0.00254517 0.06032187
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 5
+f 1 5 10
+f 1 10 16
+f 1 16 13
+f 1 13 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 3 8 7
+f 3 7 14
+f 3 14 19
+f 3 19 17
+f 3 17 20
+f 3 20 15
+f 3 15 9
+f 3 9 4
+f 5 9 10
+f 6 11 12
+f 6 12 7
+f 6 13 11
+f 7 12 14
+f 9 15 16
+f 9 16 10
+f 11 13 16
+f 11 16 20
+f 11 20 17
+f 11 17 12
+f 12 18 19
+f 12 19 14
+f 12 17 18
+f 15 20 16
+f 17 19 18
\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_154.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_154.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42cf3eaef2bcd6db61df2ef989dcdb36087653a3
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_154.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v -0.00968501 -0.00229540 -0.07715735
+v -0.01147388 -0.00229540 -0.07715077
+v -0.00968501 -0.00087755 -0.07715641
+v -0.00968501 -0.00408309 -0.07715641
+v -0.01147388 0.00002779 -0.07714888
+v -0.00968501 -0.00687958 -0.07715077
+v -0.01147959 -0.00687958 -0.07714136
+v -0.01244108 -0.00591609 -0.07712912
+v -0.01606448 -0.00229540 -0.07708114
+v -0.00968501 0.00002779 -0.07715547
+v -0.01606448 0.00002779 -0.07706514
+v -0.00968501 -0.00687958 -0.07016812
+v -0.01606876 -0.00687958 -0.07703409
+v -0.02065079 -0.00229540 -0.07610445
+v -0.00968501 0.00002779 -0.07018600
+v -0.02080629 0.00002779 -0.07588615
+v -0.01462938 -0.00687958 -0.06754481
+v -0.00968501 -0.00679506 -0.07016812
+v -0.02081627 -0.00687958 -0.07569514
+v -0.02090614 -0.00679236 -0.07567632
+v -0.02310159 -0.00520209 -0.07482855
+v -0.02316863 -0.00229540 -0.07491230
+v -0.02310729 0.00002779 -0.07483795
+v -0.02253953 0.00002779 -0.07510613
+v -0.01548102 0.00002779 -0.06754481
+v -0.02369502 -0.00687958 -0.06754481
+v -0.02088189 -0.00687958 -0.07567350
+v -0.02282912 -0.00687958 -0.07403722
+v -0.02328846 -0.00687958 -0.07213184
+v -0.02333126 -0.00679236 -0.07205281
+v -0.02381770 -0.00229540 -0.07234731
+v -0.02357805 0.00002779 -0.07230027
+v -0.02400316 0.00002779 -0.06754481
+v -0.02425851 -0.00229540 -0.06754481
+v -0.02369502 -0.00687958 -0.06775934
+v -0.02331984 -0.00687958 -0.07199258
+v -0.02425708 -0.00229540 -0.06775934
+v -0.02400316 0.00002779 -0.06775934
+f 1 2 3
+f 1 3 10
+f 1 10 15
+f 1 15 18
+f 1 18 12
+f 1 12 6
+f 1 6 4
+f 1 4 2
+f 2 5 3
+f 2 4 6
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 5
+f 3 5 10
+f 5 9 11
+f 5 11 16
+f 5 16 24
+f 5 24 23
+f 5 23 32
+f 5 32 38
+f 5 38 33
+f 5 33 25
+f 5 25 15
+f 5 15 10
+f 6 12 17
+f 6 17 26
+f 6 26 35
+f 6 35 36
+f 6 36 29
+f 6 29 28
+f 6 28 27
+f 6 27 19
+f 6 19 13
+f 6 13 7
+f 7 13 8
+f 8 13 9
+f 9 13 14
+f 9 14 11
+f 11 14 16
+f 12 18 17
+f 13 19 14
+f 14 19 20
+f 14 20 21
+f 14 21 22
+f 14 22 23
+f 14 23 24
+f 14 24 16
+f 15 25 17
+f 15 17 18
+f 17 25 33
+f 17 33 34
+f 17 34 26
+f 19 27 20
+f 20 27 21
+f 21 27 28
+f 21 28 29
+f 21 29 30
+f 21 30 31
+f 21 31 22
+f 22 31 23
+f 23 31 32
+f 26 34 35
+f 29 36 30
+f 30 36 35
+f 30 35 37
+f 30 37 31
+f 31 37 32
+f 32 37 38
+f 33 38 34
+f 34 37 35
+f 34 38 37
\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_155.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_155.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25275c0bf3f22abc315ede744107c0e474010b97
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_155.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.01379951 0.00591989 -0.06718255
+v -0.01541649 0.00591989 -0.06319866
+v -0.01723759 0.00002779 -0.06319866
+v -0.01563863 0.00002779 -0.06718255
+v -0.02275894 0.00591989 -0.06718255
+v -0.02277395 0.00591989 -0.06319866
+v -0.02401971 0.00002779 -0.06319866
+v -0.02400570 0.00002779 -0.06718255
+v -0.02311516 0.00504150 -0.06718255
+v -0.02311616 0.00507553 -0.06319866
+v -0.02377456 0.00228001 -0.06319866
+v -0.02397468 0.00031271 -0.06718255
+v -0.02312216 0.00506053 -0.06319866
+v -0.02375855 0.00229501 -0.06718255
+v -0.02377256 0.00229501 -0.06319866
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 12
+f 1 12 14
+f 1 14 9
+f 1 9 5
+f 1 5 6
+f 1 6 2
+f 2 6 10
+f 2 10 13
+f 2 13 15
+f 2 15 11
+f 2 11 7
+f 2 7 3
+f 3 7 8
+f 3 8 4
+f 5 9 6
+f 6 9 10
+f 7 11 8
+f 8 11 12
+f 9 13 10
+f 9 14 15
+f 9 15 13
+f 11 15 14
+f 11 14 12
\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_156.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_156.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6bb3a6e622fbecaa885f96b0609a4b0c60020707
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_156.obj
@@ -0,0 +1,117 @@
+# https://github.com/mikedh/trimesh
+v 0.00825487 -0.02097712 -0.06632431
+v 0.00825487 -0.02095798 -0.06316934
+v 0.00825487 -0.02097271 -0.06730018
+v 0.00855746 -0.02083432 -0.06730018
+v 0.01125945 -0.01959616 -0.06730018
+v 0.01127366 -0.01960352 -0.06316934
+v 0.01127366 -0.01960352 -0.06316691
+v 0.00825487 -0.01654716 -0.06316691
+v 0.00825487 -0.01133101 -0.06730018
+v 0.01332501 -0.01834182 -0.06730018
+v 0.01356793 -0.01821078 -0.06316934
+v 0.01356651 -0.01821078 -0.06316691
+v 0.00873078 -0.01348195 -0.06316691
+v 0.00825487 -0.01373370 -0.06316934
+v 0.00825487 -0.01293428 -0.06449841
+v 0.01541756 -0.00593820 -0.06316934
+v 0.01196975 -0.00747374 -0.06730018
+v 0.01355514 -0.01820195 -0.06730018
+v 0.01380375 -0.01797523 -0.06730018
+v 0.01606251 -0.01593470 -0.06316934
+v 0.01606251 -0.01593470 -0.06316691
+v 0.01503825 -0.00682301 -0.06316691
+v 0.02072493 -0.00593820 -0.06316691
+v 0.01361339 -0.00593820 -0.06730018
+v 0.01644465 -0.01556075 -0.06730018
+v 0.01769762 -0.01440063 -0.06730018
+v 0.01836815 -0.01378082 -0.06683288
+v 0.01837383 -0.01378818 -0.06316934
+v 0.01837383 -0.01378818 -0.06316691
+v 0.02276776 -0.00593820 -0.06316934
+v 0.02218957 -0.00735891 -0.06316691
+v 0.02275071 -0.00593820 -0.06730018
+v 0.01836531 -0.01377934 -0.06730018
+v 0.01880996 -0.01311095 -0.06730018
+v 0.01991234 -0.01147676 -0.06316691
+v 0.02219099 -0.00735744 -0.06316934
+v 0.02218247 -0.00733682 -0.06730018
+v 0.01964101 -0.01185660 -0.06730018
+v 0.02195517 -0.00774758 -0.06730018
+v 0.02105167 -0.00941710 -0.06316934
+f 1 2 8
+f 1 8 14
+f 1 14 15
+f 1 15 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 8
+f 3 9 17
+f 3 17 24
+f 3 24 32
+f 3 32 37
+f 3 37 39
+f 3 39 38
+f 3 38 34
+f 3 34 33
+f 3 33 26
+f 3 26 25
+f 3 25 19
+f 3 19 18
+f 3 18 10
+f 3 10 5
+f 3 5 4
+f 5 10 11
+f 5 11 6
+f 6 11 7
+f 7 11 12
+f 7 12 21
+f 7 21 29
+f 7 29 35
+f 7 35 31
+f 7 31 23
+f 7 23 22
+f 7 22 13
+f 7 13 8
+f 8 13 14
+f 9 15 16
+f 9 16 17
+f 10 18 11
+f 11 18 19
+f 11 19 20
+f 11 20 21
+f 11 21 12
+f 13 22 16
+f 13 16 14
+f 14 16 15
+f 16 22 23
+f 16 23 30
+f 16 30 32
+f 16 32 24
+f 16 24 17
+f 19 25 20
+f 20 25 26
+f 20 26 27
+f 20 27 28
+f 20 28 29
+f 20 29 21
+f 23 31 30
+f 26 33 27
+f 27 33 34
+f 27 34 35
+f 27 35 28
+f 28 35 29
+f 30 31 36
+f 30 36 37
+f 30 37 32
+f 31 35 36
+f 34 38 35
+f 35 38 39
+f 35 39 37
+f 35 37 40
+f 35 40 36
+f 36 40 37
\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_16.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d9c198536b2e64837574f48aaf795a3d717a781
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_16.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.00654254 0.01463727 -0.06319334
+v -0.00654254 0.02167387 -0.06319334
+v 0.00131575 0.01652877 -0.06319334
+v -0.00654254 0.01465240 -0.00881731
+v -0.00325043 0.02262340 -0.06319334
+v -0.00654254 0.02167387 -0.00881731
+v -0.00631250 0.02174025 -0.00881731
+v -0.00325120 0.02262340 -0.02186436
+v 0.00131575 0.02322085 -0.06319334
+v 0.00131575 0.01658002 -0.00881731
+v -0.00095695 0.02310068 -0.06319334
+v -0.00325120 0.02262256 -0.00881731
+v -0.00095695 0.02310068 -0.00881731
+v -0.00094234 0.02310152 -0.06319334
+v 0.00131575 0.02322085 -0.00881731
+f 1 2 5
+f 1 5 11
+f 1 11 14
+f 1 14 9
+f 1 9 3
+f 1 3 4
+f 1 4 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 5
+f 3 9 15
+f 3 15 10
+f 3 10 4
+f 4 10 15
+f 4 15 13
+f 4 13 12
+f 4 12 7
+f 4 7 6
+f 5 8 11
+f 7 12 8
+f 8 12 13
+f 8 13 11
+f 9 14 15
+f 11 13 14
+f 13 15 14
\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_17.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30c237a2fd526b27105b69c61bc5897efd481bab
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_17.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v -0.00505999 -0.02096554 -0.06039069
+v -0.00505020 -0.02096969 -0.06038536
+v -0.00505999 -0.02031063 -0.06038536
+v -0.00505999 -0.02079974 -0.06083122
+v -0.00443733 -0.02103601 -0.06038536
+v -0.00505999 0.02012400 -0.06038536
+v -0.00505999 -0.02049301 -0.06151898
+v -0.00236669 -0.02067125 -0.06151898
+v -0.00236669 -0.02117279 -0.06038536
+v -0.00441775 0.02031052 -0.06038536
+v -0.00505999 0.02013643 -0.06039036
+v -0.00505999 0.01986286 -0.06151898
+v 0.00236690 -0.02041840 -0.06151898
+v 0.00236690 -0.02086606 -0.06038536
+v -0.00236669 0.02086595 -0.06038536
+v -0.00236669 0.02041829 -0.06151898
+v 0.00494174 -0.01988369 -0.06151898
+v 0.00494174 -0.02016970 -0.06038536
+v 0.00236690 0.02117268 -0.06038536
+v 0.00236690 0.02067114 -0.06151898
+v 0.00494174 0.02050119 -0.06151898
+v 0.00494174 0.02098201 -0.06038536
+v 0.00443754 0.02103590 -0.06038536
+v 0.00494174 0.02084523 -0.06074589
+v 0.00494174 0.02065041 -0.06118397
+f 1 2 3
+f 1 3 6
+f 1 6 11
+f 1 11 12
+f 1 12 7
+f 1 7 4
+f 1 4 2
+f 2 4 5
+f 2 5 9
+f 2 9 14
+f 2 14 18
+f 2 18 22
+f 2 22 23
+f 2 23 19
+f 2 19 15
+f 2 15 10
+f 2 10 6
+f 2 6 3
+f 4 7 8
+f 4 8 9
+f 4 9 5
+f 6 10 11
+f 7 12 16
+f 7 16 20
+f 7 20 21
+f 7 21 17
+f 7 17 13
+f 7 13 8
+f 8 13 9
+f 9 13 14
+f 10 15 11
+f 11 15 12
+f 12 15 16
+f 13 17 14
+f 14 17 18
+f 15 19 16
+f 16 19 20
+f 17 21 25
+f 17 25 24
+f 17 24 22
+f 17 22 18
+f 19 23 24
+f 19 24 20
+f 20 24 25
+f 20 25 21
+f 22 24 23
\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_18.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35459f087346b461a703fa94f186d2de0628e0cb
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_18.obj
@@ -0,0 +1,150 @@
+# https://github.com/mikedh/trimesh
+v -0.01456536 -0.01714081 0.02392170
+v -0.01451725 -0.01718254 0.02392170
+v -0.01456536 -0.01714081 0.02394253
+v -0.01456536 0.01489930 0.02392170
+v -0.01314608 -0.01833026 0.02392170
+v -0.01456536 -0.01692379 0.02611580
+v -0.01456536 0.01470732 0.02611580
+v -0.01162182 0.01709875 0.02392170
+v -0.01294270 -0.01821340 0.02611580
+v -0.01077988 -0.01955310 0.02392170
+v -0.01057650 -0.01946129 0.02611580
+v -0.01181646 0.01675652 0.02611580
+v -0.01168524 0.01684833 0.02611580
+v -0.01014568 0.01809204 0.02392170
+v -0.00710155 -0.02072586 0.02392170
+v -0.00710155 -0.02054640 0.02611580
+v -0.00887948 0.01868051 0.02611580
+v -0.00909817 0.01877650 0.02392170
+v -0.00466099 -0.02103888 0.02392170
+v -0.00257471 -0.02112235 0.02611580
+v -0.00664886 0.01957364 0.02611580
+v -0.00830433 0.01909369 0.02392170
+v -0.00236915 -0.02131850 0.02392170
+v -0.00236915 -0.02114739 0.02611580
+v -0.00653077 0.01961955 0.02611580
+v -0.00693972 0.01963207 0.02392170
+v -0.00003356 -0.02112235 0.02392170
+v 0.00236763 -0.02075090 0.02611580
+v -0.00630990 0.01968216 0.02611580
+v -0.00439857 0.02037079 0.02392170
+v 0.00236763 -0.02091784 0.02392170
+v 0.00451296 -0.02033773 0.02392170
+v 0.00631276 -0.01968248 0.02611580
+v -0.00236915 0.02075058 0.02611580
+v -0.00236915 0.02091752 0.02392170
+v 0.00694039 -0.01963240 0.02392170
+v 0.00653145 -0.01961988 0.02611580
+v 0.00236763 0.02114706 0.02611580
+v 0.00236763 0.02131817 0.02392170
+v -0.00007292 0.02111367 0.02392170
+v 0.00777141 -0.01930269 0.02392170
+v 0.00777141 -0.01925678 0.02454239
+v 0.00664954 -0.01957397 0.02611580
+v 0.00257320 0.02112202 0.02611580
+v 0.00476882 0.02102185 0.02392170
+v 0.00777141 0.02050851 0.02392170
+v 0.00777141 -0.01912323 0.02611580
+v 0.00710222 0.02054607 0.02611580
+v 0.00710222 0.02072553 0.02392170
+v 0.00777141 0.02035826 0.02580245
+v 0.00777141 0.02033322 0.02611580
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+f 1 3 6
+f 1 6 7
+f 1 7 4
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+f 1 8 14
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+f 41 47 42
+f 42 47 43
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+f 44 49 45
+f 46 49 50
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+f 49 51 50
\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_19.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc3672d4e2f087243504d528ba20d3cb01d6a117
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_19.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.01326521 -0.01193231 -0.06313690
+v -0.02169314 -0.01193231 -0.06313690
+v -0.01655211 -0.00688436 -0.06313690
+v -0.01327339 -0.01193231 -0.00881731
+v -0.02186188 -0.01166892 -0.06313690
+v -0.02169314 -0.01193231 -0.05398526
+v -0.02186188 -0.01166941 -0.05857437
+v -0.02371191 -0.00688436 -0.06313690
+v -0.01658177 -0.00688436 -0.00881731
+v -0.02169211 -0.01193231 -0.00881731
+v -0.02303592 -0.00937498 -0.06313690
+v -0.02186188 -0.01166892 -0.00881731
+v -0.02204699 -0.01130768 -0.00881731
+v -0.02304001 -0.00936015 -0.06313690
+v -0.02371294 -0.00688436 -0.05857437
+v -0.02371191 -0.00688436 -0.00881731
+v -0.02303592 -0.00937498 -0.05398526
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+v -0.02360555 -0.00727624 -0.00881731
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+f 1 10 6
+f 1 6 2
+f 2 6 7
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+f 3 15 16
+f 3 16 9
+f 3 9 4
+f 4 9 16
+f 4 16 19
+f 4 19 18
+f 4 18 13
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+f 4 12 10
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+f 7 13 11
+f 8 14 15
+f 11 13 17
+f 11 17 14
+f 13 18 17
+f 14 17 18
+f 14 18 15
+f 15 18 19
+f 15 19 16
\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_2.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1676f9bd1a8faadc8ee2fca93bbf06a276ee5700
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_2.obj
@@ -0,0 +1,219 @@
+# https://github.com/mikedh/trimesh
+v 0.02380849 0.00002553 -0.06983800
+v 0.02378408 -0.00021663 -0.06983800
+v 0.02378652 0.00002553 -0.07008119
+v 0.01426486 0.00002553 -0.06983800
+v 0.02356679 -0.00227837 -0.06983800
+v 0.02334950 -0.00225800 -0.07225272
+v 0.02358388 0.00002553 -0.07230078
+v 0.01243621 0.00002101 -0.06983800
+v -0.00113094 0.00002553 -0.07028278
+v 0.02306873 -0.00492174 -0.06983800
+v 0.02305164 -0.00487421 -0.07065941
+v 0.02268543 -0.00376300 -0.07371834
+v 0.02308826 -0.00070321 -0.07481594
+v 0.02310780 0.00002553 -0.07483962
+v -0.00113094 -0.01115222 -0.06983800
+v -0.00113094 0.00002553 -0.07716682
+v 0.02207750 -0.00699253 -0.06983800
+v 0.02195787 -0.00659648 -0.07225272
+v 0.01901592 -0.01020622 -0.07520118
+v 0.01980207 -0.00688616 -0.07562946
+v 0.02095444 -0.00225800 -0.07567753
+v 0.02249499 0.00002553 -0.07513015
+v -0.00113094 -0.02309039 -0.06983800
+v -0.00113094 -0.00345974 -0.07716682
+v 0.00229686 0.00002553 -0.07716682
+v 0.01959699 -0.01159127 -0.06983800
+v 0.01961164 -0.01109564 -0.07234814
+v 0.01803690 -0.01338822 -0.07234814
+v 0.01487278 -0.01478912 -0.07530951
+v 0.01626685 -0.01162975 -0.07586548
+v 0.01606177 -0.00688616 -0.07686121
+v 0.02080307 0.00002553 -0.07589202
+v -0.00048640 -0.02307681 -0.06983800
+v -0.00113094 -0.02307002 -0.07079786
+v 0.00057319 -0.02303834 -0.07060847
+v -0.00113094 -0.00688616 -0.07716610
+v 0.00229686 -0.00229647 -0.07716682
+v 0.00229686 -0.00688616 -0.07716610
+v 0.00688435 0.00002553 -0.07716610
+v 0.01839335 -0.01370959 -0.06983800
+v 0.01835429 -0.01376617 -0.06989323
+v 0.01574194 -0.01559933 -0.07234814
+v 0.01314667 -0.01789417 -0.07234814
+v 0.01003870 -0.01886054 -0.07511724
+v 0.01152799 -0.01621491 -0.07581455
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+v 0.01606177 0.00002553 -0.07706567
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+v 0.00688435 -0.02138171 -0.06983800
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+v -0.00113094 -0.01147585 -0.07714673
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+v 0.00688435 -0.00688616 -0.07716180
+v 0.01147184 0.00002553 -0.07714961
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+v 0.01829814 -0.01381822 -0.06983800
+v 0.01336884 -0.01806165 -0.06983800
+v 0.01085415 -0.01934939 -0.07234814
+v 0.00688435 -0.01948518 -0.07554552
+v 0.00688435 -0.01606102 -0.07677225
+v 0.01147184 -0.00688616 -0.07713095
+v 0.00229686 -0.01606102 -0.07700469
+v 0.00688435 -0.01147585 -0.07712665
+v 0.01147184 -0.00229647 -0.07714888
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+v -0.00113094 -0.01606102 -0.07702478
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\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_20.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7cfdf66f465c7e09a15e203e7d49a38455ac625d
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_20.obj
@@ -0,0 +1,453 @@
+# https://github.com/mikedh/trimesh
+v -0.02234970 0.00696696 -0.00881541
+v -0.01497049 0.00696696 -0.00881541
+v -0.02234596 0.00696696 -0.00349601
+v -0.02218901 0.00735328 -0.00349601
+v -0.02219026 0.00735721 -0.00808621
+v -0.02219026 0.00735721 -0.00881541
+v -0.00962542 0.01273689 -0.00881541
+v -0.00962542 0.00696696 0.04488344
+v -0.02228741 0.00696696 0.00108484
+v -0.02215911 0.00728125 0.00108484
+v -0.01990947 0.01147447 -0.00349601
+v -0.02027071 0.01082755 -0.00881541
+v -0.00962542 0.02034546 -0.00881541
+v -0.00962542 0.00696696 0.08669077
+v -0.02226998 0.00696696 0.00152423
+v -0.02217531 0.00696696 0.00317895
+v -0.01974879 0.01128197 0.00567505
+v -0.01956941 0.01190794 0.00085113
+v -0.01836612 0.01377800 -0.00084099
+v -0.01837235 0.01378585 -0.00349601
+v -0.01991197 0.01147447 -0.00808621
+v -0.01991197 0.01147447 -0.00881541
+v -0.01127341 0.01960424 -0.00881541
+v -0.01127341 0.01960424 -0.00808621
+v -0.00962542 0.02034284 -0.00349601
+v -0.00962542 0.00841926 0.08213796
+v -0.01032921 0.00696696 0.08376463
+v -0.02198223 0.00696696 0.00589007
+v -0.01820169 0.01357632 0.00567505
+v -0.01832377 0.01372692 0.00221604
+v -0.01956194 0.01100303 0.01026526
+v -0.01650139 0.01546864 0.00085113
+v -0.01606167 0.01593092 -0.00349601
+v -0.01606167 0.01593616 -0.00808621
+v -0.01837359 0.01378716 -0.00808621
+v -0.01861525 0.01342441 -0.00881541
+v -0.01163464 0.01938555 -0.00881541
+v -0.01356540 0.01820956 -0.00349601
+v -0.01127092 0.01960162 -0.00349601
+v -0.01122483 0.01957412 0.00108484
+v -0.00962542 0.02031141 -0.00060727
+v -0.00962542 0.00876237 0.08102546
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+v -0.01289150 0.00792556 0.06990988
+v -0.01267227 0.00696696 0.07371480
+v -0.02195109 0.00696696 0.00631076
+v -0.01567552 0.01554329 0.01048028
+v -0.01568673 0.01555246 0.01026526
+v -0.01590970 0.01576068 0.00567505
+v -0.01936015 0.01070183 0.01486481
+v -0.01804350 0.01317560 0.01048028
+v -0.01796751 0.01328429 0.01048028
+v -0.01544757 0.01533114 0.01486481
+v -0.01351931 0.01817944 0.00108484
+v -0.01567179 0.01629236 -0.00881541
+v -0.01606167 0.01593616 -0.00881541
+v -0.01837359 0.01378716 -0.00881541
+v -0.01356789 0.01820956 -0.00881541
+v -0.01356789 0.01820956 -0.00808621
+v -0.00962542 0.02029177 0.00108484
+v -0.01104172 0.01946543 0.00567505
+v -0.00962542 0.00937393 0.07893137
+v -0.01369743 0.00907928 0.06268334
+v -0.01392165 0.00696696 0.06789056
+v -0.01325897 0.00696696 0.07109716
+v -0.02161103 0.00696696 0.01036809
+v -0.02155373 0.00706255 0.01048028
+v -0.02040275 0.00896535 0.01282680
+v -0.01333620 0.01805503 0.00567505
+v -0.01913842 0.01036920 0.01945502
+v -0.01773956 0.01299750 0.01486481
+v -0.01518349 0.01508625 0.01945502
+v -0.01303849 0.01784812 0.01026526
+v -0.00962542 0.02016343 0.00411382
+v -0.00962542 0.02009533 0.00567505
+v -0.01074401 0.01928733 0.01026526
+v -0.01072906 0.01927947 0.01048028
+v -0.00962542 0.01977449 0.01048028
+v -0.00962542 0.01978889 0.01026526
+v -0.00962542 0.00959001 0.07811802
+v -0.01377716 0.00896535 0.06258051
+v -0.01374103 0.00896535 0.06279553
+v -0.01006762 0.00999467 0.07450009
+v -0.01059702 0.01047659 0.06991923
+v -0.01241940 0.01257582 0.05155840
+v -0.01397646 0.00943548 0.05961697
+v -0.01768475 0.00785353 0.04239669
+v -0.01449839 0.00696696 0.06474940
+v -0.02079388 0.00696696 0.01957655
+v -0.01982602 0.00896535 0.01945502
+v -0.01042512 0.01909744 0.01486481
+v -0.01954948 0.00896535 0.02247464
+v -0.01889676 0.01000383 0.02404522
+v -0.01747548 0.01266487 0.01945502
+v -0.01489575 0.01481779 0.02404522
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\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_21.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1f4cf32e07cc9327239c9a7332ebc774d53da1e
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_21.obj
@@ -0,0 +1,363 @@
+# https://github.com/mikedh/trimesh
+v 0.00254299 0.01922371 0.04548000
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+v 0.00424764 0.01892263 0.04749647
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+v 0.00709263 0.01849736 0.04548000
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\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_22.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf1580ecba948562c2a6d0e6d56372d41e6e80e1
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_22.obj
@@ -0,0 +1,141 @@
+# https://github.com/mikedh/trimesh
+v 0.00494174 -0.02017044 -0.06038536
+v 0.00494174 -0.01988039 -0.06151898
+v 0.00710390 -0.01953798 -0.06151898
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+v 0.00956715 -0.01899415 -0.06134377
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\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_23.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34cc06a492642156a1220a93a1a6485c2b56d1ec
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_23.obj
@@ -0,0 +1,126 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_24.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33bb5bc7ff7fd4ebe6d50bb21f30f6d32a093cbc
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_24.obj
@@ -0,0 +1,432 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_25.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48b501e40f7f4295fef2e27fea709620b6f88bbc
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_25.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_26.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d25b8f944e85dd9f9ee589d5d6363c21d975c47a
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_26.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_27.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ffd3a79ef3f778ddc995827c2d3f55149cc81a9b
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_27.obj
@@ -0,0 +1,591 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_28.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f42f0e98eab000fea9e4ac429dc991d103677c0b
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_28.obj
@@ -0,0 +1,180 @@
+# https://github.com/mikedh/trimesh
+v 0.02301510 0.00004108 0.00477679
+v 0.02276605 0.00004108 0.00739699
+v 0.02283398 -0.00235960 0.00477679
+v -0.02301308 0.00004108 0.00477679
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+v -0.02275498 0.00004108 0.00739699
+v 0.02128536 -0.00710390 0.00477679
+v -0.02323495 -0.00236838 0.00477679
+v -0.02300855 -0.00235521 0.00739699
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+v 0.02095934 -0.00710390 0.00738390
+v 0.01942431 -0.01021338 0.00739699
+v 0.02059256 -0.00850174 0.00477679
+v -0.02299949 -0.00488536 0.00477679
+v -0.02300855 -0.00236838 0.00739699
+v 0.01765382 -0.01257236 0.00739699
+v 0.01785306 -0.01283349 0.00477679
+v 0.01865001 -0.01176921 0.00477679
+v 0.01959185 -0.01046793 0.00477679
+v -0.02269158 -0.00706002 0.00477679
+v -0.02234292 -0.00709074 0.00739699
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+v 0.01678896 -0.01401628 0.00477679
+v -0.02152786 -0.00984252 0.00477679
+v -0.02233839 -0.00710390 0.00739699
+v 0.01548486 -0.01540095 0.00477679
+v 0.01224274 -0.01758219 0.00739699
+v 0.01225180 -0.01757780 0.00738390
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+v -0.02068563 -0.01183504 0.00477679
+v -0.02035055 -0.01182187 0.00739699
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+v -0.00710132 -0.02185689 0.00477679
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\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_29.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a3a12eadaa2ab7f1e521c9e5b64e71139cd7260
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_29.obj
@@ -0,0 +1,276 @@
+# https://github.com/mikedh/trimesh
+v 0.00962025 -0.01878495 0.02293916
+v 0.00978019 -0.01871451 0.02293916
+v 0.00968863 -0.01866021 0.02403493
+v 0.00962025 -0.01869983 0.02392108
+v 0.00962025 -0.01063880 0.02293916
+v 0.01032608 -0.01835497 0.02293916
+v 0.00962025 -0.01861912 0.02481763
+v 0.01213065 -0.00379433 0.04063522
+v 0.01478939 -0.00379433 0.02293916
+v 0.00962025 -0.00379433 0.05850204
+v 0.00967009 -0.00379433 0.05814627
+v 0.01207502 -0.01717803 0.02293916
+v 0.00962025 -0.01836231 0.02713014
+v 0.02145828 -0.00379433 0.02293916
+v 0.00962025 -0.00379433 0.09563031
+v 0.01198345 -0.01711346 0.02403493
+v 0.01429334 -0.01542875 0.02293916
+v 0.01458541 -0.01452917 0.02862438
+v 0.00962025 -0.01830067 0.02760688
+v 0.01114202 -0.01709144 0.02882361
+v 0.02087299 -0.00575493 0.02293916
+v 0.02089965 -0.00379433 0.02862438
+v 0.00962025 -0.00414067 0.09499704
+v 0.01370921 -0.00440629 0.07656098
+v 0.01354926 -0.00379433 0.07801253
+v 0.01423076 -0.01420045 0.03321383
+v 0.01496325 -0.01488284 0.02293916
+v 0.01489486 -0.01481827 0.02403493
+v 0.01551029 -0.01430611 0.02293916
+v 0.01725691 -0.01238367 0.02293916
+v 0.01718853 -0.01229562 0.02403493
+v 0.00962025 -0.01796901 0.03004035
+v 0.01147465 -0.01624909 0.03321383
+v 0.02052413 -0.00688491 0.02293916
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+v 0.01994811 -0.00688491 0.02862438
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\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_3.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..157d99aa9f2d55c37f71ad95c4e0ba1d94f62ff1
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_3.obj
@@ -0,0 +1,321 @@
+# https://github.com/mikedh/trimesh
+v 0.00236600 0.02207878 -0.05412638
+v 0.00236600 0.02197936 -0.05589101
+v -0.00236194 0.02159034 -0.05589101
+v -0.00236194 0.02167247 -0.05412638
+v 0.00710746 0.02153415 -0.05412638
+v 0.00422292 0.02178053 -0.05589101
+v 0.00339362 0.02187130 -0.05589101
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+v 0.00710746 0.02144770 -0.05589101
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+v -0.00983470 0.01915249 -0.05589101
+v -0.00709889 0.02034548 -0.05412638
+v 0.01168667 0.01997375 -0.05412638
+v 0.01161456 0.01993485 -0.05589101
+v -0.01220092 0.01754022 -0.05589101
+v -0.01225500 0.01757912 -0.05412638
+v -0.00988878 0.01918707 -0.05412638
+v 0.01168216 0.01990459 -0.05589101
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+v -0.01528828 0.01521043 -0.05412638
+v 0.01656785 0.01652877 -0.05412638
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+v 0.01398078 0.01879805 -0.05589101
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+v -0.01760943 0.01253052 -0.05589101
+v -0.01765450 0.01258671 -0.05412638
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\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_30.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e221741a150e419132929b1c01517469bcff80f6
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_30.obj
@@ -0,0 +1,243 @@
+# https://github.com/mikedh/trimesh
+v 0.01470999 0.00948471 0.00893348
+v 0.01087694 0.01336017 0.00893348
+v 0.02224918 0.00948471 0.00893348
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+v 0.01127550 0.02089769 0.00893348
+v 0.01087694 0.02092253 0.01026983
+v 0.01147478 0.02073847 0.01026983
+v 0.01087694 0.00948471 0.07823381
+v 0.02036995 0.01147438 0.01944792
+v 0.02166916 0.00948471 0.01485548
+v 0.02138972 0.01135695 0.00893348
+v 0.02120825 0.01147438 0.01026983
+v 0.01897834 0.01452440 0.01485548
+v 0.01873341 0.01422741 0.01944792
+v 0.01147478 0.02083558 0.00893348
+v 0.01087694 0.02048552 0.01545243
+v 0.01470109 0.01902997 0.01026983
+v 0.01147478 0.02035002 0.01485548
+v 0.01410659 0.01860199 0.01944792
+v 0.01441942 0.01882784 0.01485548
+v 0.01364569 0.00948471 0.06819422
+v 0.01087694 0.01063877 0.07450966
+v 0.01851966 0.01396656 0.02313814
+v 0.01833820 0.01374411 0.02619751
+v 0.01957172 0.01191817 0.02441344
+v 0.01949379 0.01118869 0.02862600
+v 0.02018514 0.00948471 0.02862600
+v 0.01925889 0.01486429 0.00893348
+v 0.01919877 0.01479202 0.01026983
+v 0.01707128 0.01715773 0.00893348
+v 0.01699446 0.01708546 0.01026983
+v 0.01671280 0.01681783 0.01485548
+v 0.01477790 0.01908530 0.00893348
+v 0.01087694 0.02004965 0.02004487
+v 0.01147478 0.01990850 0.01944792
+v 0.01388059 0.01843826 0.02249371
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\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_31.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54c7fb3eb4926a141c7a62c7ad58b0b66940b035
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_31.obj
@@ -0,0 +1,120 @@
+# https://github.com/mikedh/trimesh
+v 0.01449427 -0.01646519 0.00287728
+v 0.01417354 -0.01646519 0.00477679
+v 0.01387772 -0.01670531 0.00477679
+v 0.01285323 -0.01779364 0.00287728
+v -0.01731762 -0.01646519 0.00287728
+v -0.01702802 -0.01646519 0.00477679
+v 0.01379364 -0.01677134 0.00477679
+v 0.01251382 -0.01776903 0.00477679
+v 0.01270688 -0.01790770 0.00287728
+v -0.01731451 -0.01646819 0.00287728
+v -0.01703425 -0.01646519 0.00474722
+v -0.01700000 -0.01649280 0.00477679
+v 0.01244842 -0.01781405 0.00477679
+v 0.01145197 -0.01849118 0.00477679
+v 0.01259166 -0.01798513 0.00287728
+v -0.01639278 -0.01735362 0.00287728
+v -0.01645195 -0.01701446 0.00477679
+v 0.01014723 -0.01933820 0.00477679
+v 0.01034029 -0.01944925 0.00287728
+v -0.01623397 -0.01750370 0.00287728
+v -0.01542435 -0.01796052 0.00477679
+v 0.00835049 -0.02012638 0.00477679
+v 0.00723571 -0.02081192 0.00287728
+v -0.01444035 -0.01911069 0.00287728
+v -0.01410405 -0.01888257 0.00477679
+v 0.00710181 -0.02064444 0.00477679
+v 0.00710181 -0.02086775 0.00287728
+v -0.01244121 -0.02013179 0.00287728
+v -0.01297992 -0.01965575 0.00477679
+v 0.00236552 -0.02196929 0.00477679
+v 0.00236552 -0.02218960 0.00287728
+v -0.01223880 -0.02023204 0.00287728
+v -0.01201771 -0.02011258 0.00477679
+v -0.00024084 -0.02219380 0.00477679
+v -0.00213722 -0.02257799 0.00287728
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+v -0.00236453 -0.02259720 0.00287728
+v -0.00687350 -0.02212296 0.00287728
+v -0.00497401 -0.02209955 0.00477679
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+f 33 36 37
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+f 36 40 37
+f 37 40 41
+f 38 41 40
+f 38 40 39
\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_32.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0415c14498dd83704f064947b94e6307172306d3
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_32.obj
@@ -0,0 +1,126 @@
+# https://github.com/mikedh/trimesh
+v 0.02327092 0.00000175 0.00287728
+v 0.02301446 0.00000175 0.00477679
+v 0.02283127 -0.00235965 0.00477679
+v 0.02306483 -0.00235481 0.00287728
+v -0.02326745 0.00000175 0.00287728
+v -0.02301557 0.00000175 0.00477679
+v 0.02277174 -0.00254662 0.00477679
+v 0.02152149 -0.00710340 0.00287728
+v -0.02351475 -0.00236771 0.00287728
+v -0.02323540 -0.00236771 0.00477679
+v 0.02128335 -0.00710340 0.00477679
+v 0.02124213 -0.00718883 0.00477679
+v 0.02059182 -0.00849929 0.00477679
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+v 0.01808676 -0.01290616 0.00287728
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+v -0.02297436 -0.00506438 0.00477679
+v -0.02299725 -0.00488546 0.00477679
+v 0.01785320 -0.01283363 0.00477679
+v 0.01799974 -0.01301899 0.00287728
+v -0.02294688 -0.00702926 0.00287728
+v -0.02269042 -0.00705988 0.00477679
+v 0.01778908 -0.01290777 0.00477679
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+v -0.02152719 -0.00984037 0.00477679
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+f 36 42 40
+f 37 41 38
+f 38 41 40
+f 38 40 42
+f 38 42 43
\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_33.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..585b33ddeba92b4e79498e15c2dd4e311097ae0f
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_33.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.00873066 -0.02074544 -0.06316691
+v 0.00873066 -0.01348107 -0.06316691
+v 0.01127155 -0.01960430 -0.06316691
+v 0.01058111 -0.01991490 -0.00881730
+v 0.00873066 -0.02074544 -0.00881730
+v 0.01371101 -0.00912472 -0.06316691
+v 0.00873066 -0.01349586 -0.00881730
+v 0.01371101 -0.00912813 -0.00881730
+v 0.01356522 -0.01821172 -0.06316691
+v 0.01356570 -0.01821172 -0.05857570
+v 0.01356570 -0.01821172 -0.00881730
+v 0.01127106 -0.01960430 -0.00881730
+v 0.01371101 -0.01807861 -0.06316691
+v 0.01371101 -0.01807861 -0.00881730
+f 1 2 6
+f 1 6 13
+f 1 13 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 7
+f 1 7 2
+f 2 7 8
+f 2 8 6
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 4
+f 4 12 11
+f 4 11 14
+f 4 14 8
+f 4 8 7
+f 4 7 5
+f 6 8 14
+f 6 14 13
+f 9 13 10
+f 10 13 14
+f 10 14 11
\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_34.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb86cb5d54e20413eb36ae206adbd2b50bce7c10
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_34.obj
@@ -0,0 +1,147 @@
+# https://github.com/mikedh/trimesh
+v -0.00834154 -0.01487154 0.00847940
+v -0.01446676 -0.01002235 0.00847940
+v -0.00834154 -0.02183768 0.00847940
+v -0.00834154 -0.01532995 -0.00881730
+v -0.01492658 -0.01002235 -0.00881730
+v -0.02204596 -0.01002235 0.00847940
+v -0.01147446 -0.02086979 0.00847940
+v -0.00834154 -0.02205168 0.00582774
+v -0.00834154 -0.02244200 -0.00881730
+v -0.02270404 -0.01002235 -0.00881730
+v -0.02145115 -0.01131733 0.00847940
+v -0.02249030 -0.01002235 0.00442911
+v -0.01480424 -0.01910302 0.00847940
+v -0.01147446 -0.02107528 0.00567196
+v -0.00834154 -0.02236662 0.00108322
+v -0.00841185 -0.02241769 -0.00881730
+v -0.00834154 -0.02244322 -0.00872756
+v -0.02270545 -0.01002235 -0.00809428
+v -0.02186175 -0.01166996 -0.00881730
+v -0.01928004 -0.01488856 0.00847940
+v -0.02187300 -0.01104496 0.00539427
+v -0.02264076 -0.01002235 0.00108322
+v -0.02182800 -0.01160551 0.00108322
+v -0.01709769 -0.01718305 0.00847940
+v -0.01725939 -0.01733626 0.00567196
+v -0.01496595 -0.01921975 0.00567196
+v -0.01512906 -0.01933527 0.00108322
+v -0.01147446 -0.02127713 0.00108322
+v -0.00834154 -0.02243836 -0.00350384
+v -0.01147446 -0.02133428 -0.00881730
+v -0.00834154 -0.02244322 -0.00809428
+v -0.02186175 -0.01166996 -0.00809428
+v -0.02186034 -0.01166631 -0.00350384
+v -0.02270123 -0.01002235 -0.00350384
+v -0.02150037 -0.01223172 -0.00881730
+v -0.01940660 -0.01504177 0.00567196
+v -0.01953315 -0.01519619 0.00108322
+v -0.01742251 -0.01748946 0.00108322
+v -0.01746469 -0.01752838 -0.00350384
+v -0.01517125 -0.01936445 -0.00350384
+v -0.01147446 -0.02133185 -0.00350384
+v -0.00834154 -0.02243957 -0.00414559
+v -0.01147446 -0.02133428 -0.00809428
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+v -0.01956549 -0.01523511 -0.00350384
+v -0.01956690 -0.01523632 -0.00881730
+v -0.01746610 -0.01753081 -0.00809428
+v -0.01517266 -0.01936688 -0.00809428
+v -0.01746610 -0.01753081 -0.00881730
+f 1 2 6
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+f 35 47 45
+f 36 37 38
+f 37 46 39
+f 37 39 38
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+f 39 48 49
+f 39 49 40
+f 40 49 41
+f 41 49 43
+f 44 49 48
+f 44 48 50
+f 45 48 46
+f 45 47 50
+f 45 50 48
\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_35.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a671a7a65772232c89f5fdf405ebeb5ee49a0279
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_35.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v 0.01688366 -0.01549638 -0.03522602
+v 0.01688366 -0.01549638 -0.03175347
+v 0.01688366 -0.01549393 -0.03995979
+v 0.01861950 -0.01382094 -0.03995979
+v 0.01861950 -0.01382216 -0.03592389
+v 0.01861950 -0.01382216 -0.01155717
+v 0.01688366 -0.01549516 -0.01155717
+v 0.01688366 -0.01549271 -0.04122942
+v 0.01861812 -0.01382094 -0.04205762
+v 0.02025371 -0.01145352 -0.04205762
+v 0.02025371 -0.01145352 -0.00682340
+v 0.01861812 -0.01382216 -0.00682340
+v 0.01688366 -0.01549148 -0.00682340
+v 0.01688366 -0.01549148 -0.04205762
+v 0.02254573 -0.00710202 -0.04205762
+v 0.02254573 -0.00710325 -0.03592389
+v 0.02254504 -0.00710325 -0.00682340
+v 0.02014179 -0.01129430 -0.00208963
+v 0.02254573 -0.00710325 -0.02575428
+v 0.01850483 -0.01366172 -0.00208963
+v 0.01688366 -0.01534451 -0.00351481
+v 0.01688366 -0.00298445 -0.04205762
+v 0.02301265 -0.00590790 -0.04205762
+v 0.02359904 -0.00440760 -0.04205762
+v 0.02359904 -0.00440760 -0.00682340
+v 0.02233905 -0.00710325 -0.00208963
+v 0.01988224 -0.01090606 0.00088264
+v 0.01927318 -0.01178542 0.00088264
+v 0.01820202 -0.01327348 0.00088264
+v 0.01688366 -0.01473949 0.00060517
+v 0.01688366 -0.01526123 -0.00208963
+v 0.02389842 -0.00298445 -0.04205762
+v 0.01688366 -0.00298445 0.00088264
+v 0.02389842 -0.00298445 -0.04185162
+v 0.02389704 -0.00298445 -0.00682340
+v 0.02350497 -0.00396179 -0.00208963
+v 0.02227725 -0.00593485 0.00088264
+v 0.02184329 -0.00710325 0.00088264
+v 0.02069934 -0.00934329 0.00088264
+v 0.01688366 -0.01467091 0.00088264
+v 0.02323100 -0.00298445 0.00088264
+v 0.02370753 -0.00298445 -0.00208963
+v 0.02360247 -0.00298445 -0.00117735
+v 0.02326258 -0.00298445 0.00072288
+f 1 2 7
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+f 1 22 14
+f 1 14 8
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+f 1 3 4
+f 1 4 5
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+f 1 6 2
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+f 22 42 35
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+f 22 34 32
+f 24 32 34
+f 24 34 25
+f 25 34 35
+f 25 35 36
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+f 26 37 38
+f 26 38 39
+f 26 39 27
+f 27 39 38
+f 27 38 37
+f 27 37 41
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+f 27 33 40
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+f 27 29 28
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+f 35 42 36
+f 36 42 43
+f 36 43 44
+f 36 44 41
+f 36 41 37
\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_36.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c83ba70a6c909da394c1ba219c7bf3e8d163c25
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_36.obj
@@ -0,0 +1,258 @@
+# https://github.com/mikedh/trimesh
+v -0.00834013 -0.01002114 0.08500422
+v -0.00883923 -0.01002114 0.08369338
+v -0.00919342 -0.01377805 0.06767116
+v -0.00834013 -0.01338941 0.07119919
+v -0.00834013 -0.01002114 0.04585128
+v -0.01006147 -0.01002114 0.08024025
+v -0.00952213 -0.01399667 0.06533412
+v -0.00925112 -0.01839207 0.04032328
+v -0.00834013 -0.01396891 0.06835280
+v -0.00834013 -0.01350276 0.07064489
+v -0.01021576 -0.01016804 0.07910169
+v -0.01306007 -0.01312337 0.05615074
+v -0.01350282 -0.01352821 0.05280248
+v -0.00834013 -0.01487112 0.00848858
+v -0.01264013 -0.01002114 0.01958953
+v -0.01299299 -0.01002114 0.06853257
+v -0.01386640 -0.01386249 0.04973886
+v -0.01015002 -0.01441307 0.06074243
+v -0.00834013 -0.01853550 0.04100491
+v -0.00834013 -0.01812025 0.04369401
+v -0.00846222 -0.01813529 0.04337941
+v -0.01191296 -0.01728281 0.03780646
+v -0.01257573 -0.01767030 0.03321478
+v -0.01320631 -0.01803581 0.02862309
+v -0.00961739 -0.01856442 0.03780646
+v -0.00834013 -0.02002068 0.02862309
+v -0.00834013 -0.01948514 0.03321478
+v -0.00834013 -0.01892993 0.03780646
+v -0.01379127 -0.01002114 0.06533412
+v -0.01441916 -0.01002114 0.06260008
+v -0.00834013 -0.02183784 0.00848858
+v -0.01446746 -0.01002114 0.00848858
+v -0.01415218 -0.01413315 0.04697486
+v -0.01076584 -0.01481676 0.05615074
+v -0.01460163 -0.01025942 0.06074243
+v -0.01504303 -0.01082851 0.05615074
+v -0.01734799 -0.01239813 0.03780646
+v -0.01775854 -0.01295681 0.03321478
+v -0.01359271 -0.01825674 0.02555198
+v -0.01028151 -0.01887672 0.03321478
+v -0.01461907 -0.01457617 0.04239066
+v -0.01091208 -0.01917052 0.02862309
+v -0.00834013 -0.02064761 0.02257824
+v -0.01759352 -0.01002114 0.04555166
+v -0.01147424 -0.02086969 0.00848858
+v -0.00834013 -0.02170366 0.01026383
+v -0.01147424 -0.02073783 0.01026383
+v -0.02204646 -0.01002114 0.00848858
+v -0.01817982 -0.01002114 0.04239066
+v -0.01883454 -0.01002114 0.03843567
+v -0.01888150 -0.01010326 0.03780646
+v -0.01814628 -0.01348310 0.02862309
+v -0.01505511 -0.01498910 0.03780646
+v -0.01546431 -0.01537659 0.03321478
+v -0.01585205 -0.01574210 0.02862309
+v -0.01388116 -0.01843834 0.02248836
+v -0.01147424 -0.01990848 0.01944721
+v -0.01182709 -0.01926074 0.02402391
+v -0.01833813 -0.01374335 0.02619616
+v -0.01147424 -0.02035034 0.01485552
+v -0.00834013 -0.02105707 0.01798655
+v -0.01480422 -0.01910343 0.00848858
+v -0.01470091 -0.01903056 0.01026383
+v -0.01441916 -0.01882814 0.01485552
+v -0.01410656 -0.01860259 0.01944721
+v -0.02143869 -0.01002114 0.01485552
+v -0.02145211 -0.01131663 0.00848858
+v -0.02081348 -0.01147394 0.01485552
+v -0.01891102 -0.01002114 0.03780646
+v -0.01945036 -0.01002114 0.03321478
+v -0.01919679 -0.01066194 0.03321478
+v -0.01610965 -0.01611109 0.02433851
+v -0.01640079 -0.01652055 0.01944721
+v -0.01671205 -0.01681782 0.01485552
+v -0.01949330 -0.01118939 0.02862309
+v -0.01957111 -0.01191810 0.02441342
+v -0.02037074 -0.01147394 0.01944721
+v -0.01851926 -0.01396659 0.02313254
+v -0.01709710 -0.01718218 0.00848858
+v -0.01699514 -0.01708502 0.01026383
+v -0.02079470 -0.01002114 0.02090036
+v -0.01927997 -0.01488963 0.00848858
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+v -0.02120793 -0.01147394 0.01026383
+v -0.01873392 -0.01422685 0.01944721
+v -0.01996690 -0.01002114 0.02862309
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+f 1 20 19
+f 1 19 28
+f 1 28 27
+f 1 27 26
+f 1 26 43
+f 1 43 61
+f 1 61 46
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+f 1 66 81
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+f 1 6 2
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\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_37.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..059bba143fe30cda193c7036d8fc9439f21d3d49
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_37.obj
@@ -0,0 +1,198 @@
+# https://github.com/mikedh/trimesh
+v 0.02267227 -0.00325336 -0.05151357
+v 0.02284488 -0.00372344 -0.04955228
+v 0.02173657 -0.00710380 -0.04955228
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+v -0.02314967 -0.00325336 -0.05151357
+v -0.02355847 -0.00372344 -0.04955228
+v 0.01982884 -0.01082049 -0.04955228
+v 0.01942913 -0.01022047 -0.05412594
+v 0.02096894 -0.00710380 -0.05412594
+v -0.02289076 -0.00325336 -0.05412594
+v -0.02306336 -0.00731782 -0.04955228
+v 0.01811642 -0.01318617 -0.04955228
+v 0.01791656 -0.01293202 -0.05151313
+v 0.01766674 -0.01256895 -0.05412594
+v -0.02235478 -0.00704648 -0.05412594
+v -0.02275903 -0.00722610 -0.05151313
+v -0.02118288 -0.01183899 -0.04955228
+v 0.01574993 -0.01563975 -0.04955228
+v 0.01558640 -0.01542000 -0.05151313
+v 0.01528208 -0.01521553 -0.05412594
+v 0.01763495 -0.01261099 -0.05412594
+v -0.02234569 -0.00710571 -0.05412594
+v -0.02082859 -0.01183899 -0.05151357
+v -0.02115109 -0.01190014 -0.04955228
+v 0.01288832 -0.01800735 -0.04955228
+v 0.01262033 -0.01782390 -0.05151313
+v 0.01227967 -0.01756211 -0.05412594
+v -0.02036983 -0.01179886 -0.05412594
+v -0.02035166 -0.01183899 -0.05412594
+v -0.02081042 -0.01187339 -0.05151313
+v -0.01941596 -0.01478558 -0.04955228
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+v -0.01922973 -0.01455628 -0.05151313
+v 0.01052183 -0.01956472 -0.04955228
+v 0.01024929 -0.01940421 -0.05151313
+v 0.00988592 -0.01918828 -0.05412594
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+v -0.01899353 -0.01422760 -0.05412594
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+v -0.01897536 -0.01425053 -0.05412594
+v -0.01894811 -0.01427729 -0.05412594
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+v -0.00709745 -0.02195525 -0.05151357
+v -0.00709745 -0.02226863 -0.04955228
+v -0.00236446 -0.02207754 -0.05412594
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\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_38.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df38bcf1dc6cd3870869e39ad6f89940e76e4d5d
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_38.obj
@@ -0,0 +1,219 @@
+# https://github.com/mikedh/trimesh
+v 0.01244728 0.00736561 -0.07711288
+v 0.01244728 0.00736561 -0.06893328
+v 0.01244728 0.01050020 -0.07706968
+v 0.01558536 0.00736561 -0.07703924
+v 0.01606405 0.00688524 -0.07703433
+v 0.01244844 0.00688524 -0.07711877
+v 0.01244844 0.00591229 -0.07712859
+v 0.01244844 0.00229529 -0.07713644
+v 0.01244844 0.00002779 -0.07712859
+v 0.01244844 0.00002779 -0.06984539
+v 0.01244844 0.00003187 -0.06983459
+v 0.01244728 0.01068950 -0.06710610
+v 0.01244728 0.01147315 -0.07699800
+v 0.01606405 0.01147315 -0.07670052
+v 0.01606405 0.00736561 -0.07699997
+v 0.02065093 0.00229529 -0.07610356
+v 0.01606405 0.00229529 -0.07708047
+v 0.01606405 0.00002779 -0.07706477
+v 0.01563393 0.00002779 -0.06720723
+v 0.01244728 0.02081792 -0.06710610
+v 0.01492514 0.00736561 -0.06710610
+v 0.01244728 0.01508812 -0.07665043
+v 0.01958486 0.01147315 -0.07550760
+v 0.02031677 0.00736561 -0.07580115
+v 0.01589524 0.01593079 -0.07556160
+v 0.01880554 0.01431464 -0.07505300
+v 0.02090531 0.00679364 -0.07567548
+v 0.02310104 0.00520192 -0.07482817
+v 0.02316926 0.00229529 -0.07491163
+v 0.02249401 0.00002779 -0.07512959
+v 0.02080124 0.00002779 -0.07589148
+v 0.02401217 0.00002779 -0.06720723
+v 0.01516217 0.01935646 -0.06710610
+v 0.01244728 0.02082199 -0.06775902
+v 0.02356701 0.00736561 -0.06710610
+v 0.01244728 0.01603257 -0.07639909
+v 0.02074459 0.00736561 -0.07565585
+v 0.01425335 0.01870308 -0.07499213
+v 0.01711740 0.01719481 -0.07234611
+v 0.01928886 0.01489882 -0.07234611
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\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_39.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f123dc348547662acbe4d80d840187302120ce1
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_39.obj
@@ -0,0 +1,588 @@
+# https://github.com/mikedh/trimesh
+v 0.00236169 0.01799878 0.05504947
+v 0.00204261 0.01797411 0.05504947
+v 0.00236535 0.01772387 0.05706294
+v 0.00488131 0.01755823 0.05504947
+v -0.00236582 0.01761814 0.05504947
+v 0.00003277 0.01753708 0.05706294
+v -0.00236582 0.01700842 0.05947256
+v 0.00235802 0.01738553 0.05947256
+v 0.00236535 0.01738553 0.05946573
+v 0.00476762 0.01729742 0.05706294
+v 0.00677745 0.01721989 0.05504947
+v -0.00712267 0.01600750 0.05504947
+v -0.00567764 0.01466471 0.06893480
+v -0.00236215 0.01734324 0.05706294
+v -0.00236215 0.01640223 0.06376314
+v -0.00192571 0.01643747 0.06376314
+v 0.00236169 0.01677934 0.06376314
+v 0.00709653 0.01715997 0.05504947
+v -0.00735373 0.01588767 0.05504947
+v -0.00972665 0.01438980 0.05706294
+v -0.00963863 0.01432284 0.05790439
+v -0.00924253 0.01406556 0.06105984
+v -0.00743808 0.01520394 0.05947529
+v -0.00641116 0.01502067 0.06420026
+v -0.00566664 0.01465766 0.06900310
+v -0.00241717 0.01560924 0.06900310
+v -0.00236215 0.01633879 0.06420026
+v -0.00883909 0.01383648 0.06376314
+v -0.00798455 0.01338888 0.06900310
+v 0.00236169 0.01599340 0.06900310
+v 0.00280179 0.01669475 0.06376314
+v -0.00236582 0.01562334 0.06900310
+v 0.00964183 0.01431932 0.06723550
+v 0.01008193 0.01461184 0.06376314
+v 0.01061740 0.01495371 0.05947256
+v 0.01090347 0.01514755 0.05706294
+v 0.01114920 0.01530262 0.05504947
+v 0.00709286 0.01649739 0.05947256
+v -0.00994303 0.01454135 0.05504947
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+v 0.01194873 0.01182053 0.06900310
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+v -0.01475856 0.01014997 0.05504947
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+v -0.01644565 0.00727055 0.05504947
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+v -0.01624026 0.00709433 0.05706294
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diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_4.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f56929d5b6b2ba9c7cef2a37c5fec5d48beba0a
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_4.obj
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\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_40.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a31e904166bfd1cb85cb542e737ec29710c4d7a3
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_40.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_41.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27ac3d300de2092be45d8ba69d65abb51e176436
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_41.obj
@@ -0,0 +1,132 @@
+# https://github.com/mikedh/trimesh
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+f 1 38 44
+f 1 44 45
+f 1 45 42
+f 1 42 40
+f 1 40 34
+f 1 34 31
+f 1 31 29
+f 1 29 25
+f 1 25 21
+f 1 21 20
+f 1 20 16
+f 1 16 9
+f 1 9 8
+f 1 8 6
+f 1 6 2
+f 2 6 3
+f 3 7 4
+f 3 6 8
+f 3 8 9
+f 3 9 10
+f 3 10 7
+f 5 11 12
+f 5 12 13
+f 7 10 14
+f 7 14 15
+f 9 16 10
+f 10 16 17
+f 10 17 14
+f 11 15 14
+f 11 14 17
+f 11 17 22
+f 11 22 26
+f 11 26 30
+f 11 30 35
+f 11 35 41
+f 11 41 43
+f 11 43 37
+f 11 37 33
+f 11 33 28
+f 11 28 24
+f 11 24 19
+f 11 19 12
+f 12 18 13
+f 12 19 18
+f 16 20 17
+f 17 20 21
+f 17 21 22
+f 18 19 24
+f 18 24 23
+f 21 25 22
+f 22 25 26
+f 23 24 27
+f 24 28 27
+f 25 29 26
+f 26 29 31
+f 26 31 30
+f 27 28 32
+f 28 33 32
+f 30 31 34
+f 30 34 35
+f 32 33 36
+f 33 37 38
+f 33 38 39
+f 33 39 36
+f 34 40 35
+f 35 40 42
+f 35 42 41
+f 37 43 38
+f 38 43 44
+f 41 42 43
+f 42 45 43
+f 43 45 44
\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_42.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..01a29e4c9f9e52af13d8e846591a16af28505944
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_42.obj
@@ -0,0 +1,156 @@
+# https://github.com/mikedh/trimesh
+v -0.02184221 -0.00236357 -0.06038536
+v -0.02170915 -0.00436332 -0.06038536
+v -0.02149068 0.00236017 -0.06038536
+v -0.02091902 0.00236017 -0.06151898
+v -0.02119499 -0.00236357 -0.06151898
+v -0.02096338 -0.00588827 -0.06151898
+v -0.02080896 -0.00709536 -0.06151898
+v -0.02135762 -0.00709536 -0.06038536
+v -0.02028166 0.00709598 -0.06038536
+v -0.01991370 0.00709598 -0.06151898
+v -0.02094366 -0.00891404 -0.06038536
+v -0.02007469 -0.01030220 -0.06151898
+v -0.01922870 0.00991252 -0.06038536
+v -0.01914493 0.00978377 -0.06151277
+v -0.01915314 0.00975158 -0.06151898
+v -0.01974943 -0.01106668 -0.06151898
+v -0.01983485 -0.01151733 -0.06038536
+v -0.01496595 0.01490987 -0.06038536
+v -0.01912193 0.00979986 -0.06151898
+v -0.01480989 0.01476100 -0.06151898
+v -0.01949318 -0.01164206 -0.06151898
+v -0.01896259 -0.01346075 -0.06038536
+v -0.00963873 0.01903812 -0.06038536
+v -0.00956646 0.01899386 -0.06134387
+v -0.00999520 0.01839836 -0.06151898
+v -0.01647886 -0.01513860 -0.06151898
+v -0.01823817 -0.01430571 -0.06038536
+v -0.00710244 0.01981065 -0.06038536
+v -0.00710244 0.01954107 -0.06151898
+v -0.00866134 0.01916687 -0.06151898
+v -0.01533719 -0.01608013 -0.06151898
+v -0.01470148 -0.01721882 -0.06038536
+v -0.00506715 0.02013657 -0.06038536
+v -0.00506223 0.01986296 -0.06151898
+v -0.01115986 -0.01938755 -0.06142976
+v -0.01106294 -0.01941169 -0.06151898
+v -0.01227852 -0.01910590 -0.06038536
+v -0.00506223 0.02013254 -0.06039047
+v -0.00506223 0.02012450 -0.06038536
+v -0.00506223 -0.02049405 -0.06151898
+v -0.01115986 -0.01939158 -0.06141690
+v -0.01079354 -0.01954447 -0.06151898
+v -0.01115986 -0.01966116 -0.06038536
+v -0.00506223 -0.02031299 -0.06038536
+v -0.00506223 -0.02062683 -0.06122093
+v -0.00602155 -0.02043370 -0.06151898
+v -0.01029252 -0.01970542 -0.06151898
+v -0.00891103 -0.02040151 -0.06038536
+v -0.01110072 -0.01968933 -0.06038536
+v -0.00710244 -0.02074754 -0.06038536
+v -0.00506223 -0.02096884 -0.06039080
+v -0.00506223 -0.02079985 -0.06083133
+v -0.00710244 -0.02031701 -0.06151898
+f 1 2 8
+f 1 8 11
+f 1 11 17
+f 1 17 22
+f 1 22 27
+f 1 27 32
+f 1 32 37
+f 1 37 43
+f 1 43 49
+f 1 49 48
+f 1 48 50
+f 1 50 44
+f 1 44 39
+f 1 39 33
+f 1 33 28
+f 1 28 23
+f 1 23 18
+f 1 18 13
+f 1 13 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 3 9 10
+f 3 10 4
+f 4 10 15
+f 4 15 19
+f 4 19 20
+f 4 20 25
+f 4 25 30
+f 4 30 29
+f 4 29 34
+f 4 34 40
+f 4 40 46
+f 4 46 53
+f 4 53 47
+f 4 47 42
+f 4 42 36
+f 4 36 31
+f 4 31 26
+f 4 26 21
+f 4 21 16
+f 4 16 12
+f 4 12 7
+f 4 7 6
+f 4 6 5
+f 7 11 8
+f 7 12 11
+f 9 13 14
+f 9 14 15
+f 9 15 10
+f 11 12 16
+f 11 16 17
+f 13 18 14
+f 14 19 15
+f 14 18 20
+f 14 20 19
+f 16 21 17
+f 17 21 22
+f 18 23 24
+f 18 24 20
+f 20 24 25
+f 21 26 27
+f 21 27 22
+f 23 28 24
+f 24 28 29
+f 24 29 30
+f 24 30 25
+f 26 31 27
+f 27 31 32
+f 28 33 29
+f 29 33 34
+f 31 35 32
+f 31 36 35
+f 32 35 37
+f 33 38 34
+f 33 39 38
+f 34 38 39
+f 34 39 44
+f 34 44 51
+f 34 51 52
+f 34 52 45
+f 34 45 40
+f 35 41 37
+f 35 36 41
+f 36 42 41
+f 37 41 43
+f 40 45 46
+f 41 42 43
+f 42 47 48
+f 42 48 49
+f 42 49 43
+f 44 50 51
+f 45 52 46
+f 46 52 51
+f 46 51 53
+f 47 53 48
+f 48 53 50
+f 50 53 51
\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_43.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb6eb05b2eecaac281736fd7071ce2560591b171
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_43.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v -0.00113002 -0.02319882 -0.06730042
+v -0.00113002 -0.02319734 -0.06775850
+v 0.00091325 -0.02309372 -0.06730042
+v -0.00113002 -0.01512527 -0.06730042
+v 0.00090774 -0.02309224 -0.06775850
+v -0.00113002 -0.02309224 -0.06983800
+v 0.00066335 -0.02305375 -0.06983800
+v 0.00320274 -0.02265555 -0.06775850
+v 0.00297857 -0.02269996 -0.06730042
+v 0.00825487 -0.01133127 -0.06730042
+v -0.00113002 -0.01115215 -0.06983800
+v 0.00272592 -0.02252232 -0.06983800
+v 0.00320733 -0.02265259 -0.06730042
+v 0.00688412 -0.02138249 -0.06983800
+v 0.00688412 -0.02160010 -0.06775850
+v 0.00825487 -0.01022400 -0.06815274
+v 0.00825487 -0.02097245 -0.06730042
+v 0.00825487 -0.00818415 -0.06975403
+v 0.00825487 -0.00807757 -0.06983800
+v 0.00688412 -0.02159714 -0.06730042
+v 0.00825487 -0.02075337 -0.06983800
+v 0.00825487 -0.02097097 -0.06775850
+v 0.00732144 -0.02140026 -0.06730042
+f 1 2 3
+f 1 3 9
+f 1 9 13
+f 1 13 20
+f 1 20 23
+f 1 23 17
+f 1 17 10
+f 1 10 4
+f 1 4 11
+f 1 11 6
+f 1 6 2
+f 2 5 3
+f 2 6 7
+f 2 7 5
+f 3 5 8
+f 3 8 9
+f 4 10 11
+f 5 7 8
+f 6 11 19
+f 6 19 21
+f 6 21 14
+f 6 14 12
+f 6 12 7
+f 7 12 8
+f 8 13 9
+f 8 12 14
+f 8 14 15
+f 8 15 13
+f 10 16 11
+f 10 17 22
+f 10 22 21
+f 10 21 19
+f 10 19 18
+f 10 18 16
+f 11 16 18
+f 11 18 19
+f 13 15 20
+f 14 21 22
+f 14 22 15
+f 15 22 17
+f 15 17 23
+f 15 23 20
\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_44.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46cafef35ea7759a763c8703870084532765a6ec
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_44.obj
@@ -0,0 +1,138 @@
+# https://github.com/mikedh/trimesh
+v 0.02402578 0.00002783 -0.00809164
+v 0.02402474 0.00002783 -0.00582564
+v 0.02385170 -0.00157249 -0.00881589
+v 0.02402578 0.00002783 -0.00881589
+v 0.02377248 -0.00229501 -0.00809164
+v 0.02402265 0.00002783 -0.00350369
+v 0.02376936 -0.00229501 -0.00350369
+v 0.02377248 -0.00229501 -0.00881589
+v 0.01729833 0.00002783 -0.00881589
+v 0.02312100 -0.00505706 -0.00350369
+v 0.02312205 -0.00506086 -0.00809164
+v 0.02397054 0.00002783 0.00108425
+v 0.02371619 -0.00229501 0.00108425
+v 0.02309390 -0.00498544 0.00108425
+v 0.02312205 -0.00506086 -0.00881589
+v 0.01521568 -0.00644696 -0.00881589
+v 0.01337694 -0.00644696 0.02293916
+v 0.01557842 0.00002783 0.02293916
+v 0.02255708 -0.00644696 -0.00350369
+v 0.02255917 -0.00644696 -0.00809164
+v 0.02373392 0.00002783 0.00578099
+v 0.02359945 0.00002783 0.00828944
+v 0.02329404 -0.00168023 0.01026325
+v 0.02340974 -0.00267972 0.00590843
+v 0.02334511 -0.00304034 0.00567531
+v 0.02302823 -0.00480861 0.00453143
+v 0.02249871 -0.00644696 0.00108425
+v 0.02253519 -0.00644696 -0.00174747
+v 0.02245285 -0.00644696 0.00224678
+v 0.02255917 -0.00644696 -0.00881589
+v 0.02065893 -0.00644696 0.02293916
+v 0.02215056 0.00002783 0.02293916
+v 0.02302719 0.00002783 0.01735964
+v 0.02299592 -0.00024217 0.01765805
+v 0.02311162 -0.00080687 0.01485119
+v 0.02289689 -0.00446510 0.00759006
+v 0.02223291 -0.00644696 0.00599547
+v 0.02233610 -0.00626126 0.00567531
+v 0.02224750 -0.00644696 0.00582140
+v 0.02087261 -0.00575423 0.02293916
+v 0.02104252 -0.00644696 0.01890761
+v 0.02205779 -0.00096405 0.02293916
+v 0.02299905 0.00002783 0.01769224
+v 0.02254145 -0.00310182 0.01485119
+v 0.02192749 -0.00222276 0.02293916
+v 0.02237258 -0.00198128 0.01928994
+v 0.02188475 -0.00644696 0.00977835
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 18
+f 1 18 32
+f 1 32 43
+f 1 43 33
+f 1 33 22
+f 1 22 21
+f 1 21 12
+f 1 12 6
+f 1 6 2
+f 2 5 3
+f 2 6 7
+f 2 7 5
+f 3 8 15
+f 3 15 30
+f 3 30 16
+f 3 16 9
+f 3 9 4
+f 3 5 8
+f 5 7 10
+f 5 10 11
+f 5 11 15
+f 5 15 8
+f 6 12 7
+f 7 12 13
+f 7 13 14
+f 7 14 10
+f 9 16 17
+f 9 17 18
+f 10 14 19
+f 10 19 11
+f 11 20 30
+f 11 30 15
+f 11 19 20
+f 12 21 13
+f 13 21 22
+f 13 22 23
+f 13 23 24
+f 13 24 25
+f 13 25 26
+f 13 26 14
+f 14 27 28
+f 14 28 19
+f 14 26 29
+f 14 29 27
+f 16 30 20
+f 16 20 19
+f 16 19 28
+f 16 28 27
+f 16 27 29
+f 16 29 39
+f 16 39 37
+f 16 37 47
+f 16 47 41
+f 16 41 31
+f 16 31 17
+f 17 31 40
+f 17 40 45
+f 17 45 42
+f 17 42 32
+f 17 32 18
+f 22 33 34
+f 22 34 35
+f 22 35 23
+f 23 35 36
+f 23 36 24
+f 24 36 25
+f 25 36 26
+f 26 36 37
+f 26 37 38
+f 26 38 29
+f 29 38 39
+f 31 41 36
+f 31 36 40
+f 32 42 34
+f 32 34 43
+f 33 43 34
+f 34 44 36
+f 34 36 35
+f 34 42 45
+f 34 45 46
+f 34 46 44
+f 36 44 40
+f 36 41 47
+f 36 47 37
+f 37 39 38
+f 40 44 45
+f 44 46 45
\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_45.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fcffc02fd9d97b2a712135283c9c69e8123847ce
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_45.obj
@@ -0,0 +1,159 @@
+# https://github.com/mikedh/trimesh
+v 0.01884090 -0.01075504 -0.05856708
+v 0.01754827 -0.01245835 -0.05856708
+v 0.01883704 -0.01075504 -0.05866159
+v -0.02057846 -0.01075504 -0.05856708
+v 0.01754055 -0.01244967 -0.05890240
+v 0.01517910 -0.01511590 -0.05856708
+v 0.01517138 -0.01510831 -0.05890240
+v 0.01882547 -0.01075504 -0.05890240
+v -0.02056688 -0.01075504 -0.05870787
+v -0.01997266 -0.01220866 -0.05856708
+v 0.01496688 -0.01491615 -0.06038519
+v 0.01212695 -0.01748252 -0.05856708
+v 0.01211538 -0.01747492 -0.05890240
+v 0.01825439 -0.01075504 -0.05996443
+v -0.02037009 -0.01075504 -0.05952481
+v -0.01996494 -0.01221409 -0.05863008
+v -0.01993022 -0.01228683 -0.05856708
+v 0.01802674 -0.01075504 -0.06038519
+v 0.00963816 -0.01903818 -0.06038519
+v 0.00975778 -0.01911092 -0.05856708
+v 0.00975006 -0.01910549 -0.05890240
+v -0.02016173 -0.01075504 -0.06038519
+v -0.01983375 -0.01152148 -0.06038519
+v -0.01879579 -0.01404333 -0.06002673
+v -0.01702856 -0.01587800 -0.05856708
+v 0.00709921 -0.02016938 -0.05890240
+v 0.00709921 -0.01981330 -0.06038519
+v 0.00709921 -0.02018132 -0.05856708
+v -0.01896171 -0.01346796 -0.06038519
+v -0.01823629 -0.01430822 -0.06038519
+v -0.01469797 -0.01722523 -0.06038519
+v -0.01386837 -0.01871576 -0.05890240
+v -0.01695910 -0.01593879 -0.05863008
+v -0.01691666 -0.01598004 -0.05856708
+v 0.00236472 -0.02146993 -0.05856708
+v 0.00236472 -0.02145473 -0.05890240
+v 0.00236472 -0.02086851 -0.06038519
+v -0.01227477 -0.01911092 -0.06038519
+v -0.01387995 -0.01872553 -0.05856708
+v -0.01212429 -0.01918583 -0.06038519
+v -0.01109790 -0.01968955 -0.06038519
+v -0.01149919 -0.01987844 -0.05890240
+v -0.01168055 -0.01980570 -0.05856708
+v -0.00236591 -0.02184446 -0.05856708
+v -0.00236591 -0.02182818 -0.05890240
+v -0.00236591 -0.02117248 -0.06038519
+v -0.00891008 -0.02040496 -0.06038519
+v -0.00710040 -0.02131578 -0.05890240
+v -0.00710040 -0.02133097 -0.05856708
+v -0.01118665 -0.01999568 -0.05856708
+v -0.01151077 -0.01988495 -0.05856708
+v -0.00676470 -0.02137006 -0.05856708
+v -0.00710040 -0.02075018 -0.06038519
+v -0.00443412 -0.02103786 -0.06038519
+f 1 2 3
+f 1 3 8
+f 1 8 14
+f 1 14 18
+f 1 18 22
+f 1 22 15
+f 1 15 9
+f 1 9 4
+f 1 4 10
+f 1 10 17
+f 1 17 25
+f 1 25 34
+f 1 34 39
+f 1 39 43
+f 1 43 51
+f 1 51 50
+f 1 50 49
+f 1 49 52
+f 1 52 44
+f 1 44 35
+f 1 35 28
+f 1 28 20
+f 1 20 12
+f 1 12 6
+f 1 6 2
+f 2 5 3
+f 2 6 7
+f 2 7 5
+f 3 5 8
+f 4 9 10
+f 5 7 11
+f 5 11 8
+f 6 12 7
+f 7 12 13
+f 7 13 11
+f 8 11 14
+f 9 15 16
+f 9 16 10
+f 10 16 17
+f 11 18 14
+f 11 13 19
+f 11 19 27
+f 11 27 37
+f 11 37 46
+f 11 46 54
+f 11 54 53
+f 11 53 47
+f 11 47 41
+f 11 41 40
+f 11 40 38
+f 11 38 31
+f 11 31 30
+f 11 30 29
+f 11 29 23
+f 11 23 22
+f 11 22 18
+f 12 20 21
+f 12 21 13
+f 13 21 19
+f 15 22 16
+f 16 22 23
+f 16 23 24
+f 16 24 17
+f 17 24 25
+f 19 21 26
+f 19 26 27
+f 20 28 21
+f 21 28 26
+f 23 29 24
+f 24 30 31
+f 24 31 32
+f 24 32 33
+f 24 33 25
+f 24 29 30
+f 25 33 34
+f 26 28 35
+f 26 35 36
+f 26 36 27
+f 27 36 37
+f 31 38 32
+f 32 39 33
+f 32 38 40
+f 32 40 41
+f 32 41 42
+f 32 42 43
+f 32 43 39
+f 33 39 34
+f 35 44 36
+f 36 44 45
+f 36 45 37
+f 37 45 46
+f 41 47 42
+f 42 47 48
+f 42 48 49
+f 42 49 50
+f 42 50 51
+f 42 51 43
+f 44 52 45
+f 45 52 48
+f 45 48 53
+f 45 53 54
+f 45 54 46
+f 47 53 48
+f 48 52 49
\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_46.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a21c2f29d2697cc70081a44308353adf95070da
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_46.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.01503458 0.00681299 -0.06319334
+v -0.01696300 0.00228105 -0.06319334
+v -0.02200392 0.00681299 -0.06319334
+v -0.01505768 0.00681299 -0.00881731
+v -0.02377406 0.00228105 -0.06319334
+v -0.01701262 0.00228105 -0.00881731
+v -0.02311614 0.00507580 -0.06319334
+v -0.02241117 0.00681299 -0.06318269
+v -0.02241117 0.00681299 -0.00881731
+v -0.02377235 0.00229481 -0.06319334
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\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_47.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e36c100d7ec7a0825af2b6feda1a7b0fbe3d60d0
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_47.obj
@@ -0,0 +1,282 @@
+# https://github.com/mikedh/trimesh
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+v -0.02132536 -0.00257295 0.03349050
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\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_48.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5159f23a1a1efd871b1769502c3451056242bca
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_48.obj
@@ -0,0 +1,162 @@
+# https://github.com/mikedh/trimesh
+v 0.02058460 0.01073417 -0.05856708
+v 0.02209623 0.00710145 -0.05856708
+v 0.02057571 0.01073417 -0.05870626
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+v 0.02214069 0.00676700 -0.05856708
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+v -0.01884220 0.01073417 -0.05890240
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+v 0.02270977 0.00236650 -0.05856708
+v 0.02268310 0.00236650 -0.05890240
+v 0.02144712 0.00641571 -0.06038519
+v 0.02135820 0.00710145 -0.06038519
+v -0.01805081 0.01073417 -0.06038519
+v -0.01922899 0.00991591 -0.06038519
+v -0.01933570 0.01008209 -0.05890240
+v -0.02077619 0.00710145 -0.05856708
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\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_49.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cbe9f1cac91fb1f58102fba7f1bfe732da2289d9
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_49.obj
@@ -0,0 +1,159 @@
+# https://github.com/mikedh/trimesh
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+v -0.02017795 0.00696696 0.02601331
+v -0.01529190 0.00002783 0.02601331
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+v -0.02079499 0.00696696 0.01956295
+v -0.02084753 0.00688409 0.01944022
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+v -0.02299488 0.00024179 0.01765717
+v -0.02299824 0.00002783 0.01768103
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+v -0.02297588 0.00542236 -0.00881589
+v -0.02234878 0.00696696 -0.00731580
+v -0.02254216 0.00310207 0.01485133
+v -0.02340960 0.00268026 0.00590879
+v -0.02329335 0.00168042 0.01026244
+v -0.02311114 0.00080624 0.01485133
+v -0.02219563 0.00655601 0.00590879
+v -0.02233872 0.00625715 0.00567355
+v -0.02302842 0.00480765 0.00453144
+v -0.02161101 0.00696696 0.01036131
+v -0.02166131 0.00688409 0.01026244
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+f 32 40 45
+f 34 46 47
+f 34 47 35
+f 35 47 37
+f 37 47 48
+f 37 48 38
+f 38 48 44
+f 38 44 49
+f 40 50 45
+f 40 44 47
+f 40 47 46
+f 40 46 51
+f 40 51 50
+f 41 52 42
+f 42 53 43
+f 42 52 53
+f 43 54 44
+f 44 54 49
+f 44 48 47
\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_5.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d37f1109d82213be431302efef90a961f04932d
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_5.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.02371277 -0.00688386 -0.06313479
+v -0.01655212 -0.00688386 -0.06313479
+v -0.02371277 -0.00688386 -0.00881731
+v -0.02427441 -0.00229513 -0.00881731
+v -0.02427365 -0.00229513 -0.06313479
+v -0.02401967 0.00002750 -0.06319334
+v -0.01723772 0.00002750 -0.06319334
+v -0.01723545 0.00004365 -0.06319334
+v -0.01696333 0.00228105 -0.06319334
+v -0.01658160 -0.00688386 -0.00881731
+v -0.02377476 0.00228105 -0.01728030
+v -0.02377476 0.00228105 -0.01730691
+v -0.02427139 -0.00226911 -0.06313479
+v -0.02377400 0.00228105 -0.00881731
+v -0.02377627 0.00226401 -0.06319334
+v -0.02377400 0.00228105 -0.06319334
+v -0.01701246 0.00228105 -0.00881731
+f 1 2 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 3 10 17
+f 3 17 14
+f 3 14 4
+f 4 11 12
+f 4 12 13
+f 4 13 5
+f 4 14 11
+f 5 13 6
+f 6 13 15
+f 6 15 16
+f 6 16 9
+f 6 9 8
+f 6 8 7
+f 9 16 12
+f 9 12 11
+f 9 11 14
+f 9 14 17
+f 9 17 10
+f 12 16 15
+f 12 15 13
\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_50.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25167b1c6a58d1cdf4cbe75d0001bd23e053d0e5
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_50.obj
@@ -0,0 +1,210 @@
+# https://github.com/mikedh/trimesh
+v 0.00236517 0.02247752 -0.05151319
+v 0.00236517 0.02207705 -0.05412638
+v 0.00232416 0.02207453 -0.05412638
+v -0.00236983 0.02167406 -0.05412638
+v -0.00236983 0.02206698 -0.05151319
+v 0.00710017 0.02195616 -0.05151319
+v 0.00705916 0.02154057 -0.05412638
+v -0.00240629 0.02166399 -0.05412638
+v -0.00508596 0.02132397 -0.05151319
+v 0.00904613 0.02129374 -0.05151319
+v 0.01168479 0.01997647 -0.05412638
+v 0.00710017 0.02153554 -0.05412638
+v -0.00709572 0.02034672 -0.05412638
+v -0.00709572 0.02075726 -0.05151319
+v 0.00910993 0.02127107 -0.05151319
+v 0.01202658 0.02022330 -0.05151319
+v 0.01405001 0.01885062 -0.05412638
+v -0.00988477 0.01918560 -0.05412638
+v -0.01024479 0.01940473 -0.05151319
+v 0.01394519 0.01900174 -0.05151319
+v 0.01422318 0.01881536 -0.05151319
+v 0.01429610 0.01876498 -0.05151319
+v 0.01653828 0.01711273 -0.05151319
+v 0.01657018 0.01653595 -0.05412638
+v -0.01225455 0.01758372 -0.05412638
+v -0.01261457 0.01782551 -0.05151319
+v 0.01747707 0.01622615 -0.05151319
+v 0.01897642 0.01425150 -0.05412638
+v -0.01528513 0.01521616 -0.05412638
+v -0.01554945 0.01545795 -0.05151319
+v 0.01873032 0.01503229 -0.05151319
+v 0.01922707 0.01455626 -0.05151319
+v 0.01899464 0.01422631 -0.05412638
+v -0.01765035 0.01258665 -0.05412638
+v -0.01791468 0.01292919 -0.05151319
+v 0.02022511 0.01289645 -0.05151319
+v 0.02080844 0.01186882 -0.05151319
+v 0.02035271 0.01183356 -0.05412638
+v -0.01942313 0.01021657 -0.05412638
+v -0.01965099 0.01055911 -0.05151319
+v 0.02082667 0.01183356 -0.05151319
+v 0.02037094 0.01179578 -0.05412638
+v -0.02097260 0.00710347 -0.05412638
+v -0.02140554 0.00710347 -0.05151319
+v -0.01967834 0.01051629 -0.05151319
+v 0.02235335 0.00710599 -0.05412638
+v 0.02275895 0.00722689 -0.05151319
+v -0.02208913 0.00502304 -0.05151319
+v -0.02142833 0.00703547 -0.05151319
+v -0.02251296 0.00241116 -0.05412638
+v 0.02301871 0.00236835 -0.05412638
+v 0.02327848 0.00236835 -0.05151319
+v -0.02289577 0.00256229 -0.05151319
+v -0.02252207 0.00237086 -0.05412638
+v 0.02301871 0.00232553 -0.05412638
+v 0.02310986 -0.00051807 -0.05151319
+v -0.02290033 0.00253206 -0.05151319
+v -0.02301426 -0.00232144 -0.05412638
+v 0.02290022 -0.00252798 -0.05151319
+v 0.02252653 -0.00236930 -0.05412638
+v -0.02310996 0.00050200 -0.05151319
+v -0.02301882 -0.00236678 -0.05412638
+v 0.02289567 -0.00255820 -0.05151319
+v 0.02237614 -0.00325336 -0.05328098
+v 0.02223486 -0.00325336 -0.05412638
+v 0.02289111 -0.00257583 -0.05151319
+v -0.02327858 -0.00236678 -0.05151319
+v -0.02289577 -0.00325336 -0.05412638
+v 0.02266780 -0.00325336 -0.05151319
+v -0.02314642 -0.00325336 -0.05151319
+v -0.02311908 -0.00325336 -0.05182628
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 14
+f 1 14 19
+f 1 19 26
+f 1 26 30
+f 1 30 35
+f 1 35 40
+f 1 40 45
+f 1 45 44
+f 1 44 49
+f 1 49 48
+f 1 48 53
+f 1 53 57
+f 1 57 61
+f 1 61 67
+f 1 67 70
+f 1 70 69
+f 1 69 66
+f 1 66 63
+f 1 63 59
+f 1 59 56
+f 1 56 52
+f 1 52 47
+f 1 47 41
+f 1 41 37
+f 1 37 36
+f 1 36 32
+f 1 32 31
+f 1 31 27
+f 1 27 23
+f 1 23 22
+f 1 22 21
+f 1 21 20
+f 1 20 16
+f 1 16 15
+f 1 15 10
+f 1 10 6
+f 1 6 2
+f 2 6 7
+f 2 7 12
+f 2 12 11
+f 2 11 17
+f 2 17 24
+f 2 24 28
+f 2 28 33
+f 2 33 38
+f 2 38 42
+f 2 42 46
+f 2 46 51
+f 2 51 55
+f 2 55 60
+f 2 60 65
+f 2 65 68
+f 2 68 62
+f 2 62 58
+f 2 58 54
+f 2 54 50
+f 2 50 43
+f 2 43 39
+f 2 39 34
+f 2 34 29
+f 2 29 25
+f 2 25 18
+f 2 18 13
+f 2 13 8
+f 2 8 4
+f 2 4 3
+f 4 8 9
+f 4 9 5
+f 6 10 11
+f 6 11 12
+f 6 12 7
+f 8 13 9
+f 9 13 14
+f 10 15 11
+f 11 16 17
+f 11 15 16
+f 13 18 14
+f 14 18 19
+f 16 20 17
+f 17 20 21
+f 17 21 22
+f 17 22 23
+f 17 23 24
+f 18 25 26
+f 18 26 19
+f 23 27 24
+f 24 27 28
+f 25 29 26
+f 26 29 30
+f 27 31 28
+f 28 31 32
+f 28 32 33
+f 29 34 35
+f 29 35 30
+f 32 36 33
+f 33 36 37
+f 33 37 38
+f 34 39 35
+f 35 39 40
+f 37 41 38
+f 38 41 42
+f 39 43 44
+f 39 44 45
+f 39 45 40
+f 41 46 42
+f 41 47 46
+f 43 48 49
+f 43 49 44
+f 43 50 48
+f 46 47 51
+f 47 52 51
+f 48 50 53
+f 50 54 53
+f 51 52 55
+f 52 56 55
+f 53 54 57
+f 54 58 57
+f 55 56 59
+f 55 59 60
+f 57 58 61
+f 58 62 61
+f 59 63 60
+f 60 64 65
+f 60 63 66
+f 60 66 64
+f 61 62 67
+f 62 68 67
+f 64 66 69
+f 64 69 70
+f 64 70 71
+f 64 71 68
+f 64 68 65
+f 67 68 71
+f 67 71 70
\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_51.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58e8920974077df82782fe5be00552631a68e06a
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_51.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v -0.00962293 0.01091590 0.02010667
+v -0.00470115 0.01416290 0.02010667
+v -0.00962293 0.01902677 0.02010667
+v -0.00962293 0.01273722 -0.00881730
+v -0.00470115 0.01532996 -0.00881730
+v -0.00470115 0.02076300 0.02010667
+v -0.00729164 0.02004685 0.02010667
+v -0.00688454 0.02069006 0.01485137
+v -0.00962293 0.01914171 0.01879568
+v -0.00962293 0.02034524 -0.00881730
+v -0.00470115 0.02220415 -0.00881730
+v -0.00470115 0.02082820 0.01944126
+v -0.00688454 0.02021815 0.02010667
+v -0.00688454 0.02028225 0.01944126
+v -0.00470115 0.02121612 0.01485137
+v -0.00470115 0.02138300 0.01266827
+v -0.00470115 0.02171345 0.00824260
+v -0.00688454 0.02101719 0.01026148
+v -0.00962293 0.01978934 0.01026148
+v -0.00962293 0.01945779 0.01485137
+v -0.00688454 0.02157530 -0.00881730
+v -0.00962293 0.02034524 -0.00809244
+v -0.00470115 0.02220415 -0.00809244
+v -0.00470115 0.02204942 0.00303544
+v -0.00688454 0.02131227 0.00567158
+v -0.00962293 0.02009547 0.00567158
+v -0.00688454 0.02157530 -0.00809244
+v -0.00962293 0.02034193 -0.00350537
+v -0.00470115 0.02220304 -0.00626327
+v -0.00470115 0.02213673 0.00108452
+v -0.00962293 0.02016510 0.00411142
+v -0.00688454 0.02151673 0.00108452
+v -0.00688454 0.02157199 -0.00350537
+v -0.00962293 0.02031209 -0.00060590
+v -0.00470115 0.02220083 -0.00350537
+v -0.00470115 0.02217873 -0.00166772
+v -0.00962293 0.02029109 0.00108452
+f 1 2 6
+f 1 6 13
+f 1 13 7
+f 1 7 3
+f 1 3 9
+f 1 9 20
+f 1 20 19
+f 1 19 26
+f 1 26 31
+f 1 31 37
+f 1 37 34
+f 1 34 28
+f 1 28 22
+f 1 22 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 5 11
+f 2 11 23
+f 2 23 29
+f 2 29 35
+f 2 35 36
+f 2 36 30
+f 2 30 24
+f 2 24 17
+f 2 17 16
+f 2 16 15
+f 2 15 12
+f 2 12 6
+f 3 7 8
+f 3 8 9
+f 4 10 21
+f 4 21 11
+f 4 11 5
+f 6 12 13
+f 7 13 14
+f 7 14 8
+f 8 14 12
+f 8 12 15
+f 8 15 16
+f 8 16 17
+f 8 17 18
+f 8 18 19
+f 8 19 20
+f 8 20 9
+f 10 22 27
+f 10 27 21
+f 11 21 27
+f 11 27 23
+f 12 14 13
+f 17 24 18
+f 18 24 25
+f 18 25 26
+f 18 26 19
+f 22 28 33
+f 22 33 27
+f 23 27 29
+f 24 30 25
+f 25 31 26
+f 25 30 32
+f 25 32 31
+f 27 33 29
+f 28 34 33
+f 29 33 35
+f 30 36 32
+f 31 32 37
+f 32 36 33
+f 32 33 34
+f 32 34 37
+f 33 36 35
\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_52.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7fbd667981e26adb372efb7db789f5f54d83ec1
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_52.obj
@@ -0,0 +1,153 @@
+# https://github.com/mikedh/trimesh
+v -0.02453977 -0.00236640 -0.04205748
+v -0.02447251 -0.00298445 -0.04205748
+v -0.02448692 -0.00285330 -0.04052301
+v -0.02446770 -0.00298445 -0.00682366
+v -0.02453016 -0.00236640 -0.00682366
+v -0.02408816 0.00203841 -0.00682366
+v -0.02421307 0.00085561 -0.04052301
+v -0.02408816 0.00203901 -0.04205748
+v -0.02447251 -0.00298445 -0.04052301
+v 0.02389687 -0.00298445 -0.04205748
+v -0.02427553 -0.00298445 -0.00208995
+v -0.02435720 -0.00236640 -0.00263226
+v -0.02398728 0.00159284 -0.00208995
+v -0.02367019 0.00313377 -0.00208995
+v -0.02385756 0.00313377 -0.00682366
+v -0.02386236 0.00313377 -0.04052301
+v -0.02387197 0.00308826 -0.04205748
+v -0.02403051 0.00232109 -0.04052301
+v -0.02408816 0.00203901 -0.02575011
+v 0.02408904 -0.00203881 -0.04205748
+v 0.02389687 -0.00298445 -0.04052301
+v -0.02433318 -0.00236640 -0.00208995
+v -0.02390080 -0.00298445 0.00088649
+v -0.02381432 0.00076937 0.00088649
+v -0.02357891 0.00313377 -0.00131641
+v -0.02386236 0.00313377 -0.04205748
+v 0.02454064 0.00236720 -0.04205748
+v 0.02408904 -0.00203881 -0.03995967
+v 0.02389206 -0.00298445 -0.00682366
+v 0.02408904 -0.00203821 -0.00682366
+v -0.02393923 -0.00236640 0.00088649
+v 0.02321946 -0.00298445 0.00088649
+v -0.02323781 0.00292896 0.00088649
+v -0.02329066 0.00313377 0.00029373
+v 0.02445897 0.00313377 -0.04205748
+v 0.02445897 0.00313377 -0.04052301
+v 0.02445416 0.00313377 -0.00682366
+v 0.02453103 0.00236720 -0.00682366
+v 0.02372391 -0.00298445 -0.00263226
+v 0.02398815 -0.00159264 -0.00208995
+v 0.02397854 -0.00175254 -0.00263226
+v 0.02325309 -0.00298445 0.00072254
+v 0.02323868 -0.00292816 0.00088649
+v -0.02317055 0.00313377 0.00088649
+v 0.02426679 0.00313377 -0.00208995
+v 0.02435808 0.00236720 -0.00263226
+v 0.02369989 -0.00298445 -0.00208995
+v 0.02381519 -0.00076857 0.00088649
+v 0.02359420 -0.00298445 -0.00117347
+v 0.02433405 0.00236720 -0.00208995
+v 0.02389687 0.00313377 0.00088649
+v 0.02394010 0.00236720 0.00088649
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 17
+f 1 17 26
+f 1 26 35
+f 1 35 27
+f 1 27 20
+f 1 20 10
+f 1 10 2
+f 2 9 3
+f 2 10 21
+f 2 21 29
+f 2 29 39
+f 2 39 47
+f 2 47 49
+f 2 49 42
+f 2 42 32
+f 2 32 23
+f 2 23 11
+f 2 11 4
+f 2 4 9
+f 3 9 4
+f 4 11 5
+f 5 11 12
+f 5 12 13
+f 5 13 6
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 6 16 17
+f 6 17 18
+f 6 18 19
+f 6 19 7
+f 7 19 8
+f 8 19 18
+f 8 18 17
+f 10 20 28
+f 10 28 21
+f 11 22 12
+f 11 23 22
+f 12 22 13
+f 13 24 14
+f 13 22 24
+f 14 25 34
+f 14 34 44
+f 14 44 51
+f 14 51 45
+f 14 45 37
+f 14 37 36
+f 14 36 35
+f 14 35 26
+f 14 26 16
+f 14 16 15
+f 14 24 25
+f 16 26 17
+f 20 27 28
+f 21 28 30
+f 21 30 29
+f 22 23 31
+f 22 31 24
+f 23 32 43
+f 23 43 48
+f 23 48 52
+f 23 52 51
+f 23 51 44
+f 23 44 33
+f 23 33 24
+f 23 24 31
+f 24 33 34
+f 24 34 25
+f 27 35 36
+f 27 36 37
+f 27 37 38
+f 27 38 30
+f 27 30 28
+f 29 30 39
+f 30 38 40
+f 30 40 41
+f 30 41 39
+f 32 42 43
+f 33 44 34
+f 37 45 38
+f 38 46 40
+f 38 45 46
+f 39 41 40
+f 39 40 47
+f 40 48 49
+f 40 49 47
+f 40 46 50
+f 40 50 48
+f 42 49 43
+f 43 49 48
+f 45 50 46
+f 45 51 50
+f 48 50 52
+f 50 51 52
\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_53.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43b7f185e23889bfa24691903e949d91e27f571a
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_53.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v -0.00122945 -0.02321612 -0.00881453
+v -0.00122945 -0.01657067 -0.00881453
+v 0.00095647 -0.02310087 -0.00881453
+v -0.00122945 -0.02321612 -0.00658650
+v 0.00467989 -0.01533817 -0.00881453
+v -0.00122945 -0.01530298 0.01949038
+v 0.00325056 -0.02262318 -0.00881453
+v 0.00095647 -0.02310087 -0.00809402
+v 0.00094895 -0.02309911 -0.00350494
+v -0.00122945 -0.02321436 -0.00350494
+v 0.00467989 -0.02221059 -0.00881453
+v 0.00467989 -0.01422972 0.01949038
+v -0.00122945 -0.02167748 0.01949038
+v 0.00325056 -0.02262318 -0.00809402
+v 0.00324305 -0.02262142 -0.00350494
+v 0.00079335 -0.02307448 0.00108415
+v -0.00122945 -0.02320292 -0.00191982
+v 0.00467989 -0.02221059 -0.00809402
+v 0.00467989 -0.02082854 0.01949038
+v 0.00229440 -0.02142587 0.01949038
+v -0.00122945 -0.02304193 0.00478646
+v 0.00043009 -0.02301554 0.00441512
+v 0.00467989 -0.02220971 -0.00628721
+v 0.00467989 -0.02220795 -0.00350494
+v 0.00467989 -0.02218596 -0.00169258
+v 0.00467989 -0.02214285 0.00108415
+v 0.00308744 -0.02259415 0.00108415
+v -0.00122945 -0.02316949 0.00108415
+v 0.00467989 -0.02083118 0.01946821
+v 0.00229440 -0.02179624 0.01485141
+v 0.00467989 -0.02122178 0.01485141
+v 0.00467989 -0.02083382 0.01944050
+v -0.00122945 -0.02313958 0.00238661
+v 0.00209368 -0.02254577 0.00583397
+v 0.00467989 -0.02205664 0.00301013
+v 0.00467989 -0.02172058 0.00822550
+v 0.00467989 -0.02139069 0.01264555
+f 1 2 5
+f 1 5 11
+f 1 11 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 10
+f 1 10 17
+f 1 17 28
+f 1 28 33
+f 1 33 21
+f 1 21 13
+f 1 13 6
+f 1 6 2
+f 2 6 5
+f 3 7 14
+f 3 14 8
+f 4 9 10
+f 4 8 9
+f 5 6 12
+f 5 12 19
+f 5 19 29
+f 5 29 32
+f 5 32 31
+f 5 31 37
+f 5 37 36
+f 5 36 35
+f 5 35 26
+f 5 26 25
+f 5 25 24
+f 5 24 23
+f 5 23 18
+f 5 18 11
+f 6 13 20
+f 6 20 19
+f 6 19 12
+f 7 11 18
+f 7 18 14
+f 8 14 15
+f 8 15 9
+f 9 15 16
+f 9 16 10
+f 10 16 17
+f 13 21 22
+f 13 22 20
+f 14 18 23
+f 14 23 24
+f 14 24 15
+f 15 24 25
+f 15 25 26
+f 15 26 27
+f 15 27 16
+f 16 27 22
+f 16 22 28
+f 16 28 17
+f 19 20 29
+f 20 30 31
+f 20 31 32
+f 20 32 29
+f 20 22 30
+f 21 33 22
+f 22 33 28
+f 22 27 34
+f 22 34 30
+f 26 35 27
+f 27 35 36
+f 27 36 34
+f 30 34 31
+f 31 34 37
+f 34 36 37
\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_54.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..670085b513a48ce1372b5e4f385309a9222e63e1
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_54.obj
@@ -0,0 +1,159 @@
+# https://github.com/mikedh/trimesh
+v 0.01688366 -0.00298646 -0.04001684
+v 0.01688366 -0.01549400 -0.04001684
+v 0.01688366 -0.00298646 -0.04206182
+v -0.02447198 -0.00298646 -0.04001684
+v 0.01627638 -0.01607887 -0.04001684
+v 0.01688366 -0.01549400 -0.04122962
+v 0.01688366 -0.01549198 -0.04206182
+v -0.02447602 -0.00298646 -0.04206182
+v -0.02446388 -0.00307289 -0.04001684
+v 0.01618327 -0.01616530 -0.04001684
+v 0.01624804 -0.01610098 -0.04206182
+v -0.02411571 -0.00645955 -0.04206182
+v -0.02411571 -0.00645955 -0.04001684
+v 0.01355983 -0.01847064 -0.04001684
+v 0.01355983 -0.01846863 -0.04206182
+v 0.01505778 -0.01715014 -0.04206182
+v -0.02348414 -0.00882720 -0.04206182
+v -0.02349223 -0.00879906 -0.04001684
+v 0.01352744 -0.01849275 -0.04001684
+v 0.01119144 -0.01996399 -0.04206182
+v -0.02285662 -0.01016176 -0.04206182
+v -0.02348414 -0.00882720 -0.04001684
+v 0.01121978 -0.01994791 -0.04001684
+v 0.01119144 -0.01996399 -0.04001684
+v 0.01114691 -0.01998609 -0.04001684
+v 0.01109023 -0.02001222 -0.04001684
+v 0.00710244 -0.02183921 -0.04001684
+v 0.00710244 -0.02183720 -0.04206182
+v -0.02206311 -0.01183801 -0.04206182
+v -0.02206311 -0.01183801 -0.04001684
+v 0.00236567 -0.02309539 -0.04001684
+v 0.00236567 -0.02309338 -0.04206182
+v -0.01988095 -0.01535330 -0.04206182
+v -0.02203881 -0.01187821 -0.04001684
+v -0.00236705 -0.02351546 -0.04001684
+v -0.00236705 -0.02351546 -0.04206182
+v -0.01862996 -0.01666978 -0.04206182
+v -0.01988095 -0.01535330 -0.04001684
+v -0.00242373 -0.02351144 -0.04001684
+v -0.00248851 -0.02350541 -0.04001684
+v -0.00709977 -0.02305519 -0.04001684
+v -0.00709977 -0.02305117 -0.04206182
+v -0.01762998 -0.01771894 -0.04206182
+v -0.01762998 -0.01771894 -0.04001684
+v -0.00715240 -0.02303911 -0.04001684
+v -0.00722123 -0.02301700 -0.04001684
+v -0.00919691 -0.02237384 -0.04206182
+v -0.01658141 -0.01859927 -0.04206182
+v -0.01526159 -0.01970270 -0.04001684
+v -0.01183249 -0.02152567 -0.04001684
+v -0.01183249 -0.02152165 -0.04206182
+v -0.01526159 -0.01970270 -0.04206182
+v -0.01335474 -0.02071769 -0.04206182
+v -0.01187298 -0.02150557 -0.04001684
+f 1 2 6
+f 1 6 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 9
+f 1 9 13
+f 1 13 18
+f 1 18 22
+f 1 22 30
+f 1 30 34
+f 1 34 38
+f 1 38 44
+f 1 44 49
+f 1 49 54
+f 1 54 50
+f 1 50 46
+f 1 46 45
+f 1 45 41
+f 1 41 40
+f 1 40 39
+f 1 39 35
+f 1 35 31
+f 1 31 27
+f 1 27 26
+f 1 26 25
+f 1 25 24
+f 1 24 23
+f 1 23 19
+f 1 19 14
+f 1 14 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 3 7 11
+f 3 11 16
+f 3 16 15
+f 3 15 20
+f 3 20 28
+f 3 28 32
+f 3 32 36
+f 3 36 42
+f 3 42 47
+f 3 47 51
+f 3 51 53
+f 3 53 52
+f 3 52 48
+f 3 48 43
+f 3 43 37
+f 3 37 33
+f 3 33 29
+f 3 29 21
+f 3 21 17
+f 3 17 12
+f 3 12 8
+f 4 8 9
+f 5 7 6
+f 5 10 11
+f 5 11 7
+f 8 12 13
+f 8 13 9
+f 10 14 15
+f 10 15 16
+f 10 16 11
+f 12 17 18
+f 12 18 13
+f 14 19 15
+f 15 19 20
+f 17 21 22
+f 17 22 18
+f 19 23 20
+f 20 23 24
+f 20 24 25
+f 20 25 26
+f 20 26 27
+f 20 27 28
+f 21 29 30
+f 21 30 22
+f 27 31 32
+f 27 32 28
+f 29 33 34
+f 29 34 30
+f 31 35 36
+f 31 36 32
+f 33 37 38
+f 33 38 34
+f 35 39 36
+f 36 39 40
+f 36 40 41
+f 36 41 42
+f 37 43 44
+f 37 44 38
+f 41 45 42
+f 42 45 46
+f 42 46 47
+f 43 48 44
+f 44 48 49
+f 46 50 51
+f 46 51 47
+f 48 52 49
+f 49 52 53
+f 49 53 54
+f 50 54 51
+f 51 54 53
\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_55.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..136d7597269ed21aeff7d718ca1baf33ad307c3d
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_55.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.01656253 0.00688917 -0.06316602
+v 0.02371092 0.00688917 -0.06316602
+v 0.01655169 0.00688917 -0.06315538
+v 0.01364562 0.01153125 -0.06316602
+v 0.02303589 0.00937284 -0.06316602
+v 0.02303589 0.00937544 -0.05856958
+v 0.02371191 0.00688917 -0.03564054
+v 0.01658026 0.00688917 -0.00881730
+v 0.01364562 0.01154036 -0.00881730
+v 0.01364562 0.02017922 -0.06316602
+v 0.02252642 0.01037073 -0.06316602
+v 0.02186124 0.01167176 -0.03564054
+v 0.02303589 0.00937544 -0.00881730
+v 0.02371092 0.00688917 -0.00881730
+v 0.01364562 0.02017922 -0.00881730
+v 0.01517305 0.01936608 -0.05856958
+v 0.01517502 0.01936477 -0.06316602
+v 0.02186124 0.01167046 -0.06316602
+v 0.02150057 0.01223251 -0.00881730
+v 0.02186124 0.01167046 -0.00881730
+v 0.02204651 0.01130878 -0.00881730
+v 0.01956812 0.01523399 -0.06316602
+v 0.01517305 0.01936608 -0.00881730
+v 0.01710649 0.01781915 -0.00881730
+v 0.01746716 0.01753032 -0.06316602
+v 0.01956615 0.01523660 -0.00881730
+v 0.01956615 0.01523660 -0.05856958
+v 0.01746716 0.01753032 -0.00881730
+f 1 2 7
+f 1 7 14
+f 1 14 8
+f 1 8 3
+f 1 3 4
+f 1 4 10
+f 1 10 17
+f 1 17 25
+f 1 25 22
+f 1 22 18
+f 1 18 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 3 8 9
+f 3 9 4
+f 4 9 15
+f 4 15 10
+f 5 11 6
+f 6 11 12
+f 6 12 13
+f 6 13 7
+f 7 13 14
+f 8 14 13
+f 8 13 21
+f 8 21 20
+f 8 20 19
+f 8 19 26
+f 8 26 28
+f 8 28 24
+f 8 24 23
+f 8 23 15
+f 8 15 9
+f 10 15 23
+f 10 23 16
+f 10 16 17
+f 11 18 12
+f 12 19 20
+f 12 20 21
+f 12 21 13
+f 12 18 22
+f 12 22 19
+f 16 23 17
+f 17 23 24
+f 17 24 25
+f 19 22 26
+f 22 25 27
+f 22 27 26
+f 24 28 25
+f 25 28 26
+f 25 26 27
\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_56.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56e884a53d43ed0e3025a56fc27e28176c595c37
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_56.obj
@@ -0,0 +1,192 @@
+# https://github.com/mikedh/trimesh
+v 0.00236468 0.02314027 -0.04716302
+v 0.00710129 0.02265402 -0.04716302
+v 0.00236468 0.02277606 -0.04955141
+v -0.00236261 0.02236149 -0.04955141
+v -0.00236261 0.02271988 -0.04716302
+v 0.01203370 0.02097441 -0.04716302
+v 0.00710129 0.02228981 -0.04943263
+v 0.00710129 0.02227044 -0.04955141
+v -0.00698267 0.02110033 -0.04955141
+v -0.00709922 0.02144516 -0.04716302
+v -0.00463302 0.02211739 -0.04716302
+v 0.01382392 0.02017820 -0.04716302
+v 0.01491017 0.01944785 -0.04850557
+v 0.01279827 0.02019176 -0.04955141
+v 0.01222485 0.02044554 -0.04955141
+v 0.00721318 0.02223169 -0.04955141
+v -0.00709922 0.02106740 -0.04955141
+v -0.00709922 0.02108677 -0.04943263
+v -0.01052115 0.01956602 -0.04955141
+v -0.01053979 0.01957571 -0.04943263
+v -0.01085215 0.01976168 -0.04716302
+v 0.01503604 0.01953890 -0.04716302
+v 0.01587055 0.01883955 -0.04716302
+v 0.01941834 0.01478680 -0.04955141
+v 0.01618756 0.01789223 -0.04955141
+v -0.01288945 0.01800846 -0.04955141
+v -0.01322046 0.01823318 -0.04716302
+v 0.01856519 0.01620100 -0.04716302
+v 0.01964678 0.01506576 -0.04716302
+v 0.02069107 0.01337841 -0.04716302
+v 0.02161882 0.01183828 -0.04716302
+v 0.02115261 0.01189834 -0.04955141
+v -0.01574727 0.01564113 -0.04955141
+v -0.01576126 0.01565275 -0.04943263
+v -0.01599436 0.01586585 -0.04716302
+v 0.02229947 0.01039309 -0.04716302
+v 0.02120856 0.01183828 -0.04943263
+v 0.02118525 0.01183828 -0.04955141
+v -0.01811558 0.01318856 -0.04955141
+v -0.01812956 0.01320405 -0.04943263
+v -0.01835800 0.01349852 -0.04716302
+v 0.02327383 0.00805481 -0.04716302
+v 0.02306404 0.00731672 -0.04955141
+v -0.01978458 0.01087934 -0.04955141
+v -0.01982654 0.01082122 -0.04955141
+v -0.02003633 0.01113312 -0.04716302
+v 0.02384726 0.00661930 -0.04716302
+v 0.02396848 0.00588508 -0.04798370
+v 0.02360950 0.00334921 -0.04954323
+v 0.02307803 0.00715980 -0.04955141
+v -0.01986850 0.01074179 -0.04955141
+v -0.02213424 0.00710362 -0.04716302
+v 0.02400577 0.00602844 -0.04716302
+v 0.02410833 0.00500556 -0.04716302
+v 0.02420157 0.00334921 -0.04716302
+v 0.02406638 0.00334921 -0.04830403
+v 0.02339505 0.00334921 -0.04955141
+v -0.02173330 0.00710362 -0.04955141
+v -0.02175661 0.00710362 -0.04943263
+v -0.02338366 0.00353712 -0.04716302
+v -0.02342562 0.00334921 -0.04716302
+v -0.02296408 0.00334921 -0.04955141
+v -0.02177526 0.00698351 -0.04955141
+v -0.02297340 0.00334921 -0.04950675
+v -0.02333704 0.00334921 -0.04769027
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 10
+f 1 10 21
+f 1 21 27
+f 1 27 35
+f 1 35 41
+f 1 41 46
+f 1 46 52
+f 1 52 60
+f 1 60 61
+f 1 61 55
+f 1 55 54
+f 1 54 53
+f 1 53 47
+f 1 47 42
+f 1 42 36
+f 1 36 31
+f 1 31 30
+f 1 30 29
+f 1 29 28
+f 1 28 23
+f 1 23 22
+f 1 22 12
+f 1 12 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 3 8 16
+f 3 16 15
+f 3 15 14
+f 3 14 25
+f 3 25 24
+f 3 24 32
+f 3 32 38
+f 3 38 43
+f 3 43 50
+f 3 50 57
+f 3 57 62
+f 3 62 63
+f 3 63 58
+f 3 58 51
+f 3 51 45
+f 3 45 44
+f 3 44 39
+f 3 39 33
+f 3 33 26
+f 3 26 19
+f 3 19 17
+f 3 17 9
+f 3 9 4
+f 4 9 10
+f 4 10 11
+f 4 11 5
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 6 16 8
+f 6 8 7
+f 9 17 18
+f 9 18 10
+f 10 18 19
+f 10 19 20
+f 10 20 21
+f 12 22 13
+f 13 22 23
+f 13 23 24
+f 13 24 25
+f 13 25 14
+f 17 19 18
+f 19 26 27
+f 19 27 20
+f 20 27 21
+f 23 28 24
+f 24 28 29
+f 24 29 30
+f 24 30 31
+f 24 31 32
+f 26 33 27
+f 27 33 34
+f 27 34 35
+f 31 36 37
+f 31 37 32
+f 32 37 38
+f 33 39 40
+f 33 40 41
+f 33 41 34
+f 34 41 35
+f 36 38 37
+f 36 42 38
+f 38 42 43
+f 39 44 40
+f 40 44 45
+f 40 45 41
+f 41 45 46
+f 42 47 48
+f 42 48 43
+f 43 48 49
+f 43 49 50
+f 45 51 46
+f 46 51 52
+f 47 53 48
+f 48 53 54
+f 48 54 55
+f 48 55 56
+f 48 56 49
+f 49 57 50
+f 49 56 55
+f 49 55 61
+f 49 61 65
+f 49 65 64
+f 49 64 62
+f 49 62 57
+f 51 58 59
+f 51 59 52
+f 52 59 60
+f 58 63 59
+f 59 63 60
+f 60 64 65
+f 60 65 61
+f 60 63 64
+f 62 64 63
\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_57.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3287f159f71e22397277bf88555e444857070bc7
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_57.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v -0.00448166 0.00238330 0.11005929
+v -0.00448166 0.00002783 0.11005929
+v -0.00448166 0.00489726 0.10996229
+v -0.00715244 0.00233371 0.10997845
+v -0.00723447 0.00002783 0.10997845
+v -0.00473027 0.00002783 0.11005389
+v -0.00448166 0.00002783 0.09150449
+v -0.00448166 0.00499449 0.10995150
+v -0.00463214 0.00499449 0.10994073
+v -0.00610114 0.00499449 0.10982216
+v -0.00943974 0.00082951 0.10931020
+v -0.00943974 0.00002783 0.10931020
+v -0.00448166 0.00209695 0.08552255
+v -0.00568243 0.00002783 0.08142680
+v -0.00448166 0.00499449 0.07797237
+v -0.00679614 0.00499449 0.10870122
+v -0.00870096 0.00354475 0.10663718
+v -0.00957210 0.00125005 0.10663718
+v -0.00947446 0.00002783 0.10860961
+v -0.00448166 0.00335368 0.08207350
+v -0.00840656 0.00002783 0.07001800
+v -0.00773672 0.00499449 0.06251093
+v -0.00675739 0.00499449 0.06663363
+v -0.00750623 0.00499449 0.10663718
+v -0.00962293 0.00499449 0.09301883
+v -0.00962293 0.00143041 0.10179235
+v -0.00962293 0.00131228 0.10197558
+v -0.00957210 0.00002783 0.10663718
+v -0.00962293 0.00002783 0.06624561
+v -0.00962293 0.00499449 0.05500926
+v -0.00962293 0.00002783 0.10192708
+f 1 2 7
+f 1 7 13
+f 1 13 20
+f 1 20 15
+f 1 15 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 5
+f 2 5 12
+f 2 12 19
+f 2 19 28
+f 2 28 31
+f 2 31 29
+f 2 29 21
+f 2 21 14
+f 2 14 7
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 4 10 11
+f 4 11 5
+f 5 11 12
+f 7 14 13
+f 8 15 23
+f 8 23 22
+f 8 22 30
+f 8 30 25
+f 8 25 24
+f 8 24 16
+f 8 16 10
+f 8 10 9
+f 10 16 11
+f 11 16 17
+f 11 17 18
+f 11 18 19
+f 11 19 12
+f 13 14 20
+f 14 21 22
+f 14 22 23
+f 14 23 15
+f 14 15 20
+f 16 24 17
+f 17 24 25
+f 17 25 18
+f 18 26 27
+f 18 27 28
+f 18 28 19
+f 18 25 26
+f 21 29 30
+f 21 30 22
+f 25 30 29
+f 25 29 31
+f 25 31 27
+f 25 27 26
+f 27 31 28
\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_58.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96b436804939629db63ceeaabc4f7851318f7a16
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_58.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.00444424 -0.00413315 0.08062174
+v 0.00348692 -0.00413315 0.08288280
+v 0.00444424 -0.00337379 0.08214475
+v 0.00444424 -0.00413315 0.09151641
+v 0.00290036 -0.00413315 0.08438448
+v 0.00444424 -0.00211783 0.08558753
+v 0.00444424 -0.00053572 0.09151641
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\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_59.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e558c059c2ad931b4b854023e609f2bed5df329a
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_59.obj
@@ -0,0 +1,219 @@
+# https://github.com/mikedh/trimesh
+v 0.02385840 0.00002741 0.00088704
+v 0.02384436 0.00002741 0.00098639
+v 0.02382564 -0.00074888 0.00088704
+v -0.02385293 0.00002741 0.00088704
+v 0.02382096 -0.00076683 0.00090340
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+v 0.02382096 -0.00078254 0.00088704
+v -0.02395120 -0.00236878 0.00088704
+v -0.02385293 0.00002741 0.00089989
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+v -0.02326326 0.00002741 0.00287709
+v 0.02324533 -0.00292969 0.00088704
+v -0.02383421 -0.00540217 0.00088704
+v -0.02382953 -0.00539319 0.00092736
+v -0.02390440 -0.00236878 0.00123245
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+v -0.02294971 -0.00702880 0.00287709
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+v -0.02299183 -0.00672142 0.00287709
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+v -0.02128368 -0.01183465 0.00088704
+v -0.02103096 -0.01160804 0.00287709
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+v -0.01639321 -0.01735173 0.00287709
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\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_6.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1314bbbdf07f9382af1139eeb4ebdb23ea4b5fbd
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_6.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.01371150 -0.01807934 -0.05857570
+v 0.01371150 -0.01807779 -0.06316691
+v 0.01606309 -0.01593614 -0.06316691
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+v 0.01696292 -0.01509985 -0.00881730
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+v 0.01696292 -0.00231629 -0.06316691
+v 0.01696292 -0.00240424 -0.00881730
+f 1 2 3
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+f 4 8 11
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+f 7 10 11
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+f 9 11 10
\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_60.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc65689a2df2d89b8710f82647e8c25e497c37d4
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_60.obj
@@ -0,0 +1,474 @@
+# https://github.com/mikedh/trimesh
+v 0.00236738 0.02351670 -0.04206182
+v 0.00236738 0.02351210 -0.04469796
+v -0.00236456 0.02309315 -0.04206182
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\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_61.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77e764c250a63b04d3cde7939a5b45250f2f7266
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_61.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.00228996 -0.02282336 -0.04480743
+v 0.00228996 -0.02282244 -0.06316691
+v 0.00325133 -0.02262307 -0.05857570
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\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_62.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee879d7198e6e33189fb454917d06a411e9721ed
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_62.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v -0.01057638 -0.00679257 0.08698332
+v -0.01269443 -0.00679257 0.07865807
+v -0.01057638 -0.00701221 0.08663063
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\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_63.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66958ae64232f50911c301a9bbe3d1ed460772c3
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_63.obj
@@ -0,0 +1,708 @@
+# https://github.com/mikedh/trimesh
+v 0.00236470 0.02206841 0.00739860
+v 0.00236470 0.02202521 0.01212134
+v 0.00709918 0.02148516 0.01212134
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\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_64.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34d57f1681acf43556f8439cc7a6b0d1eeb72064
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_64.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.02237693 0.00897104 -0.04955183
+v 0.02306429 0.00731481 -0.04955183
+v 0.02274958 0.00724896 -0.05151300
+v 0.02237693 0.00813112 -0.05151300
+v 0.02237693 -0.00372221 -0.04955183
+v 0.02275978 0.00722411 -0.05151300
+v 0.02374735 0.00236847 -0.04955183
+v 0.02237693 -0.00372221 -0.05151300
+v 0.02284496 -0.00372221 -0.04955183
+v 0.02327838 0.00236847 -0.05151300
+v 0.02361535 0.00073087 -0.04955183
+v 0.02311312 -0.00051783 -0.05151300
+v 0.02311808 -0.00043210 -0.05151300
+v 0.02327785 0.00235853 -0.05151300
+v 0.02251885 -0.00372221 -0.05151300
+v 0.02289902 -0.00256173 -0.05151300
+v 0.02317777 -0.00270461 -0.04955183
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+f 7 11 12
+f 7 12 13
+f 7 13 14
+f 7 14 10
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+f 9 16 17
+f 11 17 16
+f 11 16 12
\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_65.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25f3772eea606326effbe88ff2d5cfc6d67360e8
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_65.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.01026448 0.01451304 -0.06316602
+v 0.00687819 0.01592486 -0.06316602
+v 0.01026448 0.02176266 -0.06316602
+v 0.01026448 0.01451467 -0.00881730
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+v 0.00687819 0.01594685 -0.00882262
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+v 0.00747782 0.02269898 -0.00881730
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+f 15 19 16
\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_66.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7a47cde9344a6106419a096adb623178c101129
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_66.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v -0.00689321 -0.01594334 -0.00881731
+v -0.01327431 -0.01193434 -0.00881731
+v -0.00689321 -0.02282581 -0.00881731
+v -0.00689321 -0.01591988 -0.06312095
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+v -0.01326562 -0.01193434 -0.06313690
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+v -0.00689321 -0.02282581 -0.06313690
+v -0.00689321 -0.01591988 -0.06313690
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+v -0.01958008 -0.01521724 -0.06313690
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+v -0.01746512 -0.01752988 -0.06313690
+v -0.01517198 -0.01936591 -0.06313690
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\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_67.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..619942ff940b0f8a724ee851ae3ecae21e175841
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_67.obj
@@ -0,0 +1,183 @@
+# https://github.com/mikedh/trimesh
+v -0.02222085 -0.00236416 0.02392170
+v -0.02156606 0.00236423 0.02611611
+v -0.02198580 -0.00003804 0.02392170
+v -0.02186587 -0.00476643 0.02392170
+v -0.02204176 -0.00236416 0.02611611
+v -0.02154927 0.00236423 0.02632325
+v -0.02174035 0.00236423 0.02392170
+v -0.02175154 0.00225951 0.02392170
+v -0.02057548 0.00467448 0.02892461
+v -0.02132541 -0.00709889 0.02611611
+v -0.02201058 -0.00257360 0.02611611
+v -0.02151249 -0.00709889 0.02392170
+v -0.02202417 -0.00236416 0.02632325
+v -0.02131901 0.00236423 0.02892461
+v -0.02007180 0.00727034 0.02392170
+v -0.01978877 0.00695617 0.02892461
+v -0.02130702 -0.00709889 0.02632325
+v -0.01965526 -0.01073246 0.02892461
+v -0.01988631 -0.01114183 0.02392170
+v -0.01979037 -0.01097364 0.02611611
+v -0.01978158 -0.01095460 0.02632325
+v -0.02146692 -0.00449669 0.02892461
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+v -0.02153248 0.00023170 0.02892461
+v -0.02006700 0.00728303 0.02392170
+v -0.01980317 0.00746074 0.02614059
+v -0.01919955 0.00823823 0.02892461
+v -0.01884057 0.00927594 0.02759651
+v -0.02106078 -0.00709889 0.02892461
+v -0.01842723 -0.01350920 0.02392170
+v -0.01830411 -0.01334101 0.02611611
+v -0.01812742 -0.01309983 0.02892461
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+v -0.01877341 0.00914583 0.02892461
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+v -0.01734711 0.01140530 0.02611611
+v -0.01606152 -0.01595907 0.02392170
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+v -0.01576170 -0.01567664 0.02892461
+v -0.01866868 0.00999630 0.02392170
+v -0.01900287 0.00956789 0.02392170
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+v -0.01685622 0.01164330 0.02892461
+v -0.01456805 -0.01714276 0.02392170
+v -0.01405318 -0.01732999 0.02611611
+v -0.01405318 -0.01730778 0.02632325
+v -0.01405318 -0.01694601 0.02892461
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+v -0.01598077 0.01333791 0.02392170
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+v -0.01405318 0.01481672 0.02892461
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+v -0.01483429 0.01467709 0.02392170
+v -0.01477992 0.01473739 0.02392170
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\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_68.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5183bf6bf25c99a5cbec81e781825e03c3bee8af
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_68.obj
@@ -0,0 +1,339 @@
+# https://github.com/mikedh/trimesh
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+v -0.02268106 0.00675585 -0.04056938
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\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_69.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3afd672741e612cfcbf7ffa055ac477d62cd02e5
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_69.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v -0.00515010 -0.00254543 0.11004554
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\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_7.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27fe1301a4913916ca344073af763faacb536f13
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_7.obj
@@ -0,0 +1,153 @@
+# https://github.com/mikedh/trimesh
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+f 46 49 48
+f 49 52 50
+f 50 52 51
\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_70.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..896bed2d998cda77974b3e153e4b6f137b49dd59
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_70.obj
@@ -0,0 +1,144 @@
+# https://github.com/mikedh/trimesh
+v 0.00777359 -0.01930591 0.02392170
+v 0.00830672 -0.01909544 0.02392170
+v 0.00777359 -0.01925524 0.02454260
+v 0.00777359 0.02051056 0.02392170
+v 0.00910287 -0.01877585 0.02392170
+v 0.00888227 -0.01868231 0.02611580
+v 0.00777359 -0.01912273 0.02611580
+v 0.00777359 0.02033517 0.02611580
+v 0.01057780 0.01945824 0.02611580
+v 0.01078143 0.01955568 0.02392170
+v 0.01010265 -0.01812108 0.02392170
+v 0.01168789 -0.01684661 0.02611580
+v 0.01294363 0.01821105 0.02611580
+v 0.01314726 0.01832798 0.02392170
+v 0.01014932 -0.01808990 0.02392170
+v 0.01162425 -0.01709605 0.02392170
+v 0.01181940 -0.01675697 0.02611580
+v 0.01452462 0.01695997 0.02611580
+v 0.01606036 0.01596222 0.02392170
+v 0.01593591 0.01584140 0.02611580
+v 0.01317130 -0.01594240 0.02392170
+v 0.01452462 -0.01475757 0.02591778
+v 0.01466744 -0.01463285 0.02611580
+v 0.01842760 0.01350682 0.02392170
+v 0.01830315 0.01333923 0.02611580
+v 0.01452603 -0.01492906 0.02392170
+v 0.01478057 -0.01473808 0.02392170
+v 0.01597975 -0.01333889 0.02392170
+v 0.01734721 -0.01140186 0.02611580
+v 0.01978940 0.01096957 0.02611580
+v 0.01988556 0.01114106 0.02392170
+v 0.01730903 -0.01173314 0.02392170
+v 0.01736842 -0.01137068 0.02611580
+v 0.01898052 -0.00953108 0.02443694
+v 0.02132514 0.00709939 0.02611580
+v 0.02151180 0.00709939 0.02392170
+v 0.01900315 -0.00956615 0.02392170
+v 0.01979364 -0.00748491 0.02611580
+v 0.01922658 -0.00909066 0.02392170
+v 0.02006091 -0.00729783 0.02392170
+v 0.01980637 -0.00745763 0.02611580
+v 0.02186533 0.00476481 0.02392170
+v 0.02200957 0.00257054 0.02611580
+v 0.02006657 -0.00728224 0.02392170
+v 0.02156554 -0.00236364 0.02611580
+v 0.02221886 0.00236398 0.02392170
+v 0.02204068 0.00236398 0.02611580
+v 0.02173947 -0.00236364 0.02392170
+v 0.02198553 0.00003719 0.02392170
+f 1 2 3
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+f 1 8 4
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+f 1 36 42
+f 1 42 46
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+f 1 37 32
+f 1 32 28
+f 1 28 27
+f 1 27 26
+f 1 26 21
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+f 1 16 15
+f 1 15 11
+f 1 11 5
+f 1 5 2
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+f 4 8 9
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+f 5 12 6
+f 6 12 17
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+f 6 8 7
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+f 9 14 10
+f 11 15 12
+f 12 15 16
+f 12 16 17
+f 13 18 14
+f 14 18 20
+f 14 20 19
+f 16 21 22
+f 16 22 17
+f 17 22 23
+f 19 20 24
+f 20 25 24
+f 21 26 22
+f 22 26 27
+f 22 27 23
+f 23 27 28
+f 23 28 29
+f 24 25 30
+f 24 30 31
+f 28 32 29
+f 29 32 34
+f 29 34 33
+f 30 35 36
+f 30 36 31
+f 32 37 34
+f 33 34 38
+f 34 37 39
+f 34 39 40
+f 34 40 41
+f 34 41 38
+f 35 42 36
+f 35 43 42
+f 40 44 41
+f 41 44 45
+f 42 43 47
+f 42 47 46
+f 44 48 45
+f 45 48 49
+f 45 49 47
+f 46 47 49
\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_71.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17d167c91d5872eb10115ed6e32fc9c4ef8dd812
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_71.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v -0.00470115 0.01416274 0.02010667
+v 0.00123149 0.01525389 0.02010667
+v -0.00470115 0.02076368 0.02010667
+v -0.00470115 0.01533012 -0.00881730
+v 0.00123149 0.02162968 0.02010667
+v 0.00123149 0.01657106 -0.00881730
+v -0.00229441 0.02137794 0.02010667
+v -0.00470115 0.02082838 0.01944126
+v -0.00470115 0.02220494 -0.00881730
+v 0.00123149 0.02304169 0.00478815
+v -0.00043070 0.02301599 0.00441439
+v 0.00123149 0.02321720 -0.00881730
+v -0.00229441 0.02179543 0.01485137
+v -0.00470115 0.02121573 0.01485137
+v -0.00470115 0.02220494 -0.00809244
+v -0.00325153 0.02262332 -0.00881730
+v 0.00123149 0.02314008 0.00238419
+v 0.00123149 0.02316933 0.00108452
+v -0.00079310 0.02307360 0.00108452
+v -0.00308717 0.02259407 0.00108452
+v -0.00209346 0.02254532 0.00583298
+v -0.00044522 0.02312767 -0.00881730
+v 0.00123149 0.02321720 -0.00809244
+v -0.00470115 0.02138326 0.01266827
+v -0.00325153 0.02262332 -0.00809244
+v -0.00470115 0.02220406 -0.00626327
+v -0.00131813 0.02302574 -0.00881730
+v 0.00123149 0.02320301 -0.00192538
+v -0.00094875 0.02309931 -0.00350537
+v -0.00324282 0.02262155 -0.00350537
+v -0.00470115 0.02213669 0.00108452
+v -0.00470115 0.02204894 0.00303544
+v -0.00470115 0.02171388 0.00824260
+v -0.00095688 0.02310019 -0.00881730
+v -0.00095688 0.02310019 -0.00809244
+v 0.00123149 0.02321454 -0.00350537
+v -0.00470115 0.02220140 -0.00350537
+v -0.00470115 0.02217924 -0.00166772
+f 1 2 5
+f 1 5 7
+f 1 7 3
+f 1 3 8
+f 1 8 14
+f 1 14 24
+f 1 24 33
+f 1 33 32
+f 1 32 31
+f 1 31 38
+f 1 38 37
+f 1 37 26
+f 1 26 15
+f 1 15 9
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+f 1 4 2
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+f 2 17 10
+f 2 10 5
+f 3 7 8
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+f 7 14 8
+f 7 11 13
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+f 11 21 13
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+f 14 21 24
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+f 16 25 27
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+f 19 28 29
+f 19 29 30
+f 19 30 20
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+f 20 32 33
+f 20 33 21
+f 20 30 31
+f 21 33 24
+f 22 34 35
+f 22 35 23
+f 23 35 29
+f 23 29 36
+f 25 26 30
+f 25 30 29
+f 25 29 27
+f 26 37 30
+f 27 29 35
+f 27 35 34
+f 28 36 29
+f 30 37 38
+f 30 38 31
\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_72.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e6bc21ba438731e224acc703baa77a69c6a5cce
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_72.obj
@@ -0,0 +1,159 @@
+# https://github.com/mikedh/trimesh
+v 0.00236677 0.02184525 -0.05856708
+v 0.00676446 0.02136887 -0.05856708
+v 0.00710037 0.02131558 -0.05890240
+v 0.00236677 0.02182784 -0.05890240
+v -0.00236682 0.02145479 -0.05890240
+v -0.00236682 0.02147002 -0.05856708
+v 0.00710037 0.02133080 -0.05856708
+v 0.00710037 0.02075002 -0.06038519
+v 0.01118917 0.01999521 -0.05856708
+v 0.01149805 0.01987884 -0.05890240
+v 0.00890732 0.02040524 -0.06038519
+v 0.00443627 0.02103715 -0.06038519
+v 0.00236677 0.02117201 -0.06038519
+v -0.00236682 0.02086857 -0.06038519
+v -0.00710042 0.01981358 -0.06038519
+v -0.00710042 0.02017032 -0.05890240
+v -0.00710042 0.02018228 -0.05856708
+v 0.01151350 0.01988536 -0.05856708
+v 0.01167952 0.01980597 -0.05856708
+v 0.01388029 0.01872488 -0.05856708
+v 0.01386485 0.01871618 -0.05890240
+v 0.01227798 0.01911098 -0.06038519
+v 0.01125095 0.01961455 -0.06038519
+v 0.01109651 0.01968959 -0.06038519
+v -0.00963710 0.01903920 -0.06038519
+v -0.00974907 0.01910554 -0.05890240
+v -0.00975679 0.01911098 -0.05856708
+v 0.01702701 0.01588077 -0.05856708
+v 0.01695752 0.01593841 -0.05862635
+v 0.01879535 0.01404270 -0.06002050
+v 0.01823165 0.01431134 -0.06038519
+v 0.01469883 0.01722506 -0.06038519
+v -0.01496529 0.01491605 -0.06038519
+v -0.01211586 0.01747521 -0.05890240
+v -0.01212359 0.01748282 -0.05856708
+v 0.01993435 0.01228185 -0.05856708
+v 0.01896524 0.01345865 -0.06038519
+v 0.01996524 0.01221442 -0.05862635
+v 0.01983396 0.01152052 -0.06038519
+v -0.01805023 0.01073417 -0.06038519
+v -0.01884174 0.01073417 -0.05890240
+v -0.01753672 0.01245043 -0.05890240
+v -0.01516992 0.01510856 -0.05890240
+v -0.01233980 0.01731533 -0.05856708
+v 0.01997296 0.01220898 -0.05856708
+v 0.02057528 0.01073417 -0.05870626
+v 0.02040539 0.01073417 -0.05941607
+v 0.02003474 0.01105393 -0.06038519
+v 0.02016987 0.01073417 -0.06038519
+v -0.01885332 0.01073417 -0.05865856
+v -0.01754444 0.01246022 -0.05856708
+v -0.01517764 0.01511617 -0.05856708
+v 0.02058686 0.01073417 -0.05856708
+v -0.01885718 0.01073417 -0.05856708
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 17
+f 1 17 27
+f 1 27 35
+f 1 35 44
+f 1 44 52
+f 1 52 51
+f 1 51 54
+f 1 54 53
+f 1 53 45
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+f 1 9 7
+f 1 7 2
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+f 5 15 16
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+f 6 16 17
+f 8 11 24
+f 8 24 23
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+f 30 36 38
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+f 33 40 41
+f 33 41 42
+f 33 42 43
+f 33 43 34
+f 34 43 44
+f 34 44 35
+f 36 45 38
+f 38 45 46
+f 38 46 47
+f 38 47 48
+f 38 48 39
+f 40 49 47
+f 40 47 46
+f 40 46 53
+f 40 53 54
+f 40 54 50
+f 40 50 41
+f 41 50 42
+f 42 50 51
+f 42 51 43
+f 43 52 44
+f 43 51 52
+f 45 53 46
+f 47 49 48
+f 50 54 51
\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_73.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13c1bacffd2ac0a61568701aeee2b451072fd7aa
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_73.obj
@@ -0,0 +1,135 @@
+# https://github.com/mikedh/trimesh
+v -0.00354663 0.00974250 0.05629922
+v -0.00354663 0.01172661 0.04122017
+v 0.00123160 0.01525378 0.02010950
+v 0.00123160 0.00974250 0.06239131
+v -0.00354663 0.00974250 0.09430296
+v -0.00354663 0.01452298 0.02010950
+v 0.00123160 0.02162969 0.02010950
+v 0.00123160 0.00974250 0.09732633
+v -0.00227792 0.00974250 0.09632862
+v -0.00354663 0.01353965 0.07567902
+v -0.00354663 0.02105133 0.02010950
+v -0.00229477 0.02137717 0.02010950
+v 0.00123160 0.02137018 0.02403232
+v 0.00123160 0.01389109 0.07744013
+v -0.00060503 0.01390156 0.07749303
+v -0.00167445 0.00974250 0.09655537
+v -0.00229477 0.01134143 0.08827890
+v -0.00178064 0.00974250 0.09651758
+v -0.00219840 0.01411917 0.07425047
+v -0.00354663 0.01396208 0.07332835
+v -0.00354663 0.02073597 0.02403232
+v -0.00229477 0.02107344 0.02403232
+v 0.00123160 0.02095823 0.02862784
+v 0.00123160 0.01421925 0.07560343
+v 0.00123160 0.01588567 0.06533154
+v -0.00023218 0.01840159 0.04959490
+v -0.00229477 0.01560755 0.06533154
+v -0.00229477 0.01483950 0.06991950
+v -0.00354663 0.01431351 0.07128001
+v -0.00354663 0.02029027 0.02867319
+v -0.00229477 0.02066033 0.02862784
+v -0.00229477 0.02013783 0.03321580
+v 0.00123160 0.02083721 0.02968602
+v 0.00123160 0.01840159 0.04959490
+v 0.00123160 0.01913006 0.04379760
+v 0.00123160 0.01987716 0.03780377
+v 0.00123160 0.02043341 0.03321580
+v -0.00229477 0.01958274 0.03780377
+v -0.00117202 0.01858080 0.04697969
+v -0.00354663 0.01836551 0.04507497
+v -0.00354663 0.01493260 0.06732696
+v -0.00354663 0.02015761 0.03004127
+v -0.00354663 0.01961649 0.03494668
+v -0.00354663 0.01910097 0.03942127
+v -0.00263393 0.01888918 0.04267895
+v -0.00354663 0.01857731 0.04357084
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 16
+f 1 16 18
+f 1 18 9
+f 1 9 5
+f 1 5 10
+f 1 10 20
+f 1 20 29
+f 1 29 41
+f 1 41 40
+f 1 40 46
+f 1 46 44
+f 1 44 43
+f 1 43 42
+f 1 42 30
+f 1 30 21
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+f 1 11 6
+f 1 6 2
+f 2 6 3
+f 3 6 11
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+f 3 35 34
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+f 3 24 14
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+f 3 8 4
+f 5 9 10
+f 7 12 13
+f 8 14 15
+f 8 15 16
+f 9 17 10
+f 9 18 15
+f 9 15 17
+f 10 15 19
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+f 11 21 22
+f 11 22 12
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+f 13 22 23
+f 14 24 15
+f 15 24 25
+f 15 25 26
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+f 15 27 28
+f 15 28 19
+f 15 18 16
+f 19 28 29
+f 19 29 20
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+f 21 31 22
+f 22 31 23
+f 23 31 32
+f 23 32 33
+f 25 34 26
+f 26 34 35
+f 26 35 36
+f 26 36 37
+f 26 37 32
+f 26 32 38
+f 26 38 39
+f 26 39 40
+f 26 40 27
+f 27 41 29
+f 27 29 28
+f 27 40 41
+f 30 42 31
+f 31 42 43
+f 31 43 32
+f 32 43 44
+f 32 44 38
+f 32 37 33
+f 38 45 39
+f 38 44 46
+f 38 46 45
+f 39 45 40
+f 40 45 46
\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_74.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef725ab92ea2bd77b907756e2b38fb8ad39ce673
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_74.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.00688635 -0.02282784 -0.06316893
+v -0.00688635 -0.02282784 -0.06314264
+v -0.00688635 -0.02282693 -0.06754479
+v -0.00554384 -0.02312014 -0.06316893
+v -0.00554384 -0.02312014 -0.06314264
+v -0.00688635 -0.01592225 -0.06314264
+v -0.00550102 -0.02311192 -0.06754479
+v -0.00688635 -0.01396201 -0.06754479
+v -0.00535004 -0.02311923 -0.06754479
+v -0.00229487 -0.02327360 -0.06316893
+v -0.00229487 -0.02327360 -0.06314264
+v -0.00113150 -0.01651872 -0.06314264
+v -0.00688410 -0.01394191 -0.06754479
+v -0.00688635 -0.01394283 -0.06754350
+v -0.00229487 -0.02325807 -0.06754479
+v -0.00113150 -0.02319778 -0.06754479
+v -0.00113150 -0.02321149 -0.06316893
+v -0.00113150 -0.02321149 -0.06314264
+v -0.00113150 -0.01479324 -0.06754479
+f 1 2 6
+f 1 6 14
+f 1 14 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 11
+f 2 11 18
+f 2 18 12
+f 2 12 6
+f 3 7 4
+f 3 8 13
+f 3 13 19
+f 3 19 16
+f 3 16 15
+f 3 15 9
+f 3 9 7
+f 4 7 9
+f 4 9 10
+f 4 10 11
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\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_75.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9901ef62be37cce58767f0d5dc71e6610c69176
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_75.obj
@@ -0,0 +1,462 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_76.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d250d34bc699c7eb7afe15517a3e4b811afe22aa
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_76.obj
@@ -0,0 +1,126 @@
+# https://github.com/mikedh/trimesh
+v 0.01005733 0.01326219 -0.06671954
+v 0.01244815 0.01068958 -0.06710512
+v 0.01094032 0.01189297 -0.06671954
+v 0.01005733 0.01460023 -0.06316949
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+v 0.01492634 0.00736433 -0.06710512
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+v 0.01630311 0.00736433 -0.06316949
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+v 0.01026253 0.01451518 -0.06316641
+v 0.01005733 0.02184321 -0.06596958
+v 0.01065173 0.02163485 -0.06671954
+v 0.02356822 0.00736433 -0.06710512
+v 0.01147382 0.02134286 -0.06671954
+v 0.01517257 0.01936557 -0.06316949
+v 0.01516198 0.01935707 -0.06710512
+v 0.01708284 0.00736433 -0.06316602
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+v 0.02312474 0.00900569 -0.06710512
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\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_77.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c1b4ebfaec54d5a4a8d67641a988ffdbc157e24
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_77.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.02051615 -0.00784077 0.03167202
+v -0.02015032 -0.00880390 0.03167202
+v -0.02032743 -0.00784077 0.03349014
+v 0.00914543 -0.00784077 0.03167202
+v -0.01996159 -0.00880390 0.03349014
+v 0.00914543 -0.00880390 0.03167202
+v 0.00914543 -0.00784077 0.03349014
+v 0.00914543 -0.00880390 0.03349014
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+f 4 8 6
\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_78.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_78.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4fac122d254e31dd2213d5254b9ded664f25e76d
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_78.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.02374725 -0.00236608 -0.04955183
+v -0.02361511 -0.00072893 -0.04955183
+v -0.02311295 0.00052020 -0.05151300
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\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_79.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_79.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6b458195f7e7d55d70b72709b763ec8163558bb
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_79.obj
@@ -0,0 +1,258 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_8.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d75fdfbb957dd1ca03c6362a52c0af4dedf19ea6
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_8.obj
@@ -0,0 +1,420 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_80.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_80.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9af4e0d5c3a3c35ba6c508f2ba46eca916bc5dc
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_80.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v -0.00968501 -0.00969966 -0.07712673
+v -0.00968501 -0.00969966 -0.06958026
+v -0.00968501 -0.00867226 -0.07714083
+v -0.00865761 -0.00969966 -0.07714009
+v -0.00113094 -0.00969966 -0.07014991
+v -0.00113094 0.00002779 -0.07028285
+v -0.00968501 0.00002779 -0.07018482
+v -0.00968501 -0.00688407 -0.07715049
+v -0.00688417 -0.00688407 -0.07716460
+v -0.00688417 -0.00969966 -0.07714900
+v -0.00113094 -0.00969966 -0.07715346
+v -0.00113094 0.00002779 -0.07716608
+v -0.00968501 0.00002779 -0.07715569
+v -0.00968501 -0.00408371 -0.07715643
+v -0.00968501 -0.00229552 -0.07715717
+v -0.00688417 -0.00229552 -0.07716608
+v -0.00229482 -0.00688407 -0.07716608
+v -0.00229482 -0.00969966 -0.07715495
+v -0.00406910 -0.00969966 -0.07715420
+v -0.00158142 -0.00969966 -0.07715420
+v -0.00113094 -0.00688407 -0.07716608
+v -0.00229482 0.00002779 -0.07716683
+v -0.00968501 -0.00087773 -0.07715643
+v -0.00688417 0.00002779 -0.07716608
+v -0.00461754 0.00002779 -0.07716683
+v -0.00229482 -0.00229552 -0.07716683
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+f 15 23 24
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+f 16 24 25
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+f 17 26 21
+f 17 21 18
+f 18 21 20
+f 22 26 25
\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_81.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_81.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae923e7d0197a188a64ea6b1e7cc5bc00fb58f9b
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_81.obj
@@ -0,0 +1,228 @@
+# https://github.com/mikedh/trimesh
+v 0.02419734 0.00334661 -0.04716302
+v 0.02425431 0.00236648 -0.04716302
+v 0.02406439 0.00334661 -0.04830414
+v -0.02342265 0.00334661 -0.04716302
+v 0.02398841 -0.00152810 -0.04716302
+v 0.02395043 -0.00136215 -0.04796422
+v 0.02410237 0.00236648 -0.04842759
+v 0.02374625 0.00236648 -0.04955141
+v 0.02360855 0.00334661 -0.04954300
+v -0.02333718 0.00334661 -0.04769045
+v -0.02394970 0.00135783 -0.04796492
+v -0.02398769 0.00152378 -0.04716302
+v 0.02338539 -0.00353762 -0.04716302
+v 0.02173300 -0.00710549 -0.04955141
+v 0.02198941 -0.00633020 -0.04954346
+v 0.02317647 -0.00270788 -0.04955141
+v 0.02361330 0.00072775 -0.04955141
+v 0.02339488 0.00334661 -0.04955141
+v -0.02296682 0.00334661 -0.04955141
+v -0.02410164 -0.00236820 -0.04842876
+v -0.02425359 -0.00236820 -0.04716302
+v -0.02317574 0.00270356 -0.04955141
+v -0.02361258 -0.00073207 -0.04955141
+v -0.02374553 -0.00236820 -0.04955141
+v 0.02213186 -0.00710549 -0.04716302
+v 0.01986695 -0.01074077 -0.04955141
+v -0.02396869 -0.00588422 -0.04798456
+v -0.02411114 -0.00500521 -0.04716302
+v -0.02319473 -0.00633020 -0.04955141
+v 0.02003314 -0.01113231 -0.04716302
+v 0.01982422 -0.01081856 -0.04955141
+v -0.02382625 -0.00633020 -0.04781623
+v -0.02389272 -0.00633020 -0.04748822
+v -0.02392596 -0.00633020 -0.04716302
+v -0.02399718 -0.00602683 -0.04716302
+v -0.02305703 -0.00731811 -0.04955141
+v -0.02306653 -0.00732070 -0.04951026
+v 0.01835701 -0.01349965 -0.04716302
+v 0.01811485 -0.01318591 -0.04955141
+v -0.02327070 -0.00805450 -0.04716302
+v -0.02384049 -0.00662061 -0.04716302
+v -0.02118148 -0.01183758 -0.04955141
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+v 0.01575973 -0.01565178 -0.04943241
+v 0.01574549 -0.01563882 -0.04955141
+v -0.02229732 -0.01039332 -0.04716302
+v -0.02114825 -0.01189722 -0.04955141
+v -0.02120522 -0.01183758 -0.04943241
+v 0.01321468 -0.01823175 -0.04716302
+v 0.01288231 -0.01800875 -0.04955141
+v -0.02161832 -0.01183758 -0.04716302
+v -0.01941514 -0.01478574 -0.04955141
+v 0.01085007 -0.01976157 -0.04716302
+v 0.01053668 -0.01957488 -0.04943241
+v 0.01051769 -0.01956451 -0.04955141
+v -0.02069242 -0.01338038 -0.04716302
+v -0.01964306 -0.01506319 -0.04716302
+v -0.01618635 -0.01789207 -0.04955141
+v -0.01490433 -0.01944524 -0.04850591
+v -0.01586822 -0.01883590 -0.04716302
+v -0.01856521 -0.01619889 -0.04716302
+v 0.00709896 -0.02144439 -0.04716302
+v 0.00709896 -0.02106582 -0.04955141
+v -0.01279611 -0.02018941 -0.04955141
+v -0.01382173 -0.02017644 -0.04716302
+v -0.01502778 -0.01953599 -0.04716302
+v 0.00463463 -0.02211596 -0.04716302
+v 0.00236023 -0.02235969 -0.04955141
+v -0.01222158 -0.02044352 -0.04955141
+v -0.01203165 -0.02097247 -0.04716302
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+v 0.00236023 -0.02237784 -0.04943241
+v -0.00236425 -0.02314016 -0.04716302
+v -0.00236425 -0.02277456 -0.04955141
+v -0.00721220 -0.02223004 -0.04955141
+v -0.00709349 -0.02265269 -0.04716302
+v -0.00709349 -0.02226894 -0.04955141
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\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_82.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_82.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f5cdf1290700e9aa1a955f3c95d13ee40a069bb
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_82.obj
@@ -0,0 +1,126 @@
+# https://github.com/mikedh/trimesh
+v 0.01404603 -0.01447872 0.03167202
+v 0.01414429 -0.01447872 0.03167202
+v 0.01404603 -0.01447872 0.03236154
+v 0.01404603 0.01662775 0.03167202
+v 0.01434446 -0.01433254 0.03167202
+v 0.01404603 -0.01436300 0.03349014
+v 0.01404603 0.01636584 0.03349014
+v 0.01545972 0.01539433 0.03349014
+v 0.01558437 0.01551311 0.03167202
+v 0.01423008 -0.01422595 0.03349014
+v 0.01411276 -0.01431427 0.03349014
+v 0.01593046 -0.01241694 0.03167202
+v 0.01430633 -0.01413458 0.03349014
+v 0.01782589 0.01268995 0.03349014
+v 0.01795127 0.01286050 0.03167202
+v 0.01636821 -0.01188702 0.03167202
+v 0.01603972 -0.01203930 0.03349014
+v 0.01942362 0.01032362 0.03349014
+v 0.01952041 0.01049416 0.03167202
+v 0.01824750 -0.00939887 0.03167202
+v 0.01700613 -0.01076020 0.03349014
+v 0.02060707 0.00710151 0.03349014
+v 0.02079478 0.00710151 0.03167202
+v 0.01863465 -0.00887201 0.03167202
+v 0.01853860 -0.00868319 0.03349014
+v 0.02099862 0.00466817 0.03349014
+v 0.02090257 0.00643455 0.03167202
+v 0.01879450 -0.00854005 0.03167202
+v 0.01916992 -0.00736145 0.03349014
+v 0.02100302 0.00464076 0.03349014
+v 0.02103162 0.00445803 0.03349014
+v 0.02153609 0.00236579 0.03167202
+v 0.01974845 -0.00650567 0.03167202
+v 0.01966046 -0.00631381 0.03349014
+v 0.02135718 0.00236579 0.03349014
+v 0.02147743 0.00175061 0.03167202
+v 0.02132711 0.00204906 0.03349014
+v 0.02092530 -0.00284806 0.03167202
+v 0.02025732 -0.00445911 0.03349014
+v 0.02112034 -0.00009190 0.03349014
+v 0.02089597 -0.00236687 0.03349014
+v 0.02107121 -0.00236687 0.03167202
+v 0.02031011 -0.00429466 0.03349014
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+f 1 27 32
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+f 29 33 34
+f 31 35 32
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+f 32 37 36
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+f 33 39 34
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+f 36 41 42
+f 36 37 40
+f 38 42 41
+f 38 41 43
+f 38 43 39
\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_83.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_83.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2fde9d510ef35eaee0724ddad9cf4df82ed495b7
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_83.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v -0.02200424 0.00681434 -0.06319334
+v -0.01503483 0.00681434 -0.06319334
+v -0.02241126 0.00681434 -0.06318801
+v -0.02219118 0.00735605 -0.06319334
+v -0.01373220 0.00908358 -0.06319334
+v -0.01373220 0.00910230 -0.00881731
+v -0.01393189 0.00875657 -0.00881731
+v -0.01505692 0.00681434 -0.00881731
+v -0.02241211 0.00681434 -0.01268724
+v -0.01991393 0.01147393 -0.06316672
+v -0.01992837 0.01144751 -0.06319334
+v -0.02219118 0.00735716 -0.02186436
+v -0.01373220 0.01806034 -0.06319334
+v -0.01373220 0.01806034 -0.00881731
+v -0.02241126 0.00681434 -0.00881731
+v -0.02219118 0.00735605 -0.00881731
+v -0.02219118 0.00735716 -0.01268724
+v -0.01837508 0.01378721 -0.04480716
+v -0.01838188 0.01377620 -0.06319334
+v -0.01991138 0.01147724 -0.06319334
+v -0.02027251 0.01082652 -0.00881731
+v -0.01991393 0.01147393 -0.00881731
+v -0.01604769 0.01595075 -0.06319334
+v -0.01373220 0.01806144 -0.03991518
+v -0.01567042 0.01629427 -0.00881731
+v -0.01837423 0.01378721 -0.06319334
+v -0.01837508 0.01378721 -0.00881731
+v -0.01606384 0.01593644 -0.03563536
+v -0.01606384 0.01593644 -0.03104680
+v -0.01606384 0.01593534 -0.00881731
+v -0.01801140 0.01412523 -0.00881731
+f 1 2 8
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\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_84.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_84.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78cc0195ee2d52e2b708d226910f69d67fa6f745
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_84.obj
@@ -0,0 +1,315 @@
+# https://github.com/mikedh/trimesh
+v -0.01405318 -0.01733181 0.02611608
+v -0.01294377 -0.01821371 0.02611608
+v -0.01405318 -0.01731939 0.02624559
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+v -0.01405318 -0.01694676 0.02892461
+v -0.01405318 -0.01695504 0.02886769
+v -0.00709993 -0.02054474 0.02611608
+v -0.00709993 -0.02052818 0.02632313
+v -0.00709993 -0.02029218 0.02892461
+v -0.01323349 0.01543091 0.02892461
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\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_85.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_85.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6400d44a80646305fb48b5a427669a91f06c9546
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_85.obj
@@ -0,0 +1,171 @@
+# https://github.com/mikedh/trimesh
+v 0.01087528 0.00948471 0.03630169
+v 0.00824646 0.00948471 0.04719424
+v 0.00525388 0.01106904 0.04710841
+v 0.00525388 0.01133386 0.04525604
+v 0.00525388 0.01460775 0.02238383
+v 0.01087528 0.01161950 0.02238383
+v 0.01087528 0.00948471 0.07822692
+v 0.00525388 0.00948471 0.06008220
+v 0.00525388 0.02129894 0.02238383
+v 0.01087528 0.01978168 0.02238383
+v 0.01087528 0.01063884 0.07451501
+v 0.01068927 0.00948471 0.07910662
+v 0.00525388 0.00948471 0.09544902
+v 0.00688444 0.02113125 0.02238383
+v 0.00525388 0.02115670 0.02403595
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+v 0.00853152 0.02060160 0.02238383
+v 0.01087528 0.01918149 0.02862756
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\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_86.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_86.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1888c7f707e26cefbc384a4df291c377fa9f44ad
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_86.obj
@@ -0,0 +1,315 @@
+# https://github.com/mikedh/trimesh
+v 0.00236663 0.02198347 -0.05589101
+v 0.00421797 0.02178120 -0.05589101
+v 0.00675964 0.02136806 -0.05856708
+v 0.00236663 0.02184145 -0.05856708
+v -0.00236258 0.02146704 -0.05856708
+v -0.00236258 0.02158754 -0.05589101
+v 0.00710033 0.02144552 -0.05589101
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+v -0.00709627 0.02017595 -0.05856708
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+v -0.00975001 0.01910866 -0.05856708
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+v 0.01160989 0.01993495 -0.05589101
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+v -0.01195548 0.01759379 -0.05856708
+v -0.01219755 0.01753784 -0.05589101
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+v 0.01167713 0.01980154 -0.05856708
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+v -0.01754088 0.01245528 -0.05856708
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+f 89 92 93
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+f 100 105 106
+f 100 106 101
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+f 104 106 105
\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_87.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_87.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c24544c9c470fa8ec22e557a72373e5c6319d2a0
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_87.obj
@@ -0,0 +1,132 @@
+# https://github.com/mikedh/trimesh
+v -0.00968501 -0.01231689 -0.06754481
+v -0.00113094 -0.01479344 -0.06754481
+v -0.00113094 -0.00969966 -0.07015065
+v -0.00968501 -0.01058225 -0.06855045
+v -0.00968501 -0.02197624 -0.06754481
+v -0.00113094 -0.02319726 -0.06754481
+v -0.00113094 -0.00969966 -0.07715351
+v -0.00968501 -0.00969966 -0.06957962
+v -0.00968501 -0.02197624 -0.06775929
+v -0.00779350 -0.02264249 -0.06775929
+v -0.00779601 -0.02264116 -0.06754481
+v -0.00229482 -0.02325831 -0.06754481
+v -0.00113094 -0.02319726 -0.06775929
+v -0.00158142 -0.00969966 -0.07715445
+v -0.00113094 -0.01147412 -0.07714694
+v -0.00968501 -0.00969966 -0.07712623
+v -0.00968501 -0.02172141 -0.07011772
+v -0.00677113 -0.02234520 -0.07225508
+v -0.00516599 -0.02305127 -0.07066335
+v -0.00549924 -0.02311099 -0.06775929
+v -0.00550092 -0.02311232 -0.06754481
+v -0.00229482 -0.02325698 -0.06775929
+v -0.00113094 -0.02307118 -0.07079788
+v -0.00406910 -0.00969966 -0.07715445
+v -0.00229482 -0.01147412 -0.07714787
+v -0.00113094 -0.01606357 -0.07702463
+v -0.00229482 -0.01606357 -0.07703122
+v -0.00865761 -0.00969966 -0.07714035
+v -0.00968501 -0.01147412 -0.07710178
+v -0.00968501 -0.02141881 -0.07231341
+v -0.00229482 -0.02255224 -0.07322123
+v -0.00968501 -0.02048978 -0.07423064
+v -0.00688417 -0.02004251 -0.07574993
+v -0.00229482 -0.02309374 -0.07092770
+v -0.00113094 -0.02274999 -0.07216101
+v -0.00688417 -0.00969966 -0.07714881
+v -0.00688417 -0.01147412 -0.07713941
+v -0.00113094 -0.02020708 -0.07578192
+v -0.00229482 -0.02025752 -0.07578756
+v -0.00688417 -0.01606357 -0.07698606
+v -0.00968501 -0.01326318 -0.07704250
+v -0.00113094 -0.02250446 -0.07296064
+v -0.00968501 -0.01961913 -0.07556366
+v -0.00968501 -0.01761374 -0.07629086
+v -0.00968501 -0.01606357 -0.07677252
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 16
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+f 1 41 45
+f 1 45 44
+f 1 44 43
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+f 1 32 30
+f 1 30 17
+f 1 17 9
+f 1 9 5
+f 1 5 11
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+f 32 43 33
+f 33 43 44
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+f 33 45 40
+f 33 40 39
+f 37 40 41
+f 40 45 41
\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_88.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_88.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8e7a16850591dce6bd655f6eb43422186b4627a
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_88.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v -0.00448166 0.00421538 0.08032728
+v -0.00448166 0.00748357 0.06332616
+v -0.00343980 0.00421538 0.08268993
+v -0.00448166 0.00421538 0.10998976
+v -0.00448166 0.00974134 0.05379297
+v -0.00183596 0.00974134 0.06032466
+v -0.00183596 0.00858487 0.06580445
+v -0.00211462 0.00421538 0.08596679
+v -0.00358535 0.00421538 0.11001730
+v -0.00216408 0.00712170 0.10994571
+v -0.00448166 0.00489747 0.10996223
+v -0.00448166 0.00974134 0.09248747
+v -0.00183596 0.00974134 0.09649681
+v -0.00183596 0.00567368 0.07983162
+v -0.00183596 0.00421538 0.08693608
+v -0.00234977 0.00421538 0.11005035
+v -0.00448166 0.00624867 0.10983555
+v -0.00183596 0.00421538 0.11005585
+v -0.00183596 0.00713090 0.10994571
+v -0.00183596 0.00756958 0.10978600
+v -0.00448166 0.00767397 0.10664131
+v -0.00312230 0.00862381 0.10664131
+v -0.00183596 0.00897541 0.10790249
+v -0.00358768 0.00974134 0.09423880
+v -0.00227855 0.00974134 0.09632608
+v -0.00183596 0.00906141 0.10664131
+v -0.00448166 0.00716605 0.10823292
+f 1 2 3
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+f 1 8 15
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+f 1 18 16
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+f 1 9 4
+f 1 4 11
+f 1 11 17
+f 1 17 27
+f 1 27 21
+f 1 21 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
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+f 4 10 11
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+f 17 20 23
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+f 21 27 22
+f 22 27 23
+f 23 26 25
+f 23 25 24
\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_89.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_89.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e08819e6f02d35ab7143420ca8e29a8ced62a676
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_89.obj
@@ -0,0 +1,147 @@
+# https://github.com/mikedh/trimesh
+v 0.00236688 0.02277684 -0.04955183
+v 0.00236688 0.02247595 -0.05151300
+v -0.00236682 0.02206611 -0.05151300
+v -0.00236682 0.02236182 -0.04955183
+v 0.00710057 0.02227103 -0.04955183
+v 0.00710057 0.02195458 -0.05151300
+v -0.00508859 0.02132427 -0.05151300
+v -0.00697871 0.02110119 -0.04955183
+v 0.00721398 0.02223212 -0.04955183
+v 0.00911250 0.02127239 -0.05151300
+v -0.00710052 0.02075880 -0.05151300
+v -0.00710052 0.02106747 -0.04955183
+v 0.01222489 0.02044494 -0.04955183
+v 0.01202748 0.02022446 -0.05151300
+v -0.01025071 0.01940480 -0.05151300
+v -0.01051953 0.01956562 -0.04955183
+v 0.01279613 0.02019074 -0.04955183
+v 0.01204008 0.02021668 -0.05151300
+v -0.01261966 0.01782513 -0.05151300
+v -0.01288848 0.01800929 -0.04955183
+v 0.01429562 0.01876670 -0.05151300
+v 0.01395120 0.01900015 -0.05151300
+v 0.01618994 0.01788997 -0.04955183
+v -0.01555145 0.01545951 -0.05151300
+v -0.01574886 0.01564108 -0.04955183
+v 0.01653856 0.01711440 -0.05151300
+v 0.01747522 0.01622730 -0.05151300
+v 0.01941574 0.01478510 -0.04955183
+v 0.01922673 0.01455684 -0.05151300
+v 0.01873110 0.01503152 -0.05151300
+v -0.01791620 0.01292789 -0.05151300
+v -0.01811781 0.01318468 -0.04955183
+v 0.02115045 0.01189552 -0.04955183
+v 0.01923513 0.01454647 -0.05151300
+v -0.01965510 0.01056227 -0.05151300
+v -0.01982732 0.01081906 -0.04955183
+v 0.02118405 0.01183586 -0.04955183
+v 0.02081023 0.01186958 -0.05151300
+v 0.02022640 0.01289417 -0.05151300
+v -0.01968031 0.01051558 -0.05151300
+v -0.02053296 0.00944950 -0.04955183
+v 0.02083543 0.01181771 -0.05151300
+v 0.02082703 0.01183586 -0.05151300
+v 0.02237693 0.00897222 -0.04955183
+v 0.02237693 0.00813440 -0.05151300
+v -0.02053296 0.00881140 -0.05151300
+v -0.02053296 -0.00372221 -0.04955183
+v 0.02237693 -0.00372221 -0.04955183
+v 0.02237693 -0.00372221 -0.05151300
+v -0.02053296 -0.00372221 -0.05151300
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 12
+f 1 12 16
+f 1 16 20
+f 1 20 25
+f 1 25 32
+f 1 32 36
+f 1 36 41
+f 1 41 47
+f 1 47 48
+f 1 48 44
+f 1 44 37
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+f 1 33 28
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+f 1 23 17
+f 1 17 13
+f 1 13 9
+f 1 9 5
+f 1 5 2
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+f 2 10 14
+f 2 14 18
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+f 2 11 7
+f 2 7 3
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+f 5 10 6
+f 7 11 12
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+f 9 13 10
+f 10 13 14
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+f 13 17 14
+f 14 17 18
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+f 17 21 22
+f 17 22 18
+f 17 23 21
+f 19 24 20
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+f 23 27 26
+f 23 28 29
+f 23 29 30
+f 23 30 27
+f 24 31 32
+f 24 32 25
+f 28 33 34
+f 28 34 29
+f 31 35 32
+f 32 35 36
+f 33 37 38
+f 33 38 39
+f 33 39 34
+f 35 40 36
+f 36 40 41
+f 37 42 43
+f 37 43 38
+f 37 44 45
+f 37 45 42
+f 40 46 41
+f 41 46 50
+f 41 50 47
+f 44 48 49
+f 44 49 45
+f 47 50 49
+f 47 49 48
\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_9.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fea8915c20781b67d5a648f5c2f0d73c283a9805
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_9.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.01373136 0.00908278 -0.06319334
+v -0.01373136 0.01806042 -0.06319334
+v -0.00654401 0.01463772 -0.06319334
+v -0.00654401 0.01465251 -0.00881731
+v -0.01373136 0.00910250 -0.00881731
+v -0.01356601 0.01821078 -0.06319334
+v -0.01373136 0.01806042 -0.00881731
+v -0.00654401 0.02167292 -0.06319334
+v -0.00654401 0.02167292 -0.00881731
+v -0.01127154 0.01960476 -0.06316672
+v -0.01127084 0.01960476 -0.06319334
+v -0.01356601 0.01821078 -0.00881731
+v -0.00688455 0.02157555 -0.06319334
+v -0.00654401 0.02167415 -0.03563536
+v -0.00688455 0.02157555 -0.00881731
+v -0.01127154 0.01960476 -0.00881731
+f 1 2 6
+f 1 6 11
+f 1 11 13
+f 1 13 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 7
+f 1 7 2
+f 2 7 12
+f 2 12 6
+f 3 8 14
+f 3 14 9
+f 3 9 4
+f 4 9 15
+f 4 15 16
+f 4 16 12
+f 4 12 7
+f 4 7 5
+f 6 10 11
+f 6 12 16
+f 6 16 10
+f 8 13 14
+f 9 14 15
+f 10 13 11
+f 10 16 15
+f 10 15 13
+f 13 15 14
\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_90.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_90.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6986d14334575377112c508e008d289d70597ab
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_90.obj
@@ -0,0 +1,198 @@
+# https://github.com/mikedh/trimesh
+v 0.00236374 0.02067065 0.03167202
+v -0.00236979 0.02027250 0.03167202
+v -0.00236979 0.02010516 0.03349014
+v 0.00024602 0.02032444 0.03349014
+v 0.00236374 0.02049754 0.03349014
+v 0.00448146 0.02021769 0.03349014
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diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_91.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_91.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72c0f2e0e95f6af54d94a42fca5ef046afa10653
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_91.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_92.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_92.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc54af9dcf2ed4f94f17c281ef53adba484635c5
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_92.obj
@@ -0,0 +1,351 @@
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+f 116 118 117
\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_93.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_93.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f2efd1f8bc077976ee1376620ba12aa017912ad3
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_93.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.00837118 0.00804293 -0.06978111
+v 0.00131557 0.01142188 -0.06978111
+v -0.00837118 0.01159855 -0.06674107
+v -0.00837118 0.02070658 -0.06978111
+v 0.00131557 0.01533232 -0.06674107
+v 0.00131557 0.02310272 -0.06978111
+v -0.00837118 0.02092185 -0.06674107
+v -0.00837118 0.02091888 -0.06775848
+v -0.00688427 0.02138801 -0.06978111
+v 0.00131557 0.02320962 -0.06674107
+v -0.00067109 0.02305373 -0.06978111
+v 0.00131557 0.02320664 -0.06775848
+v -0.00785626 0.02115790 -0.06674107
+v -0.00688427 0.02160031 -0.06775848
+v -0.00320302 0.02265586 -0.06775848
+v -0.00273931 0.02252521 -0.06978111
+v -0.00090816 0.02309233 -0.06775848
+v -0.00091954 0.02309382 -0.06674107
+v -0.00688427 0.02159437 -0.06674107
+v -0.00321440 0.02264844 -0.06674107
+v -0.00270517 0.02275384 -0.06674107
+f 1 2 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 9
+f 1 9 16
+f 1 16 11
+f 1 11 6
+f 1 6 2
+f 2 5 3
+f 2 6 12
+f 2 12 10
+f 2 10 5
+f 3 5 10
+f 3 10 18
+f 3 18 21
+f 3 21 20
+f 3 20 19
+f 3 19 13
+f 3 13 7
+f 4 8 14
+f 4 14 9
+f 6 11 12
+f 7 13 8
+f 8 13 14
+f 9 14 15
+f 9 15 16
+f 10 12 17
+f 10 17 18
+f 11 17 12
+f 11 16 15
+f 11 15 17
+f 13 19 14
+f 14 19 20
+f 14 20 15
+f 15 21 18
+f 15 18 17
+f 15 20 21
\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_94.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_94.obj
new file mode 100644
index 0000000000000000000000000000000000000000..afc1af5483990171d4825e14d4d5a07562e28ea4
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_94.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.00290036 -0.00164010 0.09230984
+v 0.00243460 -0.00164010 0.09254644
+v 0.00290036 0.00002783 0.09230984
+v 0.00290036 -0.00164010 0.09845968
+v 0.00223957 -0.00164010 0.09264578
+v 0.00223992 0.00002783 0.09264578
+v 0.00290036 0.00002783 0.09845968
+v 0.00172143 -0.00164010 0.09845968
+v 0.00216560 -0.00164010 0.09341097
+v 0.00196954 0.00002783 0.09544105
+v 0.00172143 0.00002783 0.09845968
+v 0.00177059 -0.00164010 0.09753314
+v 0.00211217 -0.00164010 0.09396425
+v 0.00177439 -0.00164010 0.09746330
+v 0.00177439 0.00002783 0.09746330
+f 1 2 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 12
+f 1 12 14
+f 1 14 13
+f 1 13 9
+f 1 9 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 10
+f 3 10 15
+f 3 15 11
+f 3 11 7
+f 4 7 11
+f 4 11 8
+f 5 9 10
+f 5 10 6
+f 8 11 12
+f 9 13 10
+f 10 13 14
+f 10 14 15
+f 11 15 12
+f 12 15 14
\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_95.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_95.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a7c8cc874d46c84e2cda7b9ad258eb316bad09e
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_95.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.00290036 -0.00413350 0.09151823
+v 0.00290036 -0.00195915 0.09151823
+v 0.00444424 -0.00413350 0.09151823
+v 0.00290036 -0.00413350 0.11004075
+v 0.00444424 0.00002783 0.09152551
+v 0.00299179 -0.00186791 0.09151823
+v 0.00290036 0.00002783 0.09230995
+v 0.00444424 -0.00053552 0.09151823
+v 0.00444424 -0.00413350 0.10999344
+v 0.00381414 -0.00413350 0.11001345
+v 0.00290036 -0.00279785 0.11009354
+v 0.00444424 0.00002783 0.11006442
+v 0.00290036 0.00002783 0.11010809
+v 0.00444424 -0.00238359 0.11006259
+v 0.00290036 -0.00241210 0.11010809
+v 0.00290036 -0.00188135 0.11010992
+v 0.00444424 -0.00140477 0.11006442
+v 0.00290036 -0.00195996 0.11010992
+f 1 2 6
+f 1 6 8
+f 1 8 3
+f 1 3 9
+f 1 9 10
+f 1 10 4
+f 1 4 11
+f 1 11 15
+f 1 15 18
+f 1 18 16
+f 1 16 13
+f 1 13 7
+f 1 7 2
+f 2 5 6
+f 2 7 5
+f 3 8 5
+f 3 5 12
+f 3 12 17
+f 3 17 14
+f 3 14 9
+f 4 10 11
+f 5 8 6
+f 5 7 13
+f 5 13 12
+f 9 14 10
+f 10 14 11
+f 11 14 15
+f 12 13 16
+f 12 16 18
+f 12 18 17
+f 14 17 18
+f 14 18 15
\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_96.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_96.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26c41cf705939e787df252adc77f63592f3e78b2
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_96.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.01454842 0.00211647 0.07654185
+v 0.01454842 0.00091650 0.07640711
+v 0.01454842 0.00325639 0.07541002
+v 0.01401040 0.00325639 0.07845518
+v 0.00960164 0.00269607 0.10200804
+v 0.01377747 0.00008882 0.08143971
+v 0.01377747 0.00002783 0.08143971
+v 0.01454842 0.00002783 0.07584120
+v 0.01430532 0.00002783 0.07763326
+v 0.01454842 0.00325639 0.03377482
+v 0.00960164 0.00325639 0.10060673
+v 0.00960164 0.00002783 0.10210910
+v 0.01454842 0.00002783 0.03328301
+v 0.01283993 0.00325639 0.04319327
+v 0.00960164 0.00325639 0.06487995
+v 0.00960164 0.00002783 0.06649011
+v 0.00980939 0.00002783 0.06301378
+v 0.01226026 0.00325639 0.04702667
+f 1 2 8
+f 1 8 13
+f 1 13 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 9
+f 2 9 8
+f 3 10 14
+f 3 14 18
+f 3 18 15
+f 3 15 11
+f 3 11 4
+f 4 11 5
+f 5 11 15
+f 5 15 16
+f 5 16 12
+f 5 12 6
+f 6 12 7
+f 7 12 16
+f 7 16 17
+f 7 17 13
+f 7 13 8
+f 7 8 9
+f 10 13 14
+f 13 17 14
+f 14 17 18
+f 15 18 17
+f 15 17 16
\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_97.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_97.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69838d5c37c13142905e48dfbdc62e3dff2ae1af
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_97.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v 0.00672509 0.01423469 0.02238383
+v 0.00672509 0.02114838 0.02238383
+v 0.00123261 0.01506992 0.02238383
+v 0.00123261 0.01657140 -0.00881730
+v 0.00672509 0.01597152 -0.00881730
+v 0.00394255 0.02143239 0.02238383
+v 0.00672509 0.02138815 0.01959845
+v 0.00503299 0.02302765 0.00454152
+v 0.00123261 0.02147663 0.02238383
+v 0.00123261 0.02321700 -0.00881730
+v 0.00672509 0.02286309 -0.00881730
+v 0.00229508 0.02156600 0.02238383
+v 0.00672509 0.02249325 0.00667332
+v 0.00672509 0.02280292 0.00108423
+v 0.00539162 0.02309224 0.00108423
+v 0.00229508 0.02321877 0.00108423
+v 0.00229508 0.02305862 0.00502713
+v 0.00669122 0.02256491 0.00591283
+v 0.00672509 0.02256580 0.00574791
+v 0.00179825 0.02152441 0.02238383
+v 0.00123261 0.02304181 0.00478891
+v 0.00123261 0.02321700 -0.00809347
+v 0.00229508 0.02327362 -0.00881730
+v 0.00554379 0.02311967 -0.00881730
+v 0.00672509 0.02286309 -0.00809347
+v 0.00672509 0.02255430 0.00590978
+v 0.00672509 0.02282858 -0.00096815
+v 0.00553626 0.02311790 -0.00350309
+v 0.00229508 0.02327008 -0.00350309
+v 0.00123261 0.02314002 0.00238530
+v 0.00123261 0.02316922 0.00108423
+v 0.00229508 0.02327362 -0.00809347
+v 0.00123261 0.02321435 -0.00350309
+v 0.00554379 0.02311967 -0.00809347
+v 0.00672509 0.02286132 -0.00572345
+v 0.00672509 0.02285955 -0.00350309
+v 0.00123261 0.02320284 -0.00192410
+f 1 2 6
+f 1 6 12
+f 1 12 20
+f 1 20 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 25
+f 1 25 35
+f 1 35 36
+f 1 36 27
+f 1 27 14
+f 1 14 19
+f 1 19 26
+f 1 26 13
+f 1 13 7
+f 1 7 2
+f 2 7 8
+f 2 8 6
+f 3 9 21
+f 3 21 30
+f 3 30 31
+f 3 31 37
+f 3 37 33
+f 3 33 22
+f 3 22 10
+f 3 10 4
+f 4 10 23
+f 4 23 24
+f 4 24 11
+f 4 11 5
+f 6 8 12
+f 7 13 8
+f 8 14 15
+f 8 15 16
+f 8 16 17
+f 8 17 12
+f 8 13 18
+f 8 18 19
+f 8 19 14
+f 9 20 21
+f 10 22 32
+f 10 32 23
+f 11 24 34
+f 11 34 25
+f 12 17 21
+f 12 21 20
+f 13 26 18
+f 14 27 15
+f 15 27 28
+f 15 28 29
+f 15 29 16
+f 16 30 17
+f 16 29 31
+f 16 31 30
+f 17 30 21
+f 18 26 19
+f 22 33 32
+f 23 32 34
+f 23 34 24
+f 25 34 28
+f 25 28 35
+f 27 36 28
+f 28 36 35
+f 28 34 32
+f 28 32 29
+f 29 32 33
+f 29 33 37
+f 29 37 31
\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_98.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_98.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb53bc43eece5a3f08759f72a9d885e2d2d64fe4
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_98.obj
@@ -0,0 +1,147 @@
+# https://github.com/mikedh/trimesh
+v 0.00525388 0.00948471 0.06009097
+v 0.00123207 0.00957222 0.06331704
+v 0.00525388 0.01106943 0.04710931
+v 0.00525388 0.00948471 0.09544624
+v 0.00123207 0.00948471 0.06437693
+v 0.00123207 0.01507026 0.02239157
+v 0.00525388 0.01133315 0.04525258
+v 0.00525388 0.00956394 0.09513679
+v 0.00511570 0.00948471 0.09589496
+v 0.00123207 0.00948471 0.10141873
+v 0.00123207 0.02147655 0.02239157
+v 0.00525388 0.01460785 0.02239157
+v 0.00525388 0.01337555 0.07752104
+v 0.00181707 0.00948471 0.10141873
+v 0.00465234 0.01379302 0.07692534
+v 0.00123207 0.01389118 0.07744368
+v 0.00229500 0.02156643 0.02239157
+v 0.00123207 0.02137011 0.02403168
+v 0.00525388 0.02129797 0.02239157
+v 0.00525388 0.01400234 0.07451159
+v 0.00229500 0.01388645 0.07741273
+v 0.00229500 0.01597024 0.06533624
+v 0.00229500 0.01520034 0.06992391
+v 0.00229500 0.01440325 0.07451159
+v 0.00523931 0.01400826 0.07451159
+v 0.00525388 0.01853654 0.04660645
+v 0.00437598 0.01834259 0.04922908
+v 0.00123207 0.01421995 0.07560242
+v 0.00394215 0.02143279 0.02239157
+v 0.00229500 0.02145881 0.02403168
+v 0.00123207 0.02127432 0.02509930
+v 0.00229500 0.02104725 0.02862709
+v 0.00525388 0.02124830 0.02297180
+v 0.00525388 0.01401062 0.07446517
+v 0.00123207 0.01840172 0.04959269
+v 0.00123207 0.01588627 0.06533624
+v 0.00131671 0.01840172 0.04959269
+v 0.00525388 0.02050916 0.03025173
+v 0.00229500 0.02052217 0.03321477
+v 0.00229500 0.01996515 0.03780244
+v 0.00229500 0.01937265 0.04239012
+v 0.00262608 0.01866426 0.04741103
+v 0.00525388 0.02101059 0.02566406
+v 0.00525388 0.02115606 0.02403168
+v 0.00123207 0.02095737 0.02862709
+v 0.00123207 0.02083675 0.02968698
+v 0.00123207 0.02043347 0.03321477
+v 0.00525388 0.02069601 0.02862709
+v 0.00123207 0.01913022 0.04379814
+v 0.00123207 0.01987645 0.03780244
+f 1 2 3
+f 1 3 7
+f 1 7 12
+f 1 12 19
+f 1 19 33
+f 1 33 44
+f 1 44 43
+f 1 43 48
+f 1 48 38
+f 1 38 26
+f 1 26 34
+f 1 34 20
+f 1 20 13
+f 1 13 8
+f 1 8 4
+f 1 4 9
+f 1 9 14
+f 1 14 10
+f 1 10 5
+f 1 5 2
+f 2 6 3
+f 2 5 10
+f 2 10 16
+f 2 16 28
+f 2 28 36
+f 2 36 35
+f 2 35 49
+f 2 49 50
+f 2 50 47
+f 2 47 46
+f 2 46 45
+f 2 45 31
+f 2 31 18
+f 2 18 11
+f 2 11 6
+f 3 6 7
+f 4 8 9
+f 6 11 17
+f 6 17 29
+f 6 29 19
+f 6 19 12
+f 6 12 7
+f 8 13 9
+f 9 13 15
+f 9 15 14
+f 10 14 16
+f 11 18 17
+f 13 20 15
+f 14 15 21
+f 14 21 16
+f 15 22 23
+f 15 23 24
+f 15 24 21
+f 15 20 25
+f 15 25 26
+f 15 26 27
+f 15 27 22
+f 16 21 28
+f 17 18 30
+f 17 30 29
+f 18 31 32
+f 18 32 30
+f 19 29 33
+f 20 34 25
+f 21 24 28
+f 22 35 36
+f 22 36 28
+f 22 28 23
+f 22 27 37
+f 22 37 35
+f 23 28 24
+f 25 34 26
+f 26 38 27
+f 27 38 39
+f 27 39 40
+f 27 40 41
+f 27 41 42
+f 27 42 37
+f 29 30 33
+f 30 43 44
+f 30 44 33
+f 30 32 43
+f 31 45 32
+f 32 45 46
+f 32 46 47
+f 32 47 39
+f 32 39 48
+f 32 48 43
+f 35 37 41
+f 35 41 40
+f 35 40 49
+f 37 42 41
+f 38 48 39
+f 39 47 50
+f 39 50 40
+f 40 50 49
\ No newline at end of file
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_99.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_99.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d0ba4fcc879623a990da789176a75b48f0a996f
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/collision/model_normalized_collision_99.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.02369713 -0.00687958 -0.06754481
+v -0.01462957 -0.00687958 -0.06754481
+v -0.02369576 -0.00687958 -0.06775920
+v -0.02369576 -0.00688549 -0.06775920
+v -0.02369576 -0.00688549 -0.06754481
+v -0.00968501 -0.00687958 -0.07016735
+v -0.00968501 -0.01231801 -0.06754481
+v -0.02367656 -0.00687958 -0.06798017
+v -0.02299488 -0.00928402 -0.07032533
+v -0.02302642 -0.00935643 -0.06775920
+v -0.02305934 -0.00924116 -0.06754481
+v -0.02331994 -0.00687958 -0.07199251
+v -0.00968501 -0.00687958 -0.07715016
+v -0.00968501 -0.02197567 -0.06754481
+v -0.02328977 -0.00687958 -0.07213168
+v -0.02260535 -0.00826283 -0.07338419
+v -0.02165072 -0.01107811 -0.07205270
+v -0.01928885 -0.01489979 -0.07234796
+v -0.02185235 -0.01165151 -0.06775920
+v -0.02297293 -0.00946431 -0.06754481
+v -0.02302779 -0.00935643 -0.06754481
+v -0.00968501 -0.00688549 -0.07715016
+v -0.01147904 -0.00687958 -0.07714171
+v -0.01130485 -0.02140670 -0.06754481
+v -0.00968501 -0.02197715 -0.06775920
+v -0.02283029 -0.00687958 -0.07403677
+v -0.01880605 -0.01431753 -0.07505419
+v -0.01955768 -0.01522344 -0.06775920
+v -0.01711489 -0.01719487 -0.07234796
+v -0.01745367 -0.01751852 -0.06775920
+v -0.01966467 -0.01505792 -0.06754481
+v -0.02185235 -0.01165151 -0.06754481
+v -0.00968501 -0.00867367 -0.07714076
+v -0.01147493 -0.00688549 -0.07714171
+v -0.01606837 -0.00687958 -0.07703356
+v -0.01147493 -0.01147417 -0.07707870
+v -0.01606425 -0.00688549 -0.07703450
+v -0.01147493 -0.02134611 -0.06754481
+v -0.01147493 -0.02134759 -0.06775920
+v -0.01147493 -0.02085104 -0.07234796
+v -0.00968501 -0.02172148 -0.07011752
+v -0.02088126 -0.00687958 -0.07567386
+v -0.01958511 -0.01147417 -0.07550837
+v -0.01606425 -0.01147417 -0.07670163
+v -0.01589555 -0.01593280 -0.07556291
+v -0.01425376 -0.01870374 -0.07499307
+v -0.01955768 -0.01522344 -0.06754481
+v -0.01946030 -0.01533132 -0.06754481
+v -0.01482160 -0.01911162 -0.07234796
+v -0.01745367 -0.01751852 -0.06754481
+v -0.01516038 -0.01935694 -0.06775920
+v -0.01526736 -0.01927271 -0.06754481
+v -0.00968501 -0.01147417 -0.07710221
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diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/model.xml b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..3f99cc70cc7fdc1933dc2551b7091fd0d66177ce
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/model.xml
@@ -0,0 +1,221 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="new_bottle_of_garlic_sauce_0">
+  <asset>
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+    <material name="OmniGlass" reflectance="0.5" texture="image0" specular="0.5" shininess="0.25" />
+    <mesh file="visual/base_link_visuals.obj" name="base_link_visuals" scale="1.0 1.0 1.0" />
+    <texture file="visual/image0.png" name="image0_1" type="2d" />
+    <material name="defaultMat.011" reflectance="0.5" texture="image0" specular="0.5" shininess="0.25" />
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diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/visual/base_link_visuals.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/visual/base_link_visuals.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0726f78f1cb3208a1d30b8ba9ec9e546327dedeb
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/visual/base_link_visuals.obj
@@ -0,0 +1,10295 @@
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diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/visual/glass_visuals.obj b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/visual/glass_visuals.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f0f66644b5069a4dc04ae4d5c633ee67362cdcd
--- /dev/null
+++ b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/visual/glass_visuals.obj
@@ -0,0 +1,13097 @@
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diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/visual/ucnmax__base_link__ior.exr b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/visual/ucnmax__base_link__ior.exr
new file mode 100644
index 0000000000000000000000000000000000000000..763d0fb0c1714de1eed190a09fcf3a8542a5a804
Binary files /dev/null and b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/visual/ucnmax__base_link__ior.exr differ
diff --git a/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/visual/ucnmax__glass__ior.exr b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/visual/ucnmax__glass__ior.exr
new file mode 100644
index 0000000000000000000000000000000000000000..7ea2a698c8f9213bebc7c5141447afbb7429edde
Binary files /dev/null and b/new_bottle_of_garlic_sauce/new_bottle_of_garlic_sauce_0/visual/ucnmax__glass__ior.exr differ
diff --git a/new_dvd/new_dvd_0/collision/model_normalized_collision_0.obj b/new_dvd/new_dvd_0/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..768ddc8c723023b71c0413b2fd7e72019498f666
--- /dev/null
+++ b/new_dvd/new_dvd_0/collision/model_normalized_collision_0.obj
@@ -0,0 +1,153 @@
+# https://github.com/mikedh/trimesh
+v -0.00548244 -0.07274812 -0.00093383
+v -0.00548244 -0.07274812 0.00116834
+v -0.00548244 -0.07269532 -0.00096262
+v -0.00539943 -0.07275472 -0.00093686
+v -0.00548244 -0.07025348 0.00239722
+v -0.00539943 -0.07275472 0.00117137
+v -0.00180003 -0.07291311 -0.00103131
+v -0.00548244 -0.07019408 -0.00219099
+v -0.00180003 -0.07291311 0.00126582
+v -0.00548244 -0.07019408 0.00242601
+v -0.00539943 -0.07019408 -0.00219402
+v -0.00180003 -0.07019408 -0.00229251
+v -0.00001184 -0.07154700 -0.00166570
+v -0.00001184 -0.07290651 -0.00103080
+v -0.00548244 -0.07011489 -0.00219856
+v -0.00001184 -0.07290651 0.00126582
+v -0.00001184 -0.07156020 0.00189213
+v -0.00001184 -0.07019408 0.00252702
+v -0.00180003 -0.07019408 0.00252753
+v -0.00539943 -0.07019408 0.00242904
+v -0.00548244 -0.06659731 0.00263713
+v -0.00001184 -0.07019408 -0.00229251
+v -0.00548244 -0.06659731 -0.00240211
+v -0.00180003 -0.06659731 -0.00240615
+v -0.00001184 -0.06659731 0.00264117
+v -0.00180003 -0.06659731 0.00264117
+v -0.00548244 -0.06299393 0.00264218
+v -0.00001184 -0.06659731 -0.00240615
+v -0.00548244 -0.06651151 -0.00240262
+v -0.00548244 -0.06299393 -0.00240716
+v -0.00548244 -0.01620287 -0.00246222
+v -0.00001184 -0.01620287 0.00269724
+v -0.00548244 -0.01620287 0.00269673
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+v -0.00548244 -0.01252030 -0.00246272
+v -0.00001184 -0.01260610 0.00269673
+v -0.00548244 -0.01260610 0.00269673
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+v -0.00001184 -0.00790059 -0.00105303
+f 1 2 5
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\ No newline at end of file
diff --git a/new_dvd/new_dvd_0/collision/model_normalized_collision_1.obj b/new_dvd/new_dvd_0/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd8e6a8e22f70c980b839ff651f194f65572a5dc
--- /dev/null
+++ b/new_dvd/new_dvd_0/collision/model_normalized_collision_1.obj
@@ -0,0 +1,147 @@
+# https://github.com/mikedh/trimesh
+v 0.07041655 0.01616754 0.00126394
+v 0.07019798 0.01259886 0.00198387
+v 0.07236905 0.01259886 0.00075366
+v 0.07214077 0.01495384 0.00039913
+v 0.07041655 0.01616754 -0.00102936
+v 0.06659410 0.01616754 0.00260047
+v 0.07019798 0.00900028 0.00229093
+v 0.07259733 0.00900028 0.00104143
+v 0.07236905 0.01259886 -0.00051908
+v 0.07214077 0.01495384 -0.00016455
+v 0.07019798 0.01259886 -0.00174930
+v 0.06662810 0.01616754 -0.00235996
+v 0.06299508 0.01616754 0.00264151
+v 0.06659410 0.00900028 0.00262914
+v 0.07019798 0.00180154 0.00252679
+v 0.07019798 0.00539540 0.00242889
+v 0.07290818 0.00180154 0.00126542
+v 0.07275761 0.00539540 0.00117148
+v 0.07259733 0.00900028 -0.00080686
+v 0.07019798 0.00900028 -0.00205636
+v 0.07019798 0.00540170 -0.00219382
+v 0.06659410 0.01616754 -0.00236539
+v 0.02343495 0.01616754 0.00264151
+v 0.02329409 0.00008883 0.00264299
+v 0.06299508 0.00540170 0.00264200
+v 0.06659896 0.00180154 0.00264101
+v 0.06659896 0.00539540 0.00263706
+v 0.07019798 0.00008883 0.00252729
+v 0.07291303 0.00008883 0.00126542
+v 0.07290818 0.00180154 -0.00103035
+v 0.07275761 0.00539540 -0.00093641
+v 0.07019798 0.00180154 -0.00229221
+v 0.06659410 0.00900028 -0.00239457
+v 0.06302422 0.01616754 -0.00240693
+v 0.02343495 0.01616754 -0.00240742
+v 0.02329409 0.00539540 0.00264249
+v 0.06299508 0.00008883 0.00264200
+v 0.02329409 0.00008883 -0.00240792
+v 0.06488444 0.00008883 0.00264151
+v 0.06659896 0.00008883 0.00264101
+v 0.07291303 0.00008883 -0.00103035
+v 0.07148994 0.00008883 -0.00169194
+v 0.07019798 0.00008883 -0.00229221
+v 0.06659896 0.00180154 -0.00240643
+v 0.06659896 0.00539540 -0.00240248
+v 0.06659896 0.00008883 -0.00240643
+v 0.06299508 0.00008883 -0.00240693
+v 0.02329409 0.00180154 -0.00240841
+v 0.02329409 0.00190701 -0.00240841
+v 0.02329409 0.00539540 -0.00240792
+f 1 2 3
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\ No newline at end of file
diff --git a/new_dvd/new_dvd_0/collision/model_normalized_collision_12.obj b/new_dvd/new_dvd_0/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a66fff88e48d5e6b4fc87f9deb2be513bf605fc5
--- /dev/null
+++ b/new_dvd/new_dvd_0/collision/model_normalized_collision_12.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v 0.02715123 0.02314613 -0.00240723
+v 0.03452041 0.02314613 -0.00240723
+v 0.02715123 0.02314613 0.00264165
+v 0.02715123 0.05924867 -0.00240773
+v 0.03452041 0.02314613 0.00264214
+v 0.03452041 0.05547587 -0.00240723
+v 0.02715123 0.05939839 0.00264165
+v 0.02715123 0.06284609 -0.00239586
+v 0.03060067 0.05939839 -0.00240278
+v 0.03420014 0.05579669 -0.00240723
+v 0.03452041 0.02316752 0.00264214
+v 0.03452041 0.05579669 -0.00240624
+v 0.03420014 0.05579669 0.00264165
+v 0.03060067 0.05939839 0.00263720
+v 0.02715123 0.06299581 0.00262386
+v 0.02715123 0.06299581 -0.00238944
+v 0.03420014 0.05939839 -0.00238894
+v 0.03452041 0.05907757 -0.00238944
+v 0.03452041 0.05219927 0.00264165
+v 0.03452041 0.05579669 0.00264066
+v 0.03420014 0.05939839 0.00262336
+v 0.03060067 0.06299581 0.00248693
+v 0.02715123 0.06684133 0.00145827
+v 0.03060067 0.06299581 -0.00225251
+v 0.02715123 0.06683277 -0.00123077
+v 0.03452041 0.05939839 -0.00236521
+v 0.03452041 0.05939839 0.00259963
+v 0.03452041 0.06326530 0.00149090
+v 0.03444684 0.06328668 0.00149979
+v 0.03060067 0.06590455 0.00122941
+v 0.03341100 0.06527147 0.00076327
+v 0.03341100 0.06527147 -0.00052885
+v 0.03060067 0.06590455 -0.00099499
+v 0.03444684 0.06328668 -0.00126538
+v 0.03452041 0.06320113 -0.00128416
+v 0.03452041 0.06326530 -0.00125697
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 15
+f 1 15 23
+f 1 23 25
+f 1 25 16
+f 1 16 8
+f 1 8 4
+f 1 4 2
+f 2 4 6
+f 2 6 12
+f 2 12 18
+f 2 18 26
+f 2 26 35
+f 2 35 36
+f 2 36 28
+f 2 28 27
+f 2 27 20
+f 2 20 19
+f 2 19 11
+f 2 11 5
+f 3 5 11
+f 3 11 7
+f 4 8 9
+f 4 9 10
+f 4 10 6
+f 6 10 12
+f 7 13 14
+f 7 14 15
+f 7 11 13
+f 8 16 17
+f 8 17 9
+f 9 17 18
+f 9 18 12
+f 9 12 10
+f 11 19 13
+f 13 20 14
+f 13 19 20
+f 14 21 15
+f 14 20 21
+f 15 22 23
+f 15 21 22
+f 16 24 17
+f 16 25 24
+f 17 24 26
+f 17 26 18
+f 20 27 21
+f 21 27 22
+f 22 27 28
+f 22 28 29
+f 22 29 30
+f 22 30 23
+f 23 30 31
+f 23 31 32
+f 23 32 25
+f 24 25 33
+f 24 33 34
+f 24 34 35
+f 24 35 26
+f 25 32 33
+f 28 36 32
+f 28 32 31
+f 28 31 30
+f 28 30 29
+f 32 36 33
+f 33 36 34
+f 34 36 35
\ No newline at end of file
diff --git a/new_dvd/new_dvd_0/collision/model_normalized_collision_15.obj b/new_dvd/new_dvd_0/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97f7d0e789d12b0e9cde68c9ef13cd1b20768f26
--- /dev/null
+++ b/new_dvd/new_dvd_0/collision/model_normalized_collision_15.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v -0.01593813 -0.07075907 -0.00086242
+v -0.01259960 -0.07236767 -0.00051986
+v -0.01495765 -0.07214547 -0.00016742
+v -0.01593813 -0.07075907 0.00109702
+v -0.01593813 -0.07055135 -0.00099638
+v -0.01259960 -0.07236767 0.00075447
+v -0.01259960 -0.07019871 -0.00175020
+v -0.00900008 -0.07259471 -0.00080558
+v -0.01495765 -0.07214547 0.00040153
+v -0.01593813 -0.07040643 0.00131254
+v -0.01593813 -0.07040643 -0.00107794
+v -0.00900008 -0.07259471 0.00104018
+v -0.01259960 -0.07019871 0.00198481
+v -0.00900008 -0.07019871 -0.00205519
+v -0.01593813 -0.06686073 -0.00232113
+v -0.00548244 -0.07275413 -0.00093360
+v -0.01593813 -0.06659987 0.00260121
+v -0.00548244 -0.07275413 0.00116821
+v -0.00900008 -0.07019871 0.00228980
+v -0.01593813 -0.06659987 -0.00236661
+v -0.00548244 -0.07019871 -0.00219113
+v -0.00548244 -0.07269616 -0.00096227
+v -0.00548244 -0.07019871 0.00242573
+v -0.00900008 -0.06659987 0.00262939
+v -0.01593813 -0.06299621 0.00264174
+v -0.00900008 -0.06659987 -0.00239429
+v -0.00548244 -0.07011659 -0.00219904
+v -0.01593813 -0.06325706 -0.00240516
+v -0.00548244 -0.06659987 0.00263680
+v -0.00548244 -0.06299621 0.00264224
+v -0.01593813 -0.02340417 0.00264174
+v -0.00548244 -0.06659987 -0.00240220
+v -0.01593813 -0.06299621 -0.00240714
+v -0.00548244 -0.02340417 0.00264174
+v -0.01593813 -0.02340417 -0.00240764
+v -0.00548244 -0.06299621 -0.00240714
+v -0.00548244 -0.02340417 -0.00240714
+f 1 2 3
+f 1 3 9
+f 1 9 4
+f 1 4 10
+f 1 10 17
+f 1 17 25
+f 1 25 31
+f 1 31 35
+f 1 35 33
+f 1 33 28
+f 1 28 20
+f 1 20 15
+f 1 15 11
+f 1 11 5
+f 1 5 2
+f 2 6 9
+f 2 9 3
+f 2 5 7
+f 2 7 8
+f 2 8 12
+f 2 12 6
+f 4 9 6
+f 4 6 10
+f 5 11 7
+f 6 12 13
+f 6 13 10
+f 7 14 8
+f 7 11 15
+f 7 15 14
+f 8 16 18
+f 8 18 12
+f 8 14 16
+f 10 13 17
+f 12 18 19
+f 12 19 13
+f 13 19 17
+f 14 15 20
+f 14 20 21
+f 14 21 22
+f 14 22 16
+f 16 22 21
+f 16 21 27
+f 16 27 32
+f 16 32 36
+f 16 36 37
+f 16 37 34
+f 16 34 30
+f 16 30 29
+f 16 29 23
+f 16 23 18
+f 17 23 24
+f 17 24 25
+f 17 19 23
+f 18 23 19
+f 20 26 27
+f 20 27 21
+f 20 28 26
+f 23 29 24
+f 24 29 25
+f 25 29 30
+f 25 30 31
+f 26 28 32
+f 26 32 27
+f 28 33 32
+f 30 34 31
+f 31 34 37
+f 31 37 35
+f 32 33 36
+f 33 35 36
+f 35 37 36
\ No newline at end of file
diff --git a/new_dvd/new_dvd_0/collision/model_normalized_collision_2.obj b/new_dvd/new_dvd_0/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67216d08e325dcfa9f30c04875ce59dd27d56138
--- /dev/null
+++ b/new_dvd/new_dvd_0/collision/model_normalized_collision_2.obj
@@ -0,0 +1,120 @@
+# https://github.com/mikedh/trimesh
+v 0.01260535 0.00008725 -0.00246271
+v 0.01260535 -0.00497851 -0.00246220
+v 0.00900516 -0.00497851 -0.00218390
+v 0.00900516 0.00008725 -0.00170205
+v 0.01619895 0.00008725 -0.00246220
+v 0.01619895 -0.00497851 -0.00246220
+v 0.00567483 -0.00497851 -0.00099392
+v 0.00682004 0.00008725 -0.00041206
+v 0.06659497 0.00008725 -0.00240563
+v 0.06659497 -0.00180051 -0.00240563
+v 0.06659497 -0.00497851 -0.00240260
+v 0.00567483 -0.00497851 0.00122846
+v 0.00682004 0.00008725 0.00064660
+v 0.06830621 0.00008725 -0.00235209
+v 0.07019515 -0.00180051 -0.00229199
+v 0.07019515 -0.00497851 -0.00220562
+v 0.00597758 -0.00497851 0.00140675
+v 0.00900516 0.00008725 0.00193658
+v 0.00796526 0.00008725 0.00132291
+v 0.07019515 0.00008725 -0.00229199
+v 0.07290680 -0.00180051 -0.00103129
+v 0.07277517 -0.00497851 -0.00094745
+v 0.00900516 -0.00497851 0.00241844
+v 0.01260535 0.00008725 0.00269674
+v 0.07290680 0.00008725 -0.00103079
+v 0.07290680 -0.00180051 0.00126533
+v 0.07277517 -0.00497851 0.00118249
+v 0.00942639 -0.00497851 0.00250733
+v 0.01260535 -0.00497851 0.00269674
+v 0.01619895 -0.00497851 0.00269724
+v 0.01619895 0.00008725 0.00269674
+v 0.07290680 0.00008725 0.00126533
+v 0.07019515 -0.00180051 0.00252753
+v 0.07019515 -0.00497851 0.00244015
+v 0.07051107 -0.00497851 0.00229267
+v 0.06341601 -0.00497851 0.00264168
+v 0.06659497 -0.00180051 0.00264118
+v 0.06659497 0.00008725 0.00264118
+v 0.07019515 0.00008725 0.00252703
+v 0.06659497 -0.00497851 0.00263764
+v 0.06701619 -0.00497851 0.00262401
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 13
+f 1 13 19
+f 1 19 18
+f 1 18 24
+f 1 24 31
+f 1 31 38
+f 1 38 39
+f 1 39 32
+f 1 32 25
+f 1 25 20
+f 1 20 14
+f 1 14 9
+f 1 9 5
+f 1 5 6
+f 1 6 2
+f 2 6 11
+f 2 11 16
+f 2 16 22
+f 2 22 27
+f 2 27 35
+f 2 35 34
+f 2 34 41
+f 2 41 40
+f 2 40 36
+f 2 36 30
+f 2 30 29
+f 2 29 28
+f 2 28 23
+f 2 23 17
+f 2 17 12
+f 2 12 7
+f 2 7 3
+f 3 7 4
+f 4 7 8
+f 5 9 10
+f 5 10 6
+f 6 10 11
+f 7 12 13
+f 7 13 8
+f 9 14 10
+f 10 14 15
+f 10 15 11
+f 11 15 16
+f 12 17 18
+f 12 18 19
+f 12 19 13
+f 14 20 15
+f 15 20 21
+f 15 21 16
+f 16 21 22
+f 17 23 18
+f 18 23 24
+f 20 25 21
+f 21 25 32
+f 21 32 26
+f 21 26 27
+f 21 27 22
+f 23 28 24
+f 24 29 30
+f 24 30 31
+f 24 28 29
+f 26 33 34
+f 26 34 35
+f 26 35 27
+f 26 32 33
+f 30 36 37
+f 30 37 38
+f 30 38 31
+f 32 39 33
+f 33 39 38
+f 33 38 37
+f 33 37 40
+f 33 40 41
+f 33 41 34
+f 36 40 37
\ No newline at end of file
diff --git a/new_dvd/new_dvd_0/collision/model_normalized_collision_21.obj b/new_dvd/new_dvd_0/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ac64bf419f4977b70f42650b011955a13d8e048
--- /dev/null
+++ b/new_dvd/new_dvd_0/collision/model_normalized_collision_21.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v -0.05609042 0.03449589 0.00263926
+v -0.05609042 0.03751036 0.00262844
+v -0.05910356 0.03449589 0.00262303
+v -0.05609042 0.03449589 -0.00238481
+v -0.05609042 0.04110962 0.00254632
+v -0.05939950 0.03449589 0.00260090
+v -0.05609042 0.03780066 -0.00237301
+v -0.05939950 0.03449589 -0.00236711
+v -0.05609042 0.04523059 0.00158045
+v -0.05939950 0.03780066 0.00235600
+v -0.05950204 0.03449589 0.00257189
+v -0.05609042 0.04139466 -0.00223383
+v -0.05950204 0.03449589 -0.00232235
+v -0.05939950 0.03780066 -0.00212220
+v -0.05609042 0.04524110 0.00157701
+v -0.05946563 0.04133997 0.00136259
+v -0.05950204 0.03780066 0.00231173
+v -0.05950204 0.03771230 0.00233337
+v -0.05609042 0.04524110 -0.00134272
+v -0.05950204 0.03780066 -0.00207745
+v -0.05946563 0.04133997 -0.00112830
+v -0.05830961 0.04421244 0.00087179
+v -0.05950204 0.04131788 0.00134931
+v -0.05950204 0.04129369 0.00135915
+v -0.05830961 0.04421244 -0.00063750
+v -0.05950204 0.04131788 -0.00111502
+f 1 2 3
+f 1 3 6
+f 1 6 11
+f 1 11 13
+f 1 13 8
+f 1 8 4
+f 1 4 7
+f 1 7 12
+f 1 12 19
+f 1 19 15
+f 1 15 9
+f 1 9 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 4 8 7
+f 5 9 10
+f 5 10 6
+f 6 10 11
+f 7 8 12
+f 8 13 20
+f 8 20 14
+f 8 14 12
+f 9 15 16
+f 9 16 10
+f 10 16 17
+f 10 17 18
+f 10 18 11
+f 11 18 17
+f 11 17 24
+f 11 24 23
+f 11 23 26
+f 11 26 20
+f 11 20 13
+f 12 14 19
+f 14 20 21
+f 14 21 19
+f 15 22 16
+f 15 19 25
+f 15 25 22
+f 16 22 23
+f 16 23 24
+f 16 24 17
+f 19 21 25
+f 20 26 21
+f 21 26 25
+f 22 25 26
+f 22 26 23
\ No newline at end of file
diff --git a/new_dvd/new_dvd_0/collision/model_normalized_collision_24.obj b/new_dvd/new_dvd_0/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c3b8dd9fb5ed766acbc8a18da495fe8b18985cd
--- /dev/null
+++ b/new_dvd/new_dvd_0/collision/model_normalized_collision_24.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v -0.02314703 0.02624437 -0.00240733
+v -0.01593728 0.02624437 -0.00240733
+v -0.02314703 0.02624437 0.00264149
+v -0.02314703 0.05939740 -0.00240783
+v -0.01593728 0.02624437 0.00264199
+v -0.01593728 0.06299683 -0.00240733
+v -0.02314703 0.05965015 0.00264149
+v -0.02314703 0.06299683 -0.00239992
+v -0.01979975 0.06299683 -0.00240733
+v -0.01593728 0.02629666 0.00264199
+v -0.01593728 0.06659625 -0.00236680
+v -0.01979975 0.06299683 0.00264149
+v -0.02314703 0.06299683 0.00263408
+v -0.02314703 0.06659625 -0.00218143
+v -0.01979975 0.06659625 -0.00235889
+v -0.01619981 0.06659625 -0.00236630
+v -0.01593728 0.06299683 0.00264149
+v -0.01593728 0.07040920 -0.00107617
+v -0.01593728 0.06325829 0.00263952
+v -0.01593728 0.06659625 0.00260096
+v -0.01979975 0.06659625 0.00259305
+v -0.02314703 0.06324957 0.00263062
+v -0.02314703 0.06923699 -0.00092689
+v -0.01979975 0.06965968 -0.00109644
+v -0.01593728 0.07075781 -0.00086214
+v -0.01593728 0.06686207 0.00255548
+v -0.01593728 0.07040920 0.00131033
+v -0.02314703 0.06659625 0.00241560
+v -0.02314703 0.06923699 0.00116105
+v -0.01593728 0.07075781 0.00109630
+v -0.01593728 0.07055300 0.00122927
+v -0.01979975 0.06965968 0.00133060
+v -0.02314703 0.06681414 0.00232662
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 13
+f 1 13 22
+f 1 22 28
+f 1 28 33
+f 1 33 29
+f 1 29 23
+f 1 23 14
+f 1 14 8
+f 1 8 4
+f 1 4 2
+f 2 4 6
+f 2 6 11
+f 2 11 18
+f 2 18 25
+f 2 25 30
+f 2 30 31
+f 2 31 27
+f 2 27 26
+f 2 26 20
+f 2 20 19
+f 2 19 17
+f 2 17 10
+f 2 10 5
+f 3 5 10
+f 3 10 7
+f 4 8 9
+f 4 9 6
+f 6 9 11
+f 7 12 13
+f 7 10 12
+f 8 14 15
+f 8 15 9
+f 9 15 16
+f 9 16 11
+f 10 17 12
+f 11 16 18
+f 12 17 19
+f 12 19 20
+f 12 20 21
+f 12 21 13
+f 13 21 22
+f 14 23 24
+f 14 24 18
+f 14 18 15
+f 15 18 16
+f 18 24 25
+f 20 26 21
+f 21 26 27
+f 21 27 28
+f 21 28 22
+f 23 29 30
+f 23 30 25
+f 23 25 24
+f 27 31 32
+f 27 32 33
+f 27 33 28
+f 29 33 32
+f 29 32 30
+f 30 32 31
\ No newline at end of file
diff --git a/new_dvd/new_dvd_0/collision/model_normalized_collision_26.obj b/new_dvd/new_dvd_0/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81e3fccb38b577603f01734098ac1d71668d73ff
--- /dev/null
+++ b/new_dvd/new_dvd_0/collision/model_normalized_collision_26.obj
@@ -0,0 +1,126 @@
+# https://github.com/mikedh/trimesh
+v 0.05606683 0.04526763 0.00157706
+v 0.05607246 0.04524855 0.00158151
+v 0.05830684 0.04421514 0.00087212
+v 0.05606683 0.04526763 -0.00134260
+v 0.05222076 0.04526763 0.00257484
+v 0.05940008 0.03780058 0.00235520
+v 0.05946489 0.04133961 0.00136137
+v 0.05579634 0.04140003 0.00256347
+v 0.05830684 0.04421514 -0.00063717
+v 0.06154712 0.04009846 0.00061142
+v 0.05605555 0.04526763 -0.00134705
+v 0.05607246 0.04524855 -0.00134705
+v 0.04860011 0.04526763 0.00264212
+v 0.05219822 0.04499948 0.00264410
+v 0.05940008 0.03444068 0.00260601
+v 0.06328841 0.03444068 0.00150186
+v 0.06227406 0.03780058 0.00110562
+v 0.06154712 0.04009846 -0.00037697
+v 0.05946489 0.04133961 -0.00112692
+v 0.05579634 0.04140003 -0.00232901
+v 0.05222076 0.04526763 -0.00234039
+v 0.05940008 0.03780058 -0.00212075
+v 0.05586677 0.04133113 -0.00232506
+v 0.04527249 0.04526763 0.00264212
+v 0.03452323 0.04526763 0.00264163
+v 0.03452042 0.04133007 0.00264163
+v 0.03452042 0.03444068 0.00264163
+v 0.05219540 0.03444068 0.00264212
+v 0.05579915 0.03444068 0.00264113
+v 0.06330532 0.03444068 0.00149444
+v 0.06227406 0.03780058 -0.00087116
+v 0.05219822 0.04499948 -0.00240915
+v 0.05940008 0.03444068 -0.00237106
+v 0.05915777 0.03444068 -0.00238936
+v 0.05193055 0.04526763 -0.00240965
+v 0.06328841 0.03444068 -0.00126741
+v 0.03452323 0.04526763 -0.00240767
+v 0.03452042 0.04133007 -0.00240717
+v 0.03452042 0.03444068 -0.00240668
+v 0.06330532 0.03444068 -0.00125999
+v 0.05579915 0.03444068 -0.00240618
+v 0.03452323 0.04467939 -0.00240767
+v 0.05555402 0.03444068 -0.00240668
+f 1 2 3
+f 1 3 9
+f 1 9 4
+f 1 4 11
+f 1 11 21
+f 1 21 35
+f 1 35 37
+f 1 37 25
+f 1 25 24
+f 1 24 13
+f 1 13 5
+f 1 5 2
+f 2 6 7
+f 2 7 3
+f 2 5 8
+f 2 8 6
+f 3 7 10
+f 3 10 18
+f 3 18 9
+f 4 9 12
+f 4 12 11
+f 5 13 14
+f 5 14 8
+f 6 15 16
+f 6 16 17
+f 6 17 7
+f 6 8 15
+f 7 17 10
+f 8 14 15
+f 9 18 19
+f 9 19 12
+f 10 17 31
+f 10 31 18
+f 11 12 20
+f 11 20 21
+f 12 22 23
+f 12 23 20
+f 12 19 22
+f 13 24 14
+f 14 24 25
+f 14 25 26
+f 14 26 27
+f 14 27 28
+f 14 28 29
+f 14 29 15
+f 15 29 28
+f 15 28 27
+f 15 27 39
+f 15 39 43
+f 15 43 41
+f 15 41 34
+f 15 34 33
+f 15 33 36
+f 15 36 40
+f 15 40 30
+f 15 30 16
+f 16 30 17
+f 17 30 40
+f 17 40 31
+f 18 31 19
+f 19 31 22
+f 20 32 21
+f 20 23 33
+f 20 33 34
+f 20 34 32
+f 21 32 35
+f 22 33 23
+f 22 31 36
+f 22 36 33
+f 25 37 38
+f 25 38 26
+f 26 38 39
+f 26 39 27
+f 31 40 36
+f 32 41 35
+f 32 34 41
+f 35 39 42
+f 35 42 37
+f 35 41 43
+f 35 43 39
+f 37 42 38
+f 38 42 39
\ No newline at end of file
diff --git a/new_dvd/new_dvd_0/collision/model_normalized_collision_29.obj b/new_dvd/new_dvd_0/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6d1aba517b8e3bb52c17ed9f47c4b89dd45ab9c
--- /dev/null
+++ b/new_dvd/new_dvd_0/collision/model_normalized_collision_29.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v -0.02314703 -0.06924029 -0.00092769
+v -0.02314703 -0.06924029 0.00116225
+v -0.02314703 -0.06681127 -0.00209377
+v -0.01979943 -0.06965748 -0.00109576
+v -0.01593813 -0.07075610 -0.00086244
+v -0.01593813 -0.07075610 0.00109700
+v -0.01979943 -0.06965748 0.00133032
+v -0.02314703 -0.06659803 0.00241731
+v -0.02314703 -0.06659803 -0.00218225
+v -0.01593813 -0.07040844 -0.00107796
+v -0.01593813 -0.07055214 -0.00099640
+v -0.01593813 -0.07040844 0.00131252
+v -0.01979943 -0.06659803 0.00259279
+v -0.02314703 -0.06299623 0.00263431
+v -0.01979943 -0.06659803 -0.00235823
+v -0.02314703 -0.06325118 -0.00239629
+v -0.01593813 -0.06685762 -0.00232115
+v -0.01593813 -0.06659803 0.00260119
+v -0.01619992 -0.06659803 0.00260070
+v -0.01979943 -0.06299623 0.00264173
+v -0.02314703 -0.05939906 0.00264173
+v -0.01979943 -0.06299623 -0.00240716
+v -0.01619992 -0.06659803 -0.00236614
+v -0.02314703 -0.06299623 -0.00239975
+v -0.01593813 -0.06659803 -0.00236663
+v -0.01593813 -0.06299623 0.00264222
+v -0.02314703 -0.02340880 0.00264173
+v -0.01593813 -0.06326046 -0.00240519
+v -0.02314703 -0.05964937 -0.00240716
+v -0.02314703 -0.02340880 -0.00240766
+v -0.01593813 -0.06299623 -0.00240716
+v -0.01593813 -0.02340880 0.00264173
+v -0.01593813 -0.02340880 -0.00240716
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+f 1 8 14
+f 1 14 21
+f 1 21 27
+f 1 27 30
+f 1 30 29
+f 1 29 24
+f 1 24 16
+f 1 16 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 3 9 10
+f 3 10 4
+f 4 10 11
+f 4 11 5
+f 5 11 10
+f 5 10 17
+f 5 17 25
+f 5 25 28
+f 5 28 31
+f 5 31 33
+f 5 33 32
+f 5 32 26
+f 5 26 18
+f 5 18 12
+f 5 12 6
+f 6 12 7
+f 7 12 8
+f 8 12 13
+f 8 13 14
+f 9 15 10
+f 9 16 15
+f 10 15 17
+f 12 18 19
+f 12 19 13
+f 13 19 20
+f 13 20 14
+f 14 20 21
+f 15 16 22
+f 15 22 23
+f 15 23 17
+f 16 24 22
+f 17 23 25
+f 18 26 20
+f 18 20 19
+f 20 26 21
+f 21 26 27
+f 22 28 25
+f 22 25 23
+f 22 24 29
+f 22 29 30
+f 22 30 31
+f 22 31 28
+f 26 32 27
+f 27 32 33
+f 27 33 30
+f 30 33 31
\ No newline at end of file
diff --git a/new_dvd/new_dvd_0/collision/model_normalized_collision_33.obj b/new_dvd/new_dvd_0/collision/model_normalized_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2e6823d0a14f04254163bad28c591c5513ecbdf
--- /dev/null
+++ b/new_dvd/new_dvd_0/collision/model_normalized_collision_33.obj
@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
+v 0.01617208 0.02314648 -0.00240727
+v 0.02715016 0.02314648 -0.00240727
+v 0.01617208 0.02314648 0.00264219
+v 0.01617208 0.06299608 -0.00240776
+v 0.02715016 0.02314648 0.00264170
+v 0.01620110 0.06299608 -0.00240776
+v 0.02715016 0.05939948 -0.00240727
+v 0.02715016 0.05939948 0.00264170
+v 0.01980027 0.06299608 0.00264170
+v 0.01617208 0.06299608 0.00264170
+v 0.01617208 0.06659731 -0.00236624
+v 0.01620110 0.06659731 -0.00236624
+v 0.01980027 0.06299608 -0.00240727
+v 0.02715016 0.06284796 -0.00239590
+v 0.02715016 0.06299608 0.00262390
+v 0.02699970 0.06299608 0.00262984
+v 0.01617208 0.06659731 0.00260067
+v 0.01617208 0.06662508 -0.00236129
+v 0.01980027 0.06659731 -0.00235833
+v 0.02699970 0.06299608 -0.00239540
+v 0.02715016 0.06299608 -0.00238947
+v 0.02715016 0.06683801 0.00145830
+v 0.02714478 0.06684263 0.00146324
+v 0.02339945 0.06659731 0.00240344
+v 0.01980027 0.06659731 0.00259276
+v 0.01617530 0.07042535 0.00126453
+v 0.01617208 0.07042072 0.00126601
+v 0.01617208 0.07042535 -0.00103108
+v 0.02339945 0.06659731 -0.00216950
+v 0.02715016 0.06683338 -0.00123079
+v 0.02604107 0.06877286 -0.00045866
+v 0.02604107 0.06877286 0.00069310
+v 0.02339945 0.06920797 0.00114935
+v 0.01980027 0.06965696 0.00133027
+v 0.01617208 0.07042998 0.00126107
+v 0.01617530 0.07042535 -0.00103010
+v 0.02339945 0.06920797 -0.00091492
+v 0.01980027 0.06965696 -0.00109584
+v 0.02714478 0.06684263 -0.00122881
+f 1 2 5
+f 1 5 3
+f 1 3 10
+f 1 10 17
+f 1 17 27
+f 1 27 35
+f 1 35 28
+f 1 28 18
+f 1 18 11
+f 1 11 4
+f 1 4 6
+f 1 6 2
+f 2 6 7
+f 2 7 14
+f 2 14 21
+f 2 21 30
+f 2 30 22
+f 2 22 15
+f 2 15 8
+f 2 8 5
+f 3 5 8
+f 3 8 9
+f 3 9 10
+f 4 11 12
+f 4 12 6
+f 6 12 13
+f 6 13 7
+f 7 13 14
+f 8 15 16
+f 8 16 9
+f 9 16 17
+f 9 17 10
+f 11 18 12
+f 12 18 19
+f 12 19 20
+f 12 20 13
+f 13 20 14
+f 14 20 21
+f 15 22 23
+f 15 23 24
+f 15 24 25
+f 15 25 16
+f 16 25 17
+f 17 25 26
+f 17 26 27
+f 18 28 19
+f 19 28 29
+f 19 29 21
+f 19 21 20
+f 21 29 30
+f 22 30 31
+f 22 31 32
+f 22 32 23
+f 23 32 33
+f 23 33 24
+f 24 33 34
+f 24 34 26
+f 24 26 25
+f 26 35 27
+f 26 34 33
+f 26 33 35
+f 28 35 36
+f 28 36 37
+f 28 37 38
+f 28 38 29
+f 29 38 37
+f 29 37 39
+f 29 39 30
+f 30 39 31
+f 31 39 37
+f 31 37 36
+f 31 36 35
+f 31 35 32
+f 32 35 33
\ No newline at end of file
diff --git a/new_dvd/new_dvd_0/collision/model_normalized_collision_34.obj b/new_dvd/new_dvd_0/collision/model_normalized_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e30681ae7eb84bb77be68c262e2d33ce70804b18
--- /dev/null
+++ b/new_dvd/new_dvd_0/collision/model_normalized_collision_34.obj
@@ -0,0 +1,117 @@
+# https://github.com/mikedh/trimesh
+v 0.01616834 -0.07043327 -0.00102454
+v 0.01616834 -0.07043327 0.00125920
+v 0.01616834 -0.07042406 -0.00102949
+v 0.01980075 -0.06965923 -0.00109622
+v 0.02339987 -0.06920770 -0.00091382
+v 0.02603801 -0.06877000 -0.00045657
+v 0.01616834 -0.07042406 0.00126414
+v 0.02603801 -0.06877000 0.00069123
+v 0.02339987 -0.06920770 0.00114847
+v 0.01980075 -0.06965923 0.00133087
+v 0.01616834 -0.06659992 -0.00236563
+v 0.01620055 -0.06659992 -0.00236563
+v 0.01980075 -0.06659992 -0.00235821
+v 0.02339987 -0.06659992 -0.00216740
+v 0.02713643 -0.06685333 -0.00122277
+v 0.02339987 -0.06659992 0.00240255
+v 0.01980075 -0.06659992 0.00259336
+v 0.01616834 -0.06663217 0.00259484
+v 0.02713643 -0.06685333 0.00145742
+v 0.01616834 -0.06656306 -0.00236612
+v 0.01980075 -0.06299694 -0.00240715
+v 0.02700007 -0.06299694 -0.00239528
+v 0.02713643 -0.06299694 -0.00238985
+v 0.02713643 -0.06683950 -0.00122870
+v 0.02713643 -0.06684411 0.00146137
+v 0.02713643 -0.06299694 0.00262500
+v 0.01620055 -0.06659992 0.00260077
+v 0.02700007 -0.06299694 0.00263043
+v 0.01616834 -0.06659992 0.00260077
+v 0.01616834 -0.06299694 -0.00240715
+v 0.01616834 -0.02336877 -0.00240764
+v 0.02713643 -0.05939857 -0.00240715
+v 0.02713643 -0.06286333 0.00263043
+v 0.01980075 -0.06299694 0.00264180
+v 0.01616834 -0.06302919 0.00264180
+v 0.02700007 -0.05939857 0.00264230
+v 0.01616834 -0.02336877 0.00264180
+v 0.02713643 -0.02336877 -0.00240715
+v 0.02713643 -0.05926035 0.00264230
+v 0.02713643 -0.02336877 0.00264180
+f 1 2 7
+f 1 7 18
+f 1 18 29
+f 1 29 35
+f 1 35 37
+f 1 37 31
+f 1 31 30
+f 1 30 20
+f 1 20 11
+f 1 11 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 8
+f 1 8 2
+f 2 8 9
+f 2 9 10
+f 2 10 7
+f 3 11 12
+f 3 12 13
+f 3 13 14
+f 3 14 4
+f 4 14 5
+f 5 15 6
+f 5 14 15
+f 6 15 19
+f 6 19 8
+f 7 10 16
+f 7 16 17
+f 7 17 18
+f 8 19 9
+f 9 19 16
+f 9 16 10
+f 11 20 12
+f 12 20 21
+f 12 21 22
+f 12 22 13
+f 13 22 23
+f 13 23 14
+f 14 24 15
+f 14 23 24
+f 15 24 23
+f 15 23 32
+f 15 32 38
+f 15 38 40
+f 15 40 39
+f 15 39 33
+f 15 33 26
+f 15 26 25
+f 15 25 19
+f 16 19 25
+f 16 25 26
+f 16 26 17
+f 17 27 18
+f 17 26 28
+f 17 28 27
+f 18 27 29
+f 20 30 21
+f 21 30 31
+f 21 31 32
+f 21 32 22
+f 22 32 23
+f 26 33 28
+f 27 28 34
+f 27 34 35
+f 27 35 29
+f 28 33 36
+f 28 36 34
+f 31 37 40
+f 31 40 38
+f 31 38 32
+f 33 39 36
+f 34 36 35
+f 35 36 37
+f 36 39 37
+f 37 39 40
\ No newline at end of file
diff --git a/new_dvd/new_dvd_0/collision/model_normalized_collision_35.obj b/new_dvd/new_dvd_0/collision/model_normalized_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96fe4b05d7e6ea444a73e9a5b392daae49c77fa9
--- /dev/null
+++ b/new_dvd/new_dvd_0/collision/model_normalized_collision_35.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v -0.03450617 -0.06327047 -0.00125842
+v -0.03059987 -0.06590432 -0.00099496
+v -0.03341033 -0.06527061 -0.00052882
+v -0.03450617 -0.06327047 0.00149290
+v -0.03450617 -0.06321601 -0.00128067
+v -0.03059987 -0.06299817 -0.00225248
+v -0.02715551 -0.06683013 -0.00123173
+v -0.02715551 -0.06683508 -0.00122778
+v -0.03341033 -0.06527061 0.00076330
+v -0.03059987 -0.06590432 0.00122944
+v -0.03059987 -0.06299817 0.00248696
+v -0.03450617 -0.05939891 0.00260065
+v -0.03450617 -0.05939891 -0.00236617
+v -0.02715551 -0.06299817 -0.00238941
+v -0.03419965 -0.05939891 -0.00238891
+v -0.02715551 -0.06683508 0.00146226
+v -0.02715551 -0.06299817 0.00262388
+v -0.03419965 -0.05939891 0.00262339
+v -0.03450617 -0.05579964 0.00264069
+v -0.03450617 -0.05909196 -0.00238941
+v -0.02715551 -0.06283975 -0.00239583
+v -0.03059987 -0.05939891 -0.00240226
+v -0.02715551 -0.05939891 0.00264168
+v -0.03059987 -0.05939891 0.00263723
+v -0.03419965 -0.05579964 0.00264168
+v -0.03450617 -0.05219543 0.00264168
+v -0.03450617 -0.05579964 -0.00240621
+v -0.02715551 -0.05939891 -0.00240720
+v -0.03419965 -0.05579964 -0.00240720
+v -0.02715551 -0.05579964 0.00264217
+v -0.03450617 -0.01626218 0.00264168
+v -0.03450617 -0.05549269 -0.00240720
+v -0.03450617 -0.01626218 -0.00240769
+v -0.02715551 -0.01626218 -0.00240720
+v -0.02715551 -0.01626218 0.00264168
+f 1 2 3
+f 1 3 9
+f 1 9 4
+f 1 4 12
+f 1 12 19
+f 1 19 26
+f 1 26 31
+f 1 31 33
+f 1 33 32
+f 1 32 27
+f 1 27 20
+f 1 20 13
+f 1 13 5
+f 1 5 6
+f 1 6 2
+f 2 7 8
+f 2 8 3
+f 2 6 7
+f 3 8 16
+f 3 16 9
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 5 13 6
+f 6 14 7
+f 6 13 15
+f 6 15 14
+f 7 14 21
+f 7 21 28
+f 7 28 34
+f 7 34 35
+f 7 35 30
+f 7 30 23
+f 7 23 17
+f 7 17 16
+f 7 16 8
+f 9 16 10
+f 10 16 11
+f 11 16 17
+f 11 17 18
+f 11 18 12
+f 12 18 19
+f 13 20 15
+f 14 15 21
+f 15 20 22
+f 15 22 21
+f 17 23 24
+f 17 24 18
+f 18 24 19
+f 19 24 25
+f 19 25 26
+f 20 27 22
+f 21 22 28
+f 22 27 29
+f 22 29 28
+f 23 30 25
+f 23 25 24
+f 25 30 26
+f 26 30 31
+f 27 32 29
+f 28 29 33
+f 28 33 34
+f 29 32 33
+f 30 35 31
+f 31 35 34
+f 31 34 33
\ No newline at end of file
diff --git a/new_dvd/new_dvd_0/collision/model_normalized_collision_36.obj b/new_dvd/new_dvd_0/collision/model_normalized_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7ea7ed5853bbc301ccf04102612ce0b9ffe50a0
--- /dev/null
+++ b/new_dvd/new_dvd_0/collision/model_normalized_collision_36.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.06923865 0.02314118 0.00116078
+v 0.06965731 0.01979950 0.00133032
+v 0.07042560 0.01617321 0.00126310
+v 0.06923865 0.02314118 -0.00092620
+v 0.06659791 0.02314118 0.00241583
+v 0.07042560 0.01617321 -0.00102853
+v 0.06659791 0.01979950 0.00259279
+v 0.06659791 0.01616911 0.00260070
+v 0.07042100 0.01616911 0.00126409
+v 0.06965731 0.01979950 -0.00109575
+v 0.06681874 0.02314118 -0.00209031
+v 0.06299566 0.02314118 0.00263432
+v 0.07042100 0.01616911 -0.00102952
+v 0.06663012 0.01616911 -0.00236020
+v 0.06659791 0.01979950 -0.00235822
+v 0.06659791 0.02314118 -0.00218076
+v 0.06299566 0.01979950 0.00264173
+v 0.06299566 0.01620051 0.00264222
+v 0.06299566 0.01616911 0.00264222
+v 0.05939800 0.02314118 0.00264173
+v 0.06659791 0.01616911 -0.00236564
+v 0.06659791 0.01620051 -0.00236564
+v 0.06299566 0.01979950 -0.00240716
+v 0.06299566 0.02314118 -0.00239974
+v 0.06325789 0.02314118 -0.00239579
+v 0.06296805 0.01616911 0.00264222
+v 0.02342603 0.02314118 0.00264173
+v 0.06302786 0.01616911 -0.00240716
+v 0.02342603 0.02314118 -0.00240765
+v 0.05965563 0.02314118 -0.00240716
+v 0.02342603 0.01616911 0.00264173
+v 0.02342603 0.01616911 -0.00240716
+f 1 2 3
+f 1 3 6
+f 1 6 4
+f 1 4 11
+f 1 11 16
+f 1 16 25
+f 1 25 24
+f 1 24 30
+f 1 30 29
+f 1 29 27
+f 1 27 20
+f 1 20 12
+f 1 12 5
+f 1 5 2
+f 2 5 3
+f 3 5 7
+f 3 7 8
+f 3 8 9
+f 3 9 13
+f 3 13 6
+f 4 6 10
+f 4 10 11
+f 5 12 7
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 6 16 11
+f 6 11 10
+f 7 12 17
+f 7 17 8
+f 8 17 18
+f 8 18 19
+f 8 19 26
+f 8 26 31
+f 8 31 32
+f 8 32 28
+f 8 28 21
+f 8 21 14
+f 8 14 13
+f 8 13 9
+f 12 20 17
+f 14 21 22
+f 14 22 15
+f 15 22 23
+f 15 23 24
+f 15 24 25
+f 15 25 16
+f 17 20 18
+f 18 26 19
+f 18 20 27
+f 18 27 26
+f 21 28 22
+f 22 28 23
+f 23 28 29
+f 23 29 30
+f 23 30 24
+f 26 27 31
+f 27 29 32
+f 27 32 31
+f 28 32 29
\ No newline at end of file
diff --git a/new_dvd/new_dvd_0/collision/model_normalized_collision_38.obj b/new_dvd/new_dvd_0/collision/model_normalized_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92a1a9d36c8815385422ed33cce7ca644a166ee2
--- /dev/null
+++ b/new_dvd/new_dvd_0/collision/model_normalized_collision_38.obj
@@ -0,0 +1,126 @@
+# https://github.com/mikedh/trimesh
+v 0.02713644 -0.06685419 -0.00122265
+v 0.02713644 -0.06685419 0.00145746
+v 0.02713644 -0.06684141 -0.00122908
+v 0.03060049 -0.06590486 -0.00099528
+v 0.03341499 -0.06527056 -0.00052915
+v 0.02713644 -0.06684567 0.00146141
+v 0.03341499 -0.06527056 0.00076395
+v 0.03060049 -0.06590486 0.00123008
+v 0.02713644 -0.06299730 -0.00238971
+v 0.03060049 -0.06299730 -0.00225278
+v 0.03440391 -0.06328678 -0.00127703
+v 0.03440391 -0.06337618 -0.00123402
+v 0.02713644 -0.06666262 0.00151678
+v 0.03060049 -0.06299730 0.00248759
+v 0.03440391 -0.06337618 0.00146883
+v 0.03440391 -0.06332084 0.00149750
+v 0.02713644 -0.05939583 -0.00240701
+v 0.03060049 -0.05939583 -0.00240256
+v 0.03419972 -0.05939583 -0.00238921
+v 0.03440391 -0.05939583 -0.00237389
+v 0.02713644 -0.06299730 0.00262500
+v 0.03440391 -0.05939583 0.00260869
+v 0.03419972 -0.05939583 0.00262402
+v 0.03440391 -0.06328678 0.00151183
+v 0.03419972 -0.05579863 -0.00240701
+v 0.02713644 -0.02340248 -0.00240750
+v 0.03440391 -0.05579863 -0.00240651
+v 0.02713644 -0.06286107 0.00263044
+v 0.03440391 -0.05919150 0.00262402
+v 0.03060049 -0.05939583 0.00263736
+v 0.03440391 -0.05579863 0.00264132
+v 0.03419972 -0.05579863 0.00264230
+v 0.03440391 -0.05219716 -0.00240701
+v 0.02713644 -0.02336842 -0.00240750
+v 0.02713644 -0.05939583 0.00264181
+v 0.03440391 -0.05559429 0.00264230
+v 0.02713644 -0.02336416 0.00264181
+v 0.03440391 -0.02336842 -0.00240701
+v 0.02713644 -0.02336416 0.00249846
+v 0.03056492 -0.02336416 -0.00240701
+v 0.03419972 -0.02336416 -0.00240701
+v 0.03440391 -0.02336416 0.00264181
+v 0.03440391 -0.02336416 0.00240059
+f 1 2 6
+f 1 6 13
+f 1 13 21
+f 1 21 28
+f 1 28 35
+f 1 35 37
+f 1 37 39
+f 1 39 34
+f 1 34 26
+f 1 26 17
+f 1 17 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 7
+f 1 7 2
+f 2 7 8
+f 2 8 6
+f 3 9 10
+f 3 10 4
+f 4 10 11
+f 4 11 12
+f 4 12 5
+f 5 12 15
+f 5 15 7
+f 6 8 14
+f 6 14 13
+f 7 15 8
+f 8 15 16
+f 8 16 14
+f 9 17 18
+f 9 18 19
+f 9 19 10
+f 10 19 20
+f 10 20 11
+f 11 20 27
+f 11 27 33
+f 11 33 38
+f 11 38 43
+f 11 43 42
+f 11 42 36
+f 11 36 31
+f 11 31 29
+f 11 29 22
+f 11 22 24
+f 11 24 16
+f 11 16 15
+f 11 15 12
+f 13 14 21
+f 14 22 23
+f 14 23 21
+f 14 16 24
+f 14 24 22
+f 17 25 18
+f 17 26 25
+f 18 25 27
+f 18 27 19
+f 19 27 20
+f 21 23 28
+f 22 29 23
+f 23 30 28
+f 23 29 31
+f 23 31 32
+f 23 32 30
+f 25 33 27
+f 25 26 33
+f 26 34 38
+f 26 38 33
+f 28 30 35
+f 30 32 35
+f 31 36 32
+f 32 36 37
+f 32 37 35
+f 34 39 40
+f 34 40 41
+f 34 41 38
+f 36 42 37
+f 37 42 43
+f 37 43 41
+f 37 41 40
+f 37 40 39
+f 38 41 43
\ No newline at end of file
diff --git a/new_dvd/new_dvd_0/collision/model_normalized_collision_42.obj b/new_dvd/new_dvd_0/collision/model_normalized_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e87124ed9b3e6abe22dcff185fab682ffaef00ad
--- /dev/null
+++ b/new_dvd/new_dvd_0/collision/model_normalized_collision_42.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.05257801 -0.04502469 0.00253996
+v -0.05257801 -0.04890724 0.00162234
+v -0.05257801 -0.04177666 0.00253803
+v -0.05582664 -0.04177666 0.00246789
+v -0.05506109 -0.04794463 0.00096207
+v -0.05257801 -0.04890724 -0.00138785
+v -0.05607646 -0.04524946 0.00158171
+v -0.05257801 -0.04177666 -0.00239883
+v -0.05607851 -0.04177666 0.00236147
+v -0.05506109 -0.04794463 -0.00072757
+v -0.05607851 -0.04524876 0.00157929
+v -0.05257801 -0.04887373 -0.00140091
+v -0.05607851 -0.04202377 0.00230584
+v -0.05257801 -0.04462191 -0.00240076
+v -0.05542364 -0.04177666 -0.00233739
+v -0.05607851 -0.04177666 -0.00214971
+v -0.05607851 -0.04524736 -0.00134722
+v -0.05582664 -0.04177666 -0.00223339
+v -0.05546545 -0.04177666 -0.00232675
+f 1 2 6
+f 1 6 12
+f 1 12 14
+f 1 14 8
+f 1 8 3
+f 1 3 4
+f 1 4 2
+f 2 5 10
+f 2 10 6
+f 2 4 7
+f 2 7 5
+f 3 8 15
+f 3 15 19
+f 3 19 18
+f 3 18 16
+f 3 16 9
+f 3 9 4
+f 4 9 7
+f 5 7 11
+f 5 11 10
+f 6 10 12
+f 7 9 13
+f 7 13 11
+f 8 14 15
+f 9 16 17
+f 9 17 11
+f 9 11 13
+f 10 11 17
+f 10 17 12
+f 12 17 18
+f 12 18 19
+f 12 19 14
+f 14 19 15
+f 16 18 17
\ No newline at end of file
diff --git a/new_dvd/new_dvd_0/collision/model_normalized_collision_44.obj b/new_dvd/new_dvd_0/collision/model_normalized_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e022b390ae8e4635cd42a864102c74d2603a592c
--- /dev/null
+++ b/new_dvd/new_dvd_0/collision/model_normalized_collision_44.obj
@@ -0,0 +1,156 @@
+# https://github.com/mikedh/trimesh
+v 0.07277626 -0.00498033 0.00118210
+v 0.07275694 -0.00540032 0.00117122
+v 0.07259271 -0.00899988 0.00103974
+v 0.07277626 -0.00498033 -0.00094788
+v 0.07051078 -0.00498033 0.00229232
+v 0.07019197 -0.00899988 0.00228935
+v 0.07237534 -0.01252495 0.00076045
+v 0.07259271 -0.00899988 -0.00080552
+v 0.07024993 -0.01252495 0.00196558
+v 0.07275694 -0.00540032 -0.00093700
+v 0.07019197 -0.00899988 -0.00205513
+v 0.07019197 -0.00540032 -0.00219403
+v 0.07019197 -0.00498033 -0.00220589
+v 0.07019197 -0.00498033 0.00244011
+v 0.07019197 -0.00540032 0.00242875
+v 0.07019680 -0.01252495 0.00199178
+v 0.06659811 -0.01600899 0.00260126
+v 0.06678649 -0.01600899 0.00256814
+v 0.07237051 -0.01259945 0.00075452
+v 0.07237534 -0.01252495 -0.00052574
+v 0.07019680 -0.01259945 -0.00175014
+v 0.07019680 -0.01252495 -0.00175656
+v 0.07019680 -0.01259945 0.00198535
+v 0.06659811 -0.01600899 -0.00236555
+v 0.06659328 -0.00899988 -0.00239422
+v 0.06659328 -0.00540032 -0.00240213
+v 0.06659328 -0.00498033 -0.00240263
+v 0.06701353 -0.00498033 0.00262400
+v 0.06659328 -0.00899988 0.00262894
+v 0.06318297 -0.01600899 0.00264031
+v 0.07040934 -0.01600899 0.00129826
+v 0.07214348 -0.01495741 0.00040208
+v 0.07237051 -0.01259945 -0.00051981
+v 0.07051078 -0.01600899 0.00124142
+v 0.07040934 -0.01600899 -0.00106305
+v 0.06299941 -0.01600899 -0.00240658
+v 0.06299459 -0.01252387 -0.00240707
+v 0.06299459 -0.00498033 -0.00240707
+v 0.06659328 -0.00498033 0.00263685
+v 0.06659328 -0.00540032 0.00263685
+v 0.06299941 -0.01600899 0.00264229
+v 0.07065569 -0.01600899 0.00114700
+v 0.07214348 -0.01495741 -0.00016687
+v 0.07065569 -0.01600899 -0.00091179
+v 0.02343313 -0.01600899 -0.00240658
+v 0.02343313 -0.01262320 -0.00240707
+v 0.02343313 -0.00498249 -0.00240757
+v 0.02658742 -0.00498033 -0.00240707
+v 0.06341484 -0.00498033 0.00264130
+v 0.02343313 -0.00498033 0.00264130
+v 0.02343313 -0.01252495 0.00264179
+v 0.02343313 -0.01600899 0.00264179
+v 0.02343313 -0.00498033 -0.00212878
+f 1 2 3
+f 1 3 8
+f 1 8 4
+f 1 4 13
+f 1 13 27
+f 1 27 38
+f 1 38 48
+f 1 48 53
+f 1 53 50
+f 1 50 49
+f 1 49 39
+f 1 39 28
+f 1 28 14
+f 1 14 5
+f 1 5 6
+f 1 6 2
+f 2 6 3
+f 3 7 20
+f 3 20 8
+f 3 6 9
+f 3 9 7
+f 4 8 10
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 5 14 15
+f 5 15 6
+f 6 16 9
+f 6 15 17
+f 6 17 18
+f 6 18 16
+f 7 19 33
+f 7 33 20
+f 7 9 19
+f 8 20 21
+f 8 21 22
+f 8 22 11
+f 8 11 10
+f 9 16 23
+f 9 23 19
+f 11 22 24
+f 11 24 12
+f 12 24 13
+f 13 24 25
+f 13 25 26
+f 13 26 27
+f 14 28 17
+f 14 17 15
+f 16 18 23
+f 17 29 30
+f 17 30 41
+f 17 41 52
+f 17 52 45
+f 17 45 36
+f 17 36 24
+f 17 24 35
+f 17 35 44
+f 17 44 42
+f 17 42 34
+f 17 34 31
+f 17 31 18
+f 17 28 29
+f 18 31 23
+f 19 32 43
+f 19 43 33
+f 19 23 34
+f 19 34 32
+f 20 33 21
+f 21 33 35
+f 21 35 24
+f 21 24 22
+f 23 31 34
+f 24 36 25
+f 25 36 26
+f 26 36 27
+f 27 36 37
+f 27 37 38
+f 28 39 40
+f 28 40 29
+f 29 40 41
+f 29 41 30
+f 32 34 42
+f 32 42 44
+f 32 44 43
+f 33 43 44
+f 33 44 35
+f 36 45 46
+f 36 46 37
+f 37 46 47
+f 37 47 38
+f 38 47 48
+f 39 49 41
+f 39 41 40
+f 41 49 50
+f 41 50 51
+f 41 51 52
+f 45 52 51
+f 45 51 50
+f 45 50 53
+f 45 53 47
+f 45 47 46
+f 47 53 48
\ No newline at end of file
diff --git a/new_dvd/new_dvd_0/collision/model_normalized_collision_48.obj b/new_dvd/new_dvd_0/collision/model_normalized_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8db9f9f9aead8b339b66e85650f4ab473d9dbd01
--- /dev/null
+++ b/new_dvd/new_dvd_0/collision/model_normalized_collision_48.obj
@@ -0,0 +1,132 @@
+# https://github.com/mikedh/trimesh
+v 0.06330286 0.03444067 0.00149440
+v 0.06590651 0.03060034 0.00122945
+v 0.06527063 0.03341264 0.00076283
+v 0.06330286 0.03444067 -0.00126037
+v 0.06328705 0.03444067 0.00150182
+v 0.06683978 0.02715239 0.00145486
+v 0.06307509 0.03160412 0.00222944
+v 0.06299916 0.03060034 0.00248697
+v 0.06527063 0.03341264 -0.00052879
+v 0.06590651 0.03060034 -0.00099443
+v 0.06328705 0.03444067 -0.00126778
+v 0.05939898 0.03444067 0.00260560
+v 0.06683978 0.02715239 -0.00122577
+v 0.06299916 0.02715239 0.00262389
+v 0.05939898 0.03419954 0.00262340
+v 0.06299916 0.03060034 -0.00225195
+v 0.06307509 0.03160412 -0.00199491
+v 0.05939898 0.03444067 -0.00237107
+v 0.05579564 0.03444067 0.00264070
+v 0.06683028 0.02715239 -0.00122923
+v 0.05939582 0.03060034 0.00263724
+v 0.05939582 0.02715239 0.00264169
+v 0.06299916 0.02715239 -0.00238887
+v 0.06199314 0.03160412 -0.00229050
+v 0.05939898 0.03419954 -0.00238936
+v 0.05915855 0.03444067 -0.00238936
+v 0.05219862 0.03444067 0.00264119
+v 0.05579564 0.03419954 0.00264119
+v 0.05579880 0.03160412 0.00264169
+v 0.05579880 0.02715239 0.00264218
+v 0.06284731 0.02715239 -0.00239529
+v 0.05939898 0.03160412 -0.00239875
+v 0.05579564 0.03444067 -0.00240666
+v 0.03452358 0.03444067 0.00264119
+v 0.03452041 0.03160412 0.00264169
+v 0.03452041 0.02715239 0.00264169
+v 0.05939582 0.02715239 -0.00240666
+v 0.05939582 0.03060034 -0.00240221
+v 0.05839295 0.03160412 -0.00240370
+v 0.05579564 0.03419954 -0.00240716
+v 0.05555520 0.03444067 -0.00240716
+v 0.03452358 0.03444067 -0.00240765
+v 0.03452041 0.03160412 -0.00240716
+v 0.03452041 0.02715239 -0.00240666
+v 0.05579564 0.03160412 -0.00240716
+f 1 2 3
+f 1 3 9
+f 1 9 4
+f 1 4 11
+f 1 11 18
+f 1 18 26
+f 1 26 33
+f 1 33 41
+f 1 41 42
+f 1 42 34
+f 1 34 27
+f 1 27 19
+f 1 19 12
+f 1 12 5
+f 1 5 2
+f 2 6 3
+f 2 5 7
+f 2 7 8
+f 2 8 6
+f 3 6 13
+f 3 13 9
+f 4 9 10
+f 4 10 11
+f 5 12 7
+f 6 8 14
+f 6 14 22
+f 6 22 30
+f 6 30 36
+f 6 36 44
+f 6 44 37
+f 6 37 31
+f 6 31 23
+f 6 23 20
+f 6 20 13
+f 7 12 8
+f 8 12 15
+f 8 15 14
+f 9 13 10
+f 10 13 16
+f 10 16 17
+f 10 17 11
+f 11 17 18
+f 12 19 15
+f 13 20 16
+f 14 15 21
+f 14 21 22
+f 15 19 21
+f 16 20 23
+f 16 23 24
+f 16 24 18
+f 16 18 17
+f 18 24 25
+f 18 25 26
+f 19 27 28
+f 19 28 21
+f 21 28 22
+f 22 28 29
+f 22 29 30
+f 23 31 25
+f 23 25 24
+f 25 32 33
+f 25 33 26
+f 25 31 32
+f 27 34 35
+f 27 35 29
+f 27 29 28
+f 29 35 30
+f 30 35 36
+f 31 37 38
+f 31 38 32
+f 32 38 39
+f 32 39 33
+f 33 40 41
+f 33 39 40
+f 34 42 43
+f 34 43 35
+f 35 43 44
+f 35 44 36
+f 37 44 42
+f 37 42 45
+f 37 45 40
+f 37 40 39
+f 37 39 38
+f 40 45 42
+f 40 42 41
+f 42 44 43
\ No newline at end of file
diff --git a/new_dvd/new_dvd_0/collision/model_normalized_collision_49.obj b/new_dvd/new_dvd_0/collision/model_normalized_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e56d4761bd90c3979ec7734cca8b7fc5ab750fdf
--- /dev/null
+++ b/new_dvd/new_dvd_0/collision/model_normalized_collision_49.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.04859827 0.04859981 -0.00241034
+v 0.04827554 0.04892319 -0.00240984
+v 0.04862570 0.04892319 -0.00232721
+v 0.05248161 0.04892319 -0.00141326
+v 0.05222216 0.04526869 -0.00234057
+v 0.05193106 0.04526869 -0.00240935
+v 0.03452042 0.04526869 -0.00240737
+v 0.03452042 0.04892319 -0.00240737
+v 0.05252590 0.04892319 -0.00140238
+v 0.05605697 0.04526869 -0.00134745
+v 0.03452042 0.04526869 0.00264184
+v 0.03452042 0.04891997 0.00264184
+v 0.03452463 0.04892319 0.00264184
+v 0.05253645 0.04892319 -0.00139891
+v 0.05506135 0.04794482 -0.00072743
+v 0.05606752 0.04526869 -0.00134250
+v 0.04859827 0.04526869 0.00264184
+v 0.04859827 0.04859981 0.00264481
+v 0.04500182 0.04892319 0.00264184
+v 0.05253645 0.04892319 0.00162695
+v 0.05506135 0.04794482 0.00096191
+v 0.05606752 0.04526869 0.00157698
+v 0.05222216 0.04526869 0.00257504
+v 0.05248161 0.04892319 0.00164774
+v 0.04862570 0.04892319 0.00256168
+v 0.05252590 0.04892319 0.00163685
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 8 13
+f 2 13 19
+f 2 19 25
+f 2 25 24
+f 2 24 26
+f 2 26 20
+f 2 20 14
+f 2 14 9
+f 2 9 4
+f 2 4 3
+f 4 9 5
+f 5 9 10
+f 5 10 16
+f 5 16 22
+f 5 22 23
+f 5 23 17
+f 5 17 11
+f 5 11 7
+f 5 7 6
+f 7 11 12
+f 7 12 8
+f 8 12 13
+f 9 14 10
+f 10 14 15
+f 10 15 16
+f 11 17 18
+f 11 18 12
+f 12 18 13
+f 13 18 19
+f 14 20 21
+f 14 21 15
+f 15 21 22
+f 15 22 16
+f 17 23 18
+f 18 23 24
+f 18 24 25
+f 18 25 19
+f 20 26 21
+f 21 26 22
+f 22 26 23
+f 23 26 24
\ No newline at end of file
diff --git a/new_dvd/new_dvd_0/collision/model_normalized_collision_5.obj b/new_dvd/new_dvd_0/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1634a4cce2cf1e0e543b3825c28f048474fd632d
--- /dev/null
+++ b/new_dvd/new_dvd_0/collision/model_normalized_collision_5.obj
@@ -0,0 +1,144 @@
+# https://github.com/mikedh/trimesh
+v 0.02342603 0.02314186 0.00264167
+v 0.01259979 0.01260051 0.00269672
+v 0.01619936 0.00900103 0.00269521
+v 0.01619936 0.00540154 0.00269723
+v 0.02342603 0.00539633 0.00264167
+v 0.02342603 0.02314186 -0.00240721
+v 0.01234055 0.02314186 0.00264369
+v 0.00540066 0.01619999 0.00269672
+v 0.00900252 0.01619999 0.00269521
+v -0.00001131 0.01619999 0.00269672
+v 0.01619936 0.00539460 0.00269723
+v 0.02339850 0.00539460 0.00264167
+v 0.02342603 0.00539460 0.00260581
+v 0.02342603 0.00540154 -0.00240721
+v 0.01979893 0.00540154 -0.00243499
+v 0.01619936 0.00540154 -0.00246227
+v 0.01619936 0.00900103 -0.00246075
+v 0.01259979 0.01260051 -0.00246227
+v 0.00900252 0.01619999 -0.00246075
+v 0.00540066 0.01619999 -0.00246227
+v 0.00900252 0.02314186 -0.00240923
+v -0.00001131 0.02314186 0.00264369
+v -0.00001131 0.02158706 0.00265581
+v 0.00540066 0.01979948 0.00266945
+v -0.00001131 0.01979948 0.00266945
+v -0.00001131 0.01260051 0.00269672
+v 0.01259979 0.00539460 0.00269672
+v 0.02339850 0.00539460 -0.00240721
+v 0.01979893 0.00539460 -0.00243499
+v 0.01619936 0.00539460 -0.00246227
+v -0.00001131 0.01619999 -0.00246277
+v 0.00540066 0.01979948 -0.00243499
+v -0.00001131 0.02161138 -0.00242135
+v -0.00001131 0.02314186 -0.00240923
+v -0.00001131 0.01078861 0.00231437
+v 0.00900252 0.00539460 0.00248156
+v 0.00900252 0.00540154 0.00248257
+v 0.01259979 0.00539460 -0.00246227
+v -0.00001131 0.01260051 -0.00246227
+v -0.00001131 0.00900103 0.00193656
+v 0.00552455 0.00539460 0.00130419
+v -0.00001131 0.00789964 0.00128702
+v -0.00001131 0.00681389 0.00064656
+v 0.00900252 0.00539460 -0.00224710
+v -0.00001131 0.00900103 -0.00170210
+v 0.00552455 0.00539460 -0.00106973
+v -0.00001131 0.00681389 -0.00041210
+v 0.00558190 0.00539460 -0.00110307
+v -0.00001131 0.00791354 -0.00106115
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 5
+f 1 5 13
+f 1 13 14
+f 1 14 6
+f 1 6 21
+f 1 21 34
+f 1 34 22
+f 1 22 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
+f 2 4 3
+f 2 9 8
+f 2 8 4
+f 4 8 10
+f 4 10 26
+f 4 26 11
+f 5 11 12
+f 5 12 13
+f 6 14 29
+f 6 29 15
+f 6 15 16
+f 6 16 17
+f 6 17 18
+f 6 18 19
+f 6 19 20
+f 6 20 21
+f 7 22 23
+f 7 23 24
+f 7 24 8
+f 8 24 25
+f 8 25 10
+f 10 25 23
+f 10 23 22
+f 10 22 34
+f 10 34 33
+f 10 33 31
+f 10 31 39
+f 10 39 45
+f 10 45 49
+f 10 49 47
+f 10 47 43
+f 10 43 42
+f 10 42 40
+f 10 40 35
+f 10 35 26
+f 11 26 27
+f 11 27 36
+f 11 36 41
+f 11 41 46
+f 11 46 48
+f 11 48 44
+f 11 44 38
+f 11 38 30
+f 11 30 29
+f 11 29 28
+f 11 28 13
+f 11 13 12
+f 13 28 14
+f 14 28 29
+f 15 29 30
+f 15 30 16
+f 16 30 31
+f 16 31 18
+f 16 18 17
+f 18 31 20
+f 18 20 19
+f 20 31 32
+f 20 32 21
+f 21 32 33
+f 21 33 34
+f 23 25 24
+f 26 35 36
+f 26 36 37
+f 26 37 27
+f 27 37 36
+f 30 38 31
+f 31 38 39
+f 31 33 32
+f 35 40 36
+f 36 40 42
+f 36 42 43
+f 36 43 41
+f 38 44 39
+f 39 44 45
+f 41 43 47
+f 41 47 46
+f 44 48 47
+f 44 47 49
+f 44 49 45
+f 46 47 48
\ No newline at end of file
diff --git a/new_dvd/new_dvd_0/collision/model_normalized_collision_51.obj b/new_dvd/new_dvd_0/collision/model_normalized_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c20984987a917db88167e08e695d6c21f348d496
--- /dev/null
+++ b/new_dvd/new_dvd_0/collision/model_normalized_collision_51.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v 0.03440462 -0.06337684 -0.00123398
+v 0.03444941 -0.06328905 -0.00126561
+v 0.03780085 -0.06227520 -0.00087166
+v 0.04009916 -0.06154737 -0.00037785
+v 0.03440462 -0.06337684 0.00146884
+v 0.03440462 -0.06328622 -0.00127748
+v 0.03780085 -0.05939789 -0.00212124
+v 0.04133687 -0.05946586 -0.00112820
+v 0.04133687 -0.05946869 0.00136010
+v 0.04009916 -0.06154737 0.00061222
+v 0.03440462 -0.06332020 0.00149751
+v 0.03780085 -0.06227520 0.00110652
+v 0.03440462 -0.05939789 -0.00237383
+v 0.04133687 -0.05579843 -0.00232984
+v 0.03780085 -0.05939789 0.00235611
+v 0.04133687 -0.05586073 0.00255976
+v 0.03444941 -0.06328905 0.00150048
+v 0.03440462 -0.06328622 0.00151185
+v 0.03440462 -0.05579843 -0.00240645
+v 0.03780085 -0.05579843 -0.00239410
+v 0.04133687 -0.05219896 -0.00240645
+v 0.03440462 -0.05939789 0.00260870
+v 0.04133687 -0.05579843 0.00256470
+v 0.03440462 -0.05219896 -0.00240695
+v 0.03780085 -0.05219896 -0.00240695
+v 0.04133687 -0.04860233 -0.00240695
+v 0.03440462 -0.05919399 0.00262402
+v 0.04133687 -0.05226127 0.00264132
+v 0.03440462 -0.03444519 -0.00240744
+v 0.03444601 -0.03444519 -0.00240744
+v 0.04133687 -0.03444519 -0.00240695
+v 0.03440462 -0.05579843 0.00264132
+v 0.04133687 -0.04866463 0.00264231
+v 0.03440462 -0.05559452 0.00264181
+v 0.03440462 -0.03444519 0.00264181
+v 0.04133687 -0.03444519 0.00264181
+v 0.04133687 -0.04860233 0.00264231
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 5
+f 1 5 11
+f 1 11 18
+f 1 18 22
+f 1 22 27
+f 1 27 32
+f 1 32 34
+f 1 34 35
+f 1 35 29
+f 1 29 24
+f 1 24 19
+f 1 19 13
+f 1 13 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 3 8 4
+f 4 8 9
+f 4 9 10
+f 5 10 12
+f 5 12 11
+f 6 13 7
+f 7 13 14
+f 7 14 8
+f 8 14 21
+f 8 21 26
+f 8 26 31
+f 8 31 36
+f 8 36 37
+f 8 37 33
+f 8 33 28
+f 8 28 23
+f 8 23 16
+f 8 16 9
+f 9 15 12
+f 9 12 10
+f 9 16 15
+f 11 12 17
+f 11 17 18
+f 12 15 17
+f 13 19 20
+f 13 20 14
+f 14 20 21
+f 15 22 18
+f 15 18 17
+f 15 16 22
+f 16 23 22
+f 19 24 25
+f 19 25 21
+f 19 21 20
+f 21 25 26
+f 22 23 27
+f 23 28 27
+f 24 29 30
+f 24 30 25
+f 25 30 26
+f 26 30 31
+f 27 28 32
+f 28 33 34
+f 28 34 32
+f 29 35 36
+f 29 36 31
+f 29 31 30
+f 33 37 35
+f 33 35 34
+f 35 37 36
\ No newline at end of file
diff --git a/new_dvd/new_dvd_0/collision/model_normalized_collision_53.obj b/new_dvd/new_dvd_0/collision/model_normalized_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd977d05bc29404971def38e1d37b895b3cb8fc6
--- /dev/null
+++ b/new_dvd/new_dvd_0/collision/model_normalized_collision_53.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.04524774 0.05607590 0.00158160
+v 0.04134847 0.05946257 0.00135672
+v 0.04134847 0.05897458 0.00152283
+v 0.04521911 0.05607391 0.00158900
+v 0.04524735 0.05607391 0.00158206
+v 0.04524774 0.05607590 -0.00134684
+v 0.04421261 0.05830946 0.00087135
+v 0.04421261 0.05830946 -0.00063705
+v 0.04134847 0.05945858 -0.00112844
+v 0.04134847 0.05607391 0.00247461
+v 0.04139580 0.05607391 0.00247368
+v 0.04524735 0.05607391 -0.00134776
+v 0.04134847 0.05607391 -0.00225234
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 6
+f 1 6 8
+f 1 8 7
+f 1 7 2
+f 2 7 8
+f 2 8 9
+f 2 9 13
+f 2 13 10
+f 2 10 3
+f 3 10 11
+f 3 11 4
+f 4 11 10
+f 4 10 13
+f 4 13 12
+f 4 12 5
+f 6 12 9
+f 6 9 8
+f 9 12 13
\ No newline at end of file
diff --git a/new_dvd/new_dvd_0/collision/model_normalized_collision_55.obj b/new_dvd/new_dvd_0/collision/model_normalized_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fcaffc04e511613192d419abcbdba8503ce66ef7
--- /dev/null
+++ b/new_dvd/new_dvd_0/collision/model_normalized_collision_55.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.05950237 0.03449656 0.00257194
+v -0.05950237 0.03771171 0.00233335
+v -0.06323373 0.03449656 0.00151218
+v -0.05950237 0.03449656 -0.00232254
+v -0.05950237 0.03780053 0.00231179
+v -0.06327547 0.03449656 0.00149397
+v -0.06227605 0.03780053 0.00110686
+v -0.05950237 0.03780053 -0.00207772
+v -0.06327547 0.03449656 -0.00125989
+v -0.05950237 0.04129418 0.00135934
+v -0.06227605 0.03780053 -0.00087230
+v -0.06155068 0.04010069 0.00061386
+v -0.05950237 0.04131890 -0.00111520
+v -0.05950237 0.04131890 0.00134928
+v -0.06155068 0.04010069 -0.00037931
+f 1 2 3
+f 1 3 6
+f 1 6 9
+f 1 9 4
+f 1 4 8
+f 1 8 13
+f 1 13 14
+f 1 14 10
+f 1 10 5
+f 1 5 2
+f 2 5 3
+f 3 5 7
+f 3 7 6
+f 4 9 8
+f 5 10 7
+f 6 7 11
+f 6 11 9
+f 7 10 12
+f 7 12 15
+f 7 15 11
+f 8 11 13
+f 8 9 11
+f 10 14 12
+f 11 15 13
+f 12 14 13
+f 12 13 15
\ No newline at end of file
diff --git a/new_dvd/new_dvd_0/collision/model_normalized_collision_58.obj b/new_dvd/new_dvd_0/collision/model_normalized_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a24a90d5c0c50ac2b0d8ad747d7d95190b35fe49
--- /dev/null
+++ b/new_dvd/new_dvd_0/collision/model_normalized_collision_58.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v 0.04529517 -0.05190418 0.00264434
+v 0.04133725 -0.04866323 0.00264187
+v 0.04133725 -0.05226183 0.00264137
+v 0.04499992 -0.05219814 0.00264385
+v 0.04529517 -0.05222264 0.00256816
+v 0.04529517 -0.03444764 0.00264187
+v 0.04133725 -0.03444764 0.00264187
+v 0.04133725 -0.05579919 0.00256470
+v 0.04140041 -0.05579919 0.00256371
+v 0.04524906 -0.05607601 0.00158177
+v 0.04529517 -0.05603192 0.00158226
+v 0.04529517 -0.03444764 -0.00240734
+v 0.04133725 -0.03444764 -0.00240734
+v 0.04133725 -0.05586289 0.00255975
+v 0.04529517 -0.05605886 0.00157088
+v 0.04134035 -0.05946394 0.00136213
+v 0.04133725 -0.05947129 0.00136015
+v 0.04421531 -0.05830769 0.00087190
+v 0.04529517 -0.04859954 -0.00240734
+v 0.04499992 -0.05219814 -0.00240931
+v 0.04133725 -0.04859954 -0.00240734
+v 0.04529517 -0.05605886 -0.00133635
+v 0.04133725 -0.05946394 -0.00112809
+v 0.04134035 -0.05946394 -0.00112710
+v 0.04421531 -0.05830769 -0.00063737
+v 0.04529517 -0.05222264 -0.00233363
+v 0.04140041 -0.05579919 -0.00232868
+v 0.04133725 -0.05579919 -0.00232967
+v 0.04133725 -0.05219814 -0.00240635
+v 0.04524906 -0.05607601 -0.00134674
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 15
+f 1 15 22
+f 1 22 26
+f 1 26 19
+f 1 19 12
+f 1 12 6
+f 1 6 7
+f 1 7 2
+f 2 7 13
+f 2 13 21
+f 2 21 29
+f 2 29 28
+f 2 28 23
+f 2 23 17
+f 2 17 14
+f 2 14 8
+f 2 8 3
+f 3 8 4
+f 4 8 9
+f 4 9 5
+f 5 9 10
+f 5 10 11
+f 6 12 13
+f 6 13 7
+f 8 14 9
+f 9 14 10
+f 10 15 11
+f 10 14 16
+f 10 16 17
+f 10 17 18
+f 10 18 15
+f 12 19 20
+f 12 20 13
+f 13 20 21
+f 14 17 16
+f 15 18 25
+f 15 25 22
+f 17 23 24
+f 17 24 25
+f 17 25 18
+f 19 26 20
+f 20 26 27
+f 20 27 28
+f 20 28 29
+f 20 29 21
+f 22 25 30
+f 22 30 26
+f 23 28 27
+f 23 27 30
+f 23 30 24
+f 24 30 25
+f 26 30 27
\ No newline at end of file
diff --git a/new_dvd/new_dvd_0/collision/model_normalized_collision_59.obj b/new_dvd/new_dvd_0/collision/model_normalized_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b771c9371cba29ac34b717ee3ed298a5c5c68c3
--- /dev/null
+++ b/new_dvd/new_dvd_0/collision/model_normalized_collision_59.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.04859967 0.04859793 0.00264454
+v -0.04526902 0.05193022 0.00264355
+v -0.04526902 0.05222163 0.00257477
+v -0.04896355 0.04862961 0.00255102
+v -0.04896355 0.04823471 0.00264404
+v -0.04896355 0.03449589 0.00264157
+v -0.04526902 0.03449589 0.00264157
+v -0.04896355 0.05248982 0.00163609
+v -0.04526902 0.05605651 0.00158166
+v -0.04892666 0.05252572 0.00163609
+v -0.04896355 0.03449589 -0.00240762
+v -0.04526902 0.03449589 -0.00240762
+v -0.04896355 0.05251305 0.00162619
+v -0.04526902 0.05606918 0.00157671
+v -0.04794461 0.05505978 0.00096164
+v -0.04896355 0.04500168 -0.00240762
+v -0.04859967 0.04859793 -0.00241059
+v -0.04526902 0.04859793 -0.00240762
+v -0.04896355 0.05251305 -0.00139224
+v -0.04526902 0.05606918 -0.00134275
+v -0.04794461 0.05505978 -0.00072769
+v -0.04896355 0.04862961 -0.00231706
+v -0.04526902 0.05222163 -0.00234032
+v -0.04892666 0.05252572 -0.00140164
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 12
+f 2 12 18
+f 2 18 23
+f 2 23 20
+f 2 20 14
+f 2 14 9
+f 2 9 3
+f 3 8 4
+f 3 9 10
+f 3 10 8
+f 4 8 13
+f 4 13 19
+f 4 19 22
+f 4 22 16
+f 4 16 11
+f 4 11 6
+f 4 6 5
+f 6 11 12
+f 6 12 7
+f 8 10 13
+f 9 14 10
+f 10 14 15
+f 10 15 13
+f 11 16 17
+f 11 17 12
+f 12 17 18
+f 13 15 21
+f 13 21 19
+f 14 20 21
+f 14 21 15
+f 16 22 17
+f 17 22 23
+f 17 23 18
+f 19 21 24
+f 19 24 22
+f 20 24 21
+f 20 23 24
+f 22 24 23
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_0.obj b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d29f86efa06f5f857b10b6046c9e17312ed69b5
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_0.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v 0.05640423 -0.02540729 -0.05645071
+v 0.05640423 -0.02540729 -0.06197852
+v 0.05639623 -0.02540729 -0.05284469
+v 0.05640423 -0.02600541 -0.05284588
+v 0.05075677 -0.02540729 -0.06197971
+v 0.05640423 -0.03346192 -0.06485051
+v 0.04150965 -0.03346038 -0.06496097
+v -0.02531597 -0.03346038 -0.06497879
+v 0.05638023 -0.02540729 -0.05284469
+v 0.05640423 -0.02602853 -0.05284588
+v 0.02663907 -0.02540729 -0.06198446
+v 0.05640423 -0.03348505 -0.06485051
+v 0.04150965 -0.03996113 -0.06481725
+v -0.02531597 -0.03994726 -0.06482556
+v -0.02531597 -0.02540729 -0.06199396
+v -0.02531597 -0.02540729 -0.05284588
+v -0.02531597 -0.02602853 -0.05284588
+v 0.05640423 -0.03346038 -0.05288033
+v 0.05640423 -0.03985631 -0.06470916
+v 0.05640423 -0.04104793 -0.05861480
+v 0.04150965 -0.04115430 -0.05861480
+v -0.02531597 -0.04112501 -0.05861480
+v -0.02531597 -0.03338022 -0.05288745
+v 0.00434520 -0.03346038 -0.05288508
+v 0.05638023 -0.03346038 -0.05288033
+v 0.05640423 -0.03835791 -0.05390417
+v 0.05640423 -0.03837333 -0.05390773
+v 0.05638023 -0.03837333 -0.05390773
+v 0.04894094 -0.03837179 -0.05390773
+v 0.03407036 -0.03836870 -0.05390892
+v -0.01052538 -0.03835945 -0.05391248
+v -0.01795667 -0.03835791 -0.05391367
+v -0.02531597 -0.03835637 -0.05391486
+v -0.02531597 -0.04109572 -0.05856373
+v -0.02531597 -0.03346038 -0.05288864
+v -0.01795667 -0.03346038 -0.05288745
+v -0.02531597 -0.03830241 -0.05390298
+f 1 2 5
+f 1 5 11
+f 1 11 15
+f 1 15 16
+f 1 16 9
+f 1 9 3
+f 1 3 4
+f 1 4 10
+f 1 10 18
+f 1 18 26
+f 1 26 27
+f 1 27 20
+f 1 20 19
+f 1 19 12
+f 1 12 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 5
+f 3 9 17
+f 3 17 10
+f 3 10 4
+f 5 8 11
+f 6 12 7
+f 7 12 13
+f 7 13 8
+f 8 14 22
+f 8 22 34
+f 8 34 33
+f 8 33 37
+f 8 37 35
+f 8 35 23
+f 8 23 17
+f 8 17 16
+f 8 16 15
+f 8 15 11
+f 8 13 14
+f 9 16 17
+f 10 17 25
+f 10 25 18
+f 12 19 13
+f 13 19 20
+f 13 20 21
+f 13 21 14
+f 14 21 22
+f 17 23 24
+f 17 24 25
+f 18 25 26
+f 20 27 21
+f 21 27 28
+f 21 28 29
+f 21 29 30
+f 21 30 31
+f 21 31 32
+f 21 32 33
+f 21 33 34
+f 21 34 22
+f 23 35 36
+f 23 36 24
+f 24 36 29
+f 24 29 25
+f 25 29 26
+f 26 29 28
+f 26 28 27
+f 29 36 30
+f 30 36 31
+f 31 36 35
+f 31 35 37
+f 31 37 32
+f 32 37 33
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_1.obj b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..912eff5337921309f9c5ac61b45f5ac0aa12d84e
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_1.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v -0.04982948 -0.00913265 0.14954977
+v -0.05513159 -0.00796020 0.15401209
+v -0.05513159 -0.00834020 0.14954977
+v -0.05513159 -0.00781890 0.14535366
+v -0.04982948 -0.00898180 0.14834745
+v -0.04982948 -0.00833065 0.15505075
+v -0.04982948 -0.00261737 0.16210754
+v -0.05513159 -0.00343465 0.15774997
+v -0.05513159 -0.00372489 0.14228568
+v -0.04982948 -0.00405524 0.14061640
+v -0.04982948 -0.00824281 0.14444810
+v -0.04982948 -0.00117378 0.16211409
+v -0.05513159 0.00305199 0.15914212
+v -0.05513159 0.00238938 0.15909848
+v -0.05513159 -0.00304892 0.15803800
+v -0.05513159 0.00370504 0.14109427
+v -0.04982948 -0.00233285 0.14034145
+v -0.04982948 0.00118830 0.16211409
+v -0.04982948 0.00466935 0.15992330
+v -0.05513159 0.00868316 0.15548062
+v -0.05513159 0.00845401 0.14416007
+v -0.04982948 0.00512954 0.14053348
+v -0.04982948 0.00402966 0.13982431
+v -0.04982948 0.00900586 0.15621161
+v -0.05513159 0.00870225 0.15546534
+v -0.04982948 0.00879391 0.14350545
+v -0.05513159 0.00973148 0.14954540
+v -0.04982948 0.01037499 0.14954977
+v -0.04982948 0.01007901 0.15124305
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 10
+f 1 10 17
+f 1 17 23
+f 1 23 22
+f 1 22 26
+f 1 26 28
+f 1 28 29
+f 1 29 24
+f 1 24 19
+f 1 19 18
+f 1 18 12
+f 1 12 7
+f 1 7 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 15
+f 2 15 14
+f 2 14 13
+f 2 13 20
+f 2 20 25
+f 2 25 27
+f 2 27 21
+f 2 21 16
+f 2 16 9
+f 2 9 4
+f 2 4 3
+f 4 9 10
+f 4 10 11
+f 4 11 5
+f 7 12 13
+f 7 13 14
+f 7 14 15
+f 7 15 8
+f 9 16 10
+f 10 16 17
+f 12 18 13
+f 13 19 20
+f 13 18 19
+f 16 21 22
+f 16 22 23
+f 16 23 17
+f 19 24 25
+f 19 25 20
+f 21 26 22
+f 21 27 28
+f 21 28 26
+f 24 29 25
+f 25 29 28
+f 25 28 27
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_10.obj b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6bfcedd0d2eda3209270532c8d88a85e4ef7b1bb
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_10.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.05640423 0.01853971 -0.05284446
+v 0.05640423 -0.01115741 -0.05284446
+v 0.05640423 0.01853971 -0.06130612
+v -0.02531597 0.01853971 -0.05284446
+v -0.02531597 0.00378839 -0.05281369
+v 0.05639623 -0.01825217 -0.05284529
+v 0.05640423 -0.01825217 -0.05320874
+v -0.02531597 0.00370916 -0.05281369
+v -0.02531597 -0.00372053 -0.05281452
+v 0.05640423 0.01114244 -0.06130695
+v 0.03411036 0.01853971 -0.06130695
+v -0.02531597 0.01853971 -0.06130778
+v -0.02531597 -0.01825217 -0.05284529
+v 0.05640423 -0.01825217 -0.06130861
+v 0.04150965 0.00370916 -0.06130778
+v 0.01920778 0.01114244 -0.06130778
+v -0.00305410 0.01853971 -0.06130778
+v -0.02531597 0.01114244 -0.06130861
+v -0.02531597 -0.01825217 -0.06131027
+v 0.04150965 -0.01115741 -0.06130861
+v 0.01920778 -0.01825217 -0.06130944
+f 1 2 7
+f 1 7 14
+f 1 14 10
+f 1 10 3
+f 1 3 11
+f 1 11 17
+f 1 17 12
+f 1 12 4
+f 1 4 5
+f 1 5 8
+f 1 8 2
+f 2 6 7
+f 2 8 9
+f 2 9 6
+f 3 10 11
+f 4 12 18
+f 4 18 19
+f 4 19 13
+f 4 13 9
+f 4 9 8
+f 4 8 5
+f 6 9 13
+f 6 13 19
+f 6 19 21
+f 6 21 14
+f 6 14 7
+f 10 14 15
+f 10 15 16
+f 10 16 17
+f 10 17 11
+f 12 17 18
+f 14 20 15
+f 14 21 20
+f 15 20 21
+f 15 21 16
+f 16 21 17
+f 17 21 19
+f 17 19 18
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_100.obj b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_100.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3327c21aa508463d08a9adb2988666a10c775c22
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_100.obj
@@ -0,0 +1,147 @@
+# https://github.com/mikedh/trimesh
+v 0.09104264 0.02698174 -0.07186895
+v 0.09178255 0.02698174 -0.07176280
+v 0.09178050 0.02601181 -0.07176280
+v 0.09119185 0.01858083 -0.07116127
+v 0.08718370 0.01858083 -0.07116127
+v 0.08547499 0.02698174 -0.07140337
+v 0.09241208 0.02698174 -0.06604735
+v 0.09241003 0.02601181 -0.06604735
+v 0.09180299 0.01858083 -0.06604735
+v 0.09060933 0.01123158 -0.06567303
+v 0.09034566 0.01416758 -0.07029530
+v 0.08525219 0.02698174 -0.07134750
+v 0.08864511 0.01416758 -0.07029530
+v 0.07895485 0.01123158 -0.06485174
+v 0.07153130 0.01123004 -0.06138039
+v 0.08346784 0.01858083 -0.06930268
+v 0.09071562 0.02698174 -0.06144743
+v 0.09046013 0.02601181 -0.06075651
+v 0.09044582 0.01858083 -0.06076210
+v 0.09042743 0.01123158 -0.06076769
+v 0.09044378 0.01123158 -0.06082914
+v 0.09060933 0.01123158 -0.06559108
+v 0.07633249 0.01123004 -0.06273616
+v 0.08614540 0.01123158 -0.06768433
+v 0.08253173 0.02476432 -0.06966397
+v 0.08247449 0.02698174 -0.06971053
+v 0.08081483 0.01123158 -0.06559667
+v 0.07153130 0.01123004 -0.05284539
+v 0.07153130 0.02698019 -0.06267097
+v 0.09046013 0.02698174 -0.06075651
+v 0.08851022 0.02698174 -0.05752353
+v 0.08821794 0.02601181 -0.05703933
+v 0.08821385 0.01123158 -0.05705051
+v 0.07633249 0.01123004 -0.05284539
+v 0.07153130 0.02698174 -0.06264676
+v 0.07153130 0.02418298 -0.05284353
+v 0.08821385 0.02698174 -0.05703933
+v 0.08450207 0.02601181 -0.05387339
+v 0.08449594 0.01123158 -0.05387339
+v 0.07875250 0.01123158 -0.05285843
+v 0.07868505 0.01123158 -0.05284725
+v 0.07633249 0.02601181 -0.05284539
+v 0.07153130 0.02698174 -0.05285097
+v 0.07153130 0.02604882 -0.05284539
+v 0.08498239 0.02698174 -0.05428683
+v 0.08449594 0.02698174 -0.05387525
+v 0.07944130 0.02698174 -0.05298320
+v 0.07868505 0.02601181 -0.05284725
+v 0.07633249 0.02667333 -0.05284725
+v 0.07868505 0.02698174 -0.05285097
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 12
+f 1 12 26
+f 1 26 35
+f 1 35 43
+f 1 43 50
+f 1 50 47
+f 1 47 46
+f 1 46 45
+f 1 45 37
+f 1 37 31
+f 1 31 30
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+f 1 7 2
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+f 5 14 15
+f 5 15 16
+f 5 16 12
+f 7 17 18
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+f 8 18 19
+f 8 19 20
+f 8 20 21
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+f 9 21 22
+f 9 22 10
+f 10 22 34
+f 10 34 23
+f 10 23 24
+f 10 24 11
+f 11 24 13
+f 12 16 25
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+f 13 24 27
+f 13 27 14
+f 14 27 15
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+f 15 34 28
+f 15 28 36
+f 15 36 44
+f 15 44 43
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+f 15 35 29
+f 15 29 25
+f 15 25 16
+f 15 27 24
+f 15 24 23
+f 17 30 18
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+f 18 32 33
+f 18 33 19
+f 18 30 31
+f 19 33 20
+f 20 33 34
+f 20 34 21
+f 21 34 22
+f 25 29 26
+f 26 29 35
+f 28 34 36
+f 31 37 32
+f 32 37 38
+f 32 38 39
+f 32 39 33
+f 33 39 34
+f 34 40 41
+f 34 41 48
+f 34 48 42
+f 34 42 36
+f 34 39 40
+f 36 42 44
+f 37 45 38
+f 38 40 39
+f 38 45 46
+f 38 46 47
+f 38 47 48
+f 38 48 40
+f 40 48 41
+f 42 49 44
+f 42 48 49
+f 43 44 49
+f 43 49 50
+f 47 50 48
+f 48 50 49
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_101.obj b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_101.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b51ed39e4c7faea5b9fe0bacc0e75d5a8b65be0a
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_101.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.04731542 -0.00325478 0.09213807
+v -0.04702219 -0.00294352 0.09097308
+v -0.04702219 -0.00325478 0.09215856
+v -0.04982947 -0.00325478 0.09728312
+v -0.04702219 -0.00175499 0.09097308
+v -0.04982947 0.00309230 0.09631287
+v -0.04702219 -0.00325478 0.12437150
+v -0.04982947 -0.00325478 0.11942118
+v -0.04702219 0.00297426 0.09097650
+v -0.04714063 0.00309230 0.09144796
+v -0.04982947 0.00309230 0.12033335
+v -0.04702219 -0.00306840 0.12532809
+v -0.04717663 -0.00325478 0.12437150
+v -0.04982947 0.00267107 0.12032994
+v -0.04702219 0.00308547 0.09142063
+v -0.04702219 0.00309230 0.09144796
+v -0.04702219 0.00304260 0.12587129
+v -0.04707248 0.00309230 0.12564581
+v -0.04702219 0.00309230 0.12563214
+f 1 2 3
+f 1 3 7
+f 1 7 13
+f 1 13 8
+f 1 8 4
+f 1 4 2
+f 2 5 9
+f 2 9 15
+f 2 15 16
+f 2 16 19
+f 2 19 17
+f 2 17 12
+f 2 12 7
+f 2 7 3
+f 2 4 6
+f 2 6 5
+f 4 8 14
+f 4 14 11
+f 4 11 6
+f 5 6 9
+f 6 10 9
+f 6 11 18
+f 6 18 19
+f 6 19 16
+f 6 16 10
+f 7 12 13
+f 8 13 12
+f 8 12 14
+f 9 10 15
+f 10 16 15
+f 11 14 17
+f 11 17 18
+f 12 17 14
+f 17 19 18
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_102.obj b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_102.obj
new file mode 100644
index 0000000000000000000000000000000000000000..429cb1f6c07f3c054643f9ebc08cc76120cdf308
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_102.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.04738467 -0.00325478 0.05499458
+v -0.04702219 -0.00288325 0.05347278
+v -0.04702219 -0.00325478 0.05500839
+v -0.04982947 -0.00325478 0.05883879
+v -0.04702219 -0.00203768 0.05340376
+v -0.04982947 -0.00226569 0.05869730
+v -0.04702219 -0.00325478 0.08146575
+v -0.04982947 -0.00325478 0.08011994
+v -0.04702219 0.00291523 0.05340376
+v -0.04982947 0.00309230 0.05826595
+v -0.04702219 -0.00270929 0.08865724
+v -0.04797801 -0.00325478 0.08147956
+v -0.04982947 -0.00284411 0.08078939
+v -0.04719917 0.00309230 0.05405941
+v -0.04702219 0.00309230 0.05405941
+v -0.04982947 0.00309230 0.08064446
+v -0.04702219 0.00287485 0.08865724
+v -0.04982947 -0.00175437 0.08119659
+v -0.04702219 0.00309230 0.08568954
+v -0.04982947 0.00265554 0.08119659
+v -0.04741380 0.00309230 0.08619681
+f 1 2 3
+f 1 3 7
+f 1 7 12
+f 1 12 8
+f 1 8 4
+f 1 4 2
+f 2 5 9
+f 2 9 15
+f 2 15 19
+f 2 19 17
+f 2 17 11
+f 2 11 7
+f 2 7 3
+f 2 4 6
+f 2 6 5
+f 4 8 13
+f 4 13 18
+f 4 18 20
+f 4 20 16
+f 4 16 10
+f 4 10 6
+f 5 6 10
+f 5 10 9
+f 7 11 12
+f 8 12 11
+f 8 11 13
+f 9 14 15
+f 9 10 14
+f 10 16 21
+f 10 21 19
+f 10 19 15
+f 10 15 14
+f 11 17 20
+f 11 20 18
+f 11 18 13
+f 16 20 17
+f 16 17 21
+f 17 19 21
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_103.obj b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_103.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0693054743f451728dcd4b12db4db350c158166e
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_103.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v 0.01913231 0.04009193 0.06776976
+v 0.01913231 0.04008777 0.06783513
+v 0.01913231 0.03827459 0.06341856
+v 0.01482556 0.03754099 0.06376658
+v 0.01399734 0.03805159 0.06776976
+v 0.01416514 0.03796823 0.07217990
+v 0.01913231 0.03898110 0.07274705
+v 0.01913231 0.03759725 0.06341671
+v -0.00069766 0.01880066 0.06342776
+v 0.00446313 0.02577201 0.06346459
+v 0.00702308 0.03071761 0.06355758
+v 0.01028003 0.03533391 0.06776976
+v 0.00646807 0.03125948 0.07240639
+v 0.01172135 0.03361869 0.07277467
+v 0.01913231 0.03894359 0.07275625
+v 0.01913231 0.03371247 0.06343697
+v 0.00107495 0.01880066 0.06343421
+v -0.00284027 0.01880066 0.06777069
+v 0.00011335 0.02312936 0.06369292
+v 0.00237214 0.02775609 0.06776976
+v 0.00608730 0.03161586 0.06776976
+v -0.00034916 0.02378377 0.07227749
+v 0.00115670 0.02458407 0.07245427
+v 0.00413184 0.02616382 0.07280229
+v 0.01913231 0.03331649 0.07282254
+v 0.01913231 0.03077388 0.06776976
+v 0.01587966 0.02949632 0.06388903
+v 0.00396619 0.01880066 0.06347104
+v -0.00282952 0.01880066 0.06796219
+v -0.00048899 0.02403803 0.06777069
+v -0.00006950 0.02458407 0.06776976
+v -0.00152588 0.01880066 0.07274705
+v 0.00294006 0.02458407 0.07279492
+v -0.00140971 0.01880066 0.07276822
+v 0.00398340 0.01880066 0.07279769
+v 0.00435556 0.01880066 0.07279953
+v 0.01913231 0.03329357 0.07282254
+v 0.01913231 0.03078221 0.06907807
+v 0.00669825 0.01880066 0.06895746
+v 0.00669179 0.01880066 0.06777069
+v 0.00823422 0.02204145 0.06392954
+v 0.00437062 0.01880066 0.07279953
+v 0.01654009 0.02906699 0.07201878
+v 0.00866661 0.02145374 0.07196722
+f 1 2 7
+f 1 7 15
+f 1 15 25
+f 1 25 37
+f 1 37 38
+f 1 38 26
+f 1 26 16
+f 1 16 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 4 11 12
+f 4 12 5
+f 5 12 6
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 6 15 7
+f 8 16 17
+f 8 17 9
+f 9 17 28
+f 9 28 40
+f 9 40 39
+f 9 39 42
+f 9 42 36
+f 9 36 35
+f 9 35 34
+f 9 34 32
+f 9 32 29
+f 9 29 18
+f 9 18 19
+f 9 19 11
+f 9 11 10
+f 11 19 20
+f 11 20 21
+f 11 21 12
+f 12 21 13
+f 13 21 20
+f 13 20 22
+f 13 22 23
+f 13 23 24
+f 13 24 14
+f 14 25 15
+f 14 24 25
+f 16 26 27
+f 16 27 28
+f 16 28 17
+f 18 29 30
+f 18 30 19
+f 19 30 31
+f 19 31 20
+f 20 31 22
+f 22 31 30
+f 22 30 29
+f 22 29 32
+f 22 32 23
+f 23 32 33
+f 23 33 24
+f 24 33 34
+f 24 34 35
+f 24 35 36
+f 24 36 37
+f 24 37 25
+f 26 38 39
+f 26 39 40
+f 26 40 41
+f 26 41 27
+f 27 41 28
+f 28 41 40
+f 32 34 33
+f 36 42 37
+f 37 43 38
+f 37 42 43
+f 38 43 44
+f 38 44 39
+f 39 44 42
+f 42 44 43
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_104.obj b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_104.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b2faf517b8d4e94920b7c73115ced0c0768298f
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_104.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.01242257 -0.00414815 0.14476113
+v 0.01464983 -0.00621264 0.14491878
+v 0.01216923 -0.00414815 0.14478072
+v 0.01836252 -0.00414815 0.14499123
+v 0.01872340 -0.00621264 0.14507642
+v 0.01319355 -0.00621264 0.14503236
+v 0.00455428 -0.00414815 0.14954813
+v 0.01879084 -0.00414815 0.14511656
+v 0.02123681 -0.00621264 0.14581468
+v 0.01072024 -0.00621264 0.14896457
+v 0.01048330 -0.00621264 0.14954813
+v 0.01277616 -0.00621264 0.15445262
+v 0.01185938 -0.00414815 0.15476203
+v 0.02170887 -0.00414815 0.14905954
+v 0.02237231 -0.00621264 0.14735193
+v 0.01925743 -0.00621264 0.15432337
+v 0.01931576 -0.00414815 0.15433414
+v 0.02216817 -0.00621264 0.15363994
+v 0.02317244 -0.00621264 0.14906150
+v 0.01947433 -0.00414815 0.15432044
+v 0.01947250 -0.00415361 0.15432435
+f 1 2 3
+f 1 3 7
+f 1 7 13
+f 1 13 17
+f 1 17 20
+f 1 20 14
+f 1 14 8
+f 1 8 4
+f 1 4 5
+f 1 5 2
+f 2 6 3
+f 2 5 9
+f 2 9 15
+f 2 15 19
+f 2 19 18
+f 2 18 16
+f 2 16 12
+f 2 12 11
+f 2 11 10
+f 2 10 6
+f 3 6 7
+f 4 8 5
+f 5 8 9
+f 6 10 7
+f 7 10 11
+f 7 11 12
+f 7 12 13
+f 8 14 9
+f 9 14 15
+f 12 16 13
+f 13 16 17
+f 14 18 19
+f 14 19 15
+f 14 20 18
+f 16 18 21
+f 16 21 17
+f 17 21 20
+f 18 20 21
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_105.obj b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_105.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d404d4819ff49912de7bb73f2cc9e34fb57e8f98
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_105.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.05562809 0.03309845 0.07280128
+v 0.05562809 0.02975757 0.06777002
+v 0.05819314 0.02839317 0.07233854
+v 0.06205645 0.02669716 0.07273412
+v 0.05598176 0.03300349 0.07279760
+v 0.05562809 0.03862470 0.07252437
+v 0.06205645 0.02452201 0.06777002
+v 0.05562809 0.03029222 0.06643608
+v 0.06205645 0.03318317 0.07263477
+v 0.05638136 0.03848446 0.07248574
+v 0.05562809 0.03944568 0.06777002
+v 0.06205645 0.02458921 0.06761271
+v 0.05891432 0.02894097 0.06363205
+v 0.05562809 0.03360973 0.06343978
+v 0.06205645 0.03531888 0.07223275
+v 0.06063988 0.03753639 0.07184544
+v 0.05562809 0.03825950 0.06404051
+v 0.05638136 0.03919880 0.06777002
+v 0.06014336 0.03719456 0.06402671
+v 0.06205645 0.02731947 0.06348117
+v 0.05562809 0.03395156 0.06343978
+v 0.06205645 0.02814191 0.06340298
+v 0.06205645 0.03620705 0.06777002
+v 0.06053856 0.03746627 0.06777002
+v 0.05638136 0.03787968 0.06362009
+v 0.05562809 0.03798486 0.06358881
+v 0.06205645 0.03588713 0.06576819
+v 0.06205645 0.03443655 0.06377372
+v 0.06205645 0.03370176 0.06363389
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 11
+f 1 11 17
+f 1 17 26
+f 1 26 21
+f 1 21 14
+f 1 14 8
+f 1 8 2
+f 2 7 3
+f 2 8 7
+f 3 7 4
+f 4 7 12
+f 4 12 20
+f 4 20 22
+f 4 22 29
+f 4 29 28
+f 4 28 27
+f 4 27 23
+f 4 23 15
+f 4 15 9
+f 4 9 5
+f 5 9 6
+f 6 10 11
+f 6 9 10
+f 7 8 12
+f 8 13 12
+f 8 14 13
+f 9 15 10
+f 10 16 11
+f 10 15 16
+f 11 16 18
+f 11 18 19
+f 11 19 17
+f 12 13 20
+f 13 14 20
+f 14 21 22
+f 14 22 20
+f 15 23 16
+f 16 23 24
+f 16 24 18
+f 17 19 25
+f 17 25 26
+f 18 24 19
+f 19 24 27
+f 19 27 28
+f 19 28 25
+f 21 26 22
+f 22 26 29
+f 23 27 24
+f 25 28 29
+f 25 29 26
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_11.obj b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2e38beb5a3931ef9f0cb555a6a9111ff3a82537
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_11.obj
@@ -0,0 +1,117 @@
+# https://github.com/mikedh/trimesh
+v -0.06256941 -0.00806970 0.10643503
+v -0.06788888 -0.00806798 0.10641653
+v -0.06256941 -0.00665361 0.10271749
+v -0.05554501 -0.00660549 0.10293029
+v -0.05554501 -0.00795972 0.10664783
+v -0.06256941 -0.00806970 0.10995088
+v -0.06983626 -0.00439371 0.10434033
+v -0.06841784 -0.00236410 0.09994366
+v -0.06788888 -0.00806798 0.10988057
+v -0.06256941 -0.00293638 0.09949771
+v -0.05554501 -0.00288826 0.09897403
+v -0.05554501 -0.00795972 0.10974363
+v -0.05554501 -0.00539735 0.11325763
+v -0.06256941 -0.00497802 0.11366843
+v -0.06933565 -0.00362552 0.11236572
+v -0.07162621 0.00370928 0.10494172
+v -0.06851387 0.00370928 0.09998993
+v -0.05554501 0.00411314 0.09872052
+v -0.06758348 -0.00108206 0.11658103
+v -0.05554501 -0.00522721 0.11346118
+v -0.05554501 -0.00171449 0.11740079
+v -0.06955289 0.00391378 0.11282093
+v -0.06838951 0.00853842 0.10494172
+v -0.06712537 0.00778053 0.10085964
+v -0.06824939 0.00855732 0.11063925
+v -0.05554501 0.00413720 0.09873532
+v -0.06494027 0.00778053 0.10085964
+v -0.06758348 0.00157139 0.11658103
+v -0.05554501 -0.00150998 0.11756547
+v -0.05554501 0.00318683 0.11762284
+v -0.05555603 0.00948706 0.10450132
+v -0.06250644 0.00892853 0.10450132
+v -0.06256941 0.00903852 0.11134982
+v -0.05554501 0.00948534 0.10449207
+v -0.05554501 0.00948018 0.10447541
+v -0.06256941 0.00550860 0.11506737
+v -0.05554501 0.00667894 0.11583160
+v -0.05554501 0.00336213 0.11762284
+v -0.05554501 0.00926021 0.11252486
+v -0.05554501 0.00948018 0.10473077
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 6
+f 1 6 9
+f 1 9 2
+f 2 7 8
+f 2 8 3
+f 2 9 7
+f 3 8 10
+f 3 10 11
+f 3 11 4
+f 4 11 18
+f 4 18 26
+f 4 26 35
+f 4 35 34
+f 4 34 40
+f 4 40 39
+f 4 39 37
+f 4 37 38
+f 4 38 30
+f 4 30 29
+f 4 29 21
+f 4 21 20
+f 4 20 13
+f 4 13 12
+f 4 12 5
+f 6 12 13
+f 6 13 14
+f 6 14 9
+f 7 9 15
+f 7 15 16
+f 7 16 8
+f 8 17 18
+f 8 18 10
+f 8 16 17
+f 9 14 19
+f 9 19 15
+f 10 18 11
+f 13 20 14
+f 14 20 21
+f 14 21 19
+f 15 19 22
+f 15 22 16
+f 16 23 24
+f 16 24 17
+f 16 22 25
+f 16 25 23
+f 17 24 18
+f 18 24 27
+f 18 27 26
+f 19 28 22
+f 19 21 29
+f 19 29 30
+f 19 30 38
+f 19 38 28
+f 22 28 25
+f 23 31 32
+f 23 32 24
+f 23 25 33
+f 23 33 31
+f 24 32 31
+f 24 31 34
+f 24 34 35
+f 24 35 27
+f 25 28 36
+f 25 36 37
+f 25 37 33
+f 26 27 35
+f 28 38 37
+f 28 37 36
+f 31 33 39
+f 31 39 40
+f 31 40 34
+f 33 37 39
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_12.obj b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e702b4aebd49cd2a8e79993ac41b0638bcb88d7
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_12.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.02599510 0.00591069 0.15007398
+v -0.02599510 0.00587910 0.15000605
+v -0.02599510 0.00381638 0.15475695
+v 0.00432123 0.00213509 0.15467050
+v 0.00432123 0.00387371 0.14954804
+v 0.00432123 0.00173026 0.14478788
+v -0.02599510 0.00313544 0.14475597
+v -0.02599510 -0.00359559 0.15481047
+v -0.02598917 -0.00386352 0.15481253
+v 0.00432123 -0.00226179 0.15465712
+v 0.00432123 -0.00183474 0.14478788
+v -0.02599510 -0.00287487 0.14429797
+v -0.02599510 0.00275168 0.14430620
+v -0.02599510 -0.00386937 0.15480944
+v 0.00432123 -0.00407997 0.14953672
+v -0.02598917 -0.00604207 0.14913018
+v -0.02599510 -0.00604090 0.14912606
+f 1 2 7
+f 1 7 13
+f 1 13 12
+f 1 12 17
+f 1 17 14
+f 1 14 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 3 8 9
+f 3 9 4
+f 4 10 15
+f 4 15 11
+f 4 11 6
+f 4 6 5
+f 4 9 10
+f 6 11 12
+f 6 12 13
+f 6 13 7
+f 8 14 9
+f 9 14 10
+f 10 14 16
+f 10 16 15
+f 11 15 17
+f 11 17 12
+f 14 17 16
+f 15 16 17
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_13.obj b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da2af36a1a40da5e00c0cd555eada9f4958f0ebe
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_13.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v -0.02531597 0.04116870 -0.05861507
+v -0.01052538 0.03995883 -0.06481042
+v -0.02531597 0.03996138 -0.06480804
+v -0.02531597 0.03840075 -0.05395434
+v 0.00434520 0.03836517 -0.05390457
+v 0.04894094 0.03835627 -0.05390812
+v 0.05638023 0.03835500 -0.05390931
+v 0.04150965 0.04114074 -0.05861507
+v 0.04150965 0.03994740 -0.06481634
+v 0.01920778 0.03995248 -0.06481397
+v -0.01795667 0.03996011 -0.06480923
+v 0.04150965 0.03344819 -0.06495972
+v -0.02531597 0.03344819 -0.06494313
+v -0.02531597 0.03837025 -0.05390339
+v -0.01795667 0.03836898 -0.05390339
+v 0.05640423 0.03344819 -0.05288189
+v 0.05640423 0.03836263 -0.05392354
+v 0.05640423 0.04101365 -0.05861507
+v 0.05640423 0.04101492 -0.05863877
+v 0.05640423 0.03982921 -0.06469546
+v 0.05640423 0.03980506 -0.06469665
+v 0.05640423 0.03344946 -0.06484122
+v 0.05640423 0.02818554 -0.06247590
+v -0.01795667 0.02818554 -0.06245694
+v -0.02531597 0.02818554 -0.06245457
+v -0.02531597 0.03344819 -0.05287597
+v 0.01177649 0.03344819 -0.05287834
+v 0.05639623 0.02818554 -0.05285463
+v -0.02531597 0.02818554 -0.05285463
+f 1 2 3
+f 1 3 13
+f 1 13 25
+f 1 25 29
+f 1 29 26
+f 1 26 14
+f 1 14 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 2
+f 2 11 3
+f 2 10 12
+f 2 12 11
+f 3 11 12
+f 3 12 13
+f 4 14 15
+f 4 15 5
+f 5 15 16
+f 5 16 6
+f 6 16 7
+f 7 16 17
+f 7 17 18
+f 7 18 8
+f 8 18 19
+f 8 19 9
+f 9 19 20
+f 9 20 21
+f 9 21 22
+f 9 22 12
+f 9 12 10
+f 12 22 23
+f 12 23 13
+f 13 24 25
+f 13 23 24
+f 14 26 15
+f 15 26 27
+f 15 27 16
+f 16 28 23
+f 16 23 22
+f 16 22 21
+f 16 21 20
+f 16 20 19
+f 16 19 18
+f 16 18 17
+f 16 27 28
+f 23 28 29
+f 23 29 25
+f 23 25 24
+f 26 29 28
+f 26 28 27
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_14.obj b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d7015b68c0135c7d20c2e252e5f5d9bf6a6e670
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_14.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.05640423 0.02818554 -0.06247669
+v 0.05639623 0.02818554 -0.05285485
+v 0.05640423 0.02603657 -0.05284447
+v 0.05640423 0.01854066 -0.06130649
+v 0.01181648 0.01854066 -0.06130743
+v -0.02531597 0.01854066 -0.06130743
+v -0.02531597 0.02818554 -0.06245500
+v 0.05640423 0.02601296 -0.05284353
+v 0.00434520 0.02818554 -0.05285390
+v 0.05640423 0.01854066 -0.05284447
+v -0.02531597 0.01854066 -0.05284447
+v -0.02531597 0.02818554 -0.05285390
+v 0.05638023 0.02601296 -0.05284353
+v -0.02531597 0.02601296 -0.05284447
+f 1 2 3
+f 1 3 8
+f 1 8 10
+f 1 10 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 12
+f 1 12 9
+f 1 9 2
+f 2 8 3
+f 2 9 8
+f 4 10 11
+f 4 11 6
+f 4 6 5
+f 6 11 14
+f 6 14 12
+f 6 12 7
+f 8 9 12
+f 8 12 13
+f 8 13 11
+f 8 11 10
+f 11 13 14
+f 12 14 13
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_15.obj b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc00185e950a9d02938f4e2de62c8b1edb79aae7
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_15.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.02531597 0.02784913 -0.05285315
+v -0.02531597 0.02609254 -0.05284504
+v -0.02531597 0.02784913 -0.06082219
+v -0.04769911 0.02784913 -0.05285315
+v -0.04026554 0.01333170 -0.05195714
+v -0.03808143 0.01333170 -0.05196642
+v -0.02531597 0.01333170 -0.05284504
+v -0.02531597 0.02453208 -0.06181904
+v -0.02532548 0.02784913 -0.06239513
+v -0.04769911 0.02784913 -0.06256437
+v -0.05770036 0.02665249 -0.05284852
+v -0.04769911 0.01333313 -0.05196758
+v -0.04769911 0.01333028 -0.05196758
+v -0.02531597 0.01333170 -0.06130786
+v -0.05770036 0.02665249 -0.06379768
+v -0.05770036 0.02601153 -0.05284504
+v -0.05770036 0.01333028 -0.05278361
+v -0.04769911 0.01333028 -0.06143885
+v -0.05770036 0.01333028 -0.06171240
+f 1 2 7
+f 1 7 14
+f 1 14 8
+f 1 8 3
+f 1 3 9
+f 1 9 10
+f 1 10 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 3 8 9
+f 4 10 15
+f 4 15 11
+f 4 11 12
+f 4 12 5
+f 5 12 13
+f 5 13 6
+f 6 13 7
+f 7 13 18
+f 7 18 14
+f 8 14 9
+f 9 14 15
+f 9 15 10
+f 11 15 19
+f 11 19 17
+f 11 17 16
+f 11 16 12
+f 12 16 17
+f 12 17 13
+f 13 17 19
+f 13 19 18
+f 14 18 19
+f 14 19 15
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_16.obj b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..093a0dde4e39ab1f1100d1e213c1002c83dff038
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_16.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v -0.02531597 0.01333028 -0.05284372
+v -0.02531597 0.00378932 -0.05281460
+v -0.02531597 0.01333028 -0.06130762
+v -0.03808058 0.01333028 -0.05196530
+v -0.03974624 0.00422834 -0.04889212
+v -0.02531597 -0.00372325 -0.05281460
+v -0.02531597 0.00370950 -0.06130888
+v -0.04026778 0.00370950 -0.06180251
+v -0.05861282 0.01333028 -0.06182151
+v -0.04026778 0.01333028 -0.05195644
+v -0.03975602 -0.00420687 -0.04889212
+v -0.04817883 0.00421895 -0.04889212
+v -0.02532249 -0.01065359 -0.05284245
+v -0.02531597 -0.01065359 -0.05333735
+v -0.02531597 -0.01065359 -0.06130888
+v -0.04026778 -0.00372325 -0.06179619
+v -0.05861282 -0.00372325 -0.06181517
+v -0.05861282 0.01333028 -0.05280448
+v -0.04769967 0.01333028 -0.05196784
+v -0.04022866 -0.01065359 -0.05146154
+v -0.04816905 -0.00419513 -0.04889212
+v -0.05861282 0.00370950 -0.05220326
+v -0.05861282 0.00023024 -0.05220326
+v -0.02590270 -0.01065359 -0.06132154
+v -0.05861282 -0.01065359 -0.06179745
+v -0.04711946 -0.01065359 -0.05147547
+v -0.05861282 -0.00372325 -0.05221086
+v -0.05861282 -0.00720485 -0.05222351
+v -0.05861282 -0.01065359 -0.05269310
+v -0.04773553 -0.01065359 -0.05147800
+f 1 2 6
+f 1 6 14
+f 1 14 15
+f 1 15 7
+f 1 7 3
+f 1 3 9
+f 1 9 18
+f 1 18 19
+f 1 19 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 3 8 9
+f 4 10 5
+f 5 11 6
+f 5 10 12
+f 5 12 21
+f 5 21 11
+f 6 13 14
+f 6 11 13
+f 7 15 8
+f 8 15 16
+f 8 16 17
+f 8 17 9
+f 9 17 25
+f 9 25 29
+f 9 29 28
+f 9 28 27
+f 9 27 23
+f 9 23 22
+f 9 22 18
+f 10 19 12
+f 11 20 13
+f 11 21 20
+f 12 19 18
+f 12 18 22
+f 12 22 23
+f 12 23 21
+f 13 20 26
+f 13 26 30
+f 13 30 29
+f 13 29 25
+f 13 25 24
+f 13 24 15
+f 13 15 14
+f 15 24 16
+f 16 25 17
+f 16 24 25
+f 20 21 26
+f 21 23 27
+f 21 27 28
+f 21 28 29
+f 21 29 30
+f 21 30 26
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_17.obj b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9eaaf75c8925f7edf97c8e8c23a49ffb8f31442
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_17.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.05640423 -0.00007113 -0.06130735
+v 0.07153082 -0.00007113 -0.06138241
+v 0.05640423 -0.00007113 -0.05284442
+v 0.05640423 0.02698327 -0.06226189
+v 0.07153082 0.02698063 -0.06267277
+v 0.07153082 -0.00007113 -0.05284442
+v 0.06381650 0.02601137 -0.05284346
+v 0.05640423 0.02603521 -0.05284442
+v 0.05640423 0.02698327 -0.05284924
+v 0.07152786 0.02698327 -0.06267277
+v 0.07153082 0.02698327 -0.06264872
+v 0.07153082 0.02604845 -0.05284442
+v 0.07153082 0.02629209 -0.05284539
+v 0.07153082 0.02698327 -0.05284924
+f 1 2 6
+f 1 6 3
+f 1 3 8
+f 1 8 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 11
+f 2 11 14
+f 2 14 13
+f 2 13 12
+f 2 12 6
+f 3 6 7
+f 3 7 8
+f 4 9 14
+f 4 14 11
+f 4 11 10
+f 4 10 5
+f 5 10 11
+f 6 12 7
+f 7 12 13
+f 7 13 14
+f 7 14 9
+f 7 9 8
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_18.obj b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5fb01d028a99adc028411a98b2c5bde9d46b7ab
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_18.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v -0.05513498 0.00387814 0.07760246
+v -0.06256919 0.00370866 0.07628629
+v -0.06256919 -0.00372325 0.07584816
+v -0.05513498 0.00375148 0.07759362
+v -0.05513498 0.00875009 0.07381473
+v -0.06796075 0.00815782 0.07256747
+v -0.06912168 0.00370866 0.07400730
+v -0.06907596 -0.00372325 0.07396313
+v -0.05513498 -0.00318806 0.07642586
+v -0.06789706 -0.00812423 0.07250917
+v -0.05513498 0.00969379 0.06777098
+v -0.06256919 0.00906763 0.06777098
+v -0.06863837 0.00842363 0.06777098
+v -0.07181582 0.00370866 0.06777098
+v -0.07171622 -0.00372325 0.06777098
+v -0.05513498 -0.00326299 0.07636933
+v -0.06854040 -0.00837042 0.06777098
+v -0.06256919 -0.00853097 0.06777098
+v -0.06256919 -0.00809212 0.07251094
+v -0.05513498 0.00837011 0.06255403
+v -0.06774849 0.00802581 0.06326246
+v -0.06897799 0.00370866 0.06212473
+v -0.06892574 -0.00372325 0.06216183
+v -0.06767991 -0.00799579 0.06331192
+v -0.05513498 -0.00800828 0.07233074
+v -0.05513498 -0.00778529 0.06363346
+v -0.05513498 -0.00835258 0.06777098
+v -0.05513498 0.00370866 0.05955423
+v -0.06256919 0.00370866 0.06050646
+v -0.06256919 -0.00372325 0.06080326
+v -0.05513498 -0.00372325 0.06063543
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 16
+f 1 16 25
+f 1 25 27
+f 1 27 26
+f 1 26 31
+f 1 31 28
+f 1 28 20
+f 1 20 11
+f 1 11 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 3 9 4
+f 3 8 10
+f 3 10 9
+f 5 11 6
+f 6 11 12
+f 6 12 13
+f 6 13 14
+f 6 14 7
+f 7 14 8
+f 8 15 10
+f 8 14 15
+f 9 10 16
+f 10 17 18
+f 10 18 19
+f 10 19 16
+f 10 15 17
+f 11 20 21
+f 11 21 12
+f 12 21 13
+f 13 21 14
+f 14 21 22
+f 14 22 23
+f 14 23 15
+f 15 23 24
+f 15 24 17
+f 16 19 25
+f 17 24 18
+f 18 24 26
+f 18 26 27
+f 18 27 25
+f 18 25 19
+f 20 28 21
+f 21 28 29
+f 21 29 22
+f 22 29 23
+f 23 30 24
+f 23 29 30
+f 24 31 26
+f 24 30 31
+f 28 31 30
+f 28 30 29
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_19.obj b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0828e0fac2507663b8e93cb040ea38e5e7eb54f9
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_19.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v -0.07000917 -0.01065359 -0.06752408
+v -0.07449118 -0.01065359 -0.06550074
+v -0.07000295 0.00370708 -0.06550974
+v -0.06287120 0.00370708 -0.06441482
+v -0.06284012 -0.01065359 -0.06482280
+v -0.07449118 -0.01065359 -0.06522026
+v -0.07430625 0.00370708 -0.06342640
+v -0.05861608 0.00370708 -0.06181552
+v -0.05861608 0.00271606 -0.06181552
+v -0.05861608 -0.00372347 -0.06181403
+v -0.05861608 -0.01065359 -0.06179752
+v -0.07431401 -0.01065359 -0.06076561
+v -0.07430625 0.00370708 -0.06077761
+v -0.05861608 0.00370708 -0.05220427
+v -0.05861608 -0.01065359 -0.05269323
+v -0.07209632 -0.01065359 -0.05705040
+v -0.07209476 -0.00372347 -0.05705640
+v -0.07209166 0.00370708 -0.05706240
+v -0.05861608 0.00022796 -0.05220427
+v -0.06256971 0.00370708 -0.05281622
+v -0.05861608 -0.00720540 -0.05222377
+v -0.06206462 -0.01065359 -0.05276523
+v -0.07184456 -0.01065359 -0.05683441
+v -0.06837426 0.00370708 -0.05387214
+v -0.06256971 -0.00372347 -0.05281772
+v -0.05861608 -0.00372347 -0.05221027
+v -0.06798573 -0.01065359 -0.05380015
+v -0.06256971 -0.01065359 -0.05284322
+v -0.06838048 -0.01065359 -0.05387214
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 15
+f 1 15 22
+f 1 22 28
+f 1 28 27
+f 1 27 29
+f 1 29 23
+f 1 23 16
+f 1 16 12
+f 1 12 6
+f 1 6 2
+f 2 6 13
+f 2 13 7
+f 2 7 3
+f 3 7 13
+f 3 13 18
+f 3 18 24
+f 3 24 20
+f 3 20 14
+f 3 14 8
+f 3 8 4
+f 4 8 5
+f 5 8 9
+f 5 9 10
+f 5 10 11
+f 6 12 13
+f 8 14 19
+f 8 19 26
+f 8 26 21
+f 8 21 15
+f 8 15 11
+f 8 11 10
+f 8 10 9
+f 12 16 17
+f 12 17 18
+f 12 18 13
+f 14 20 19
+f 15 21 22
+f 16 23 24
+f 16 24 17
+f 17 24 18
+f 19 20 25
+f 19 25 26
+f 20 27 25
+f 20 24 27
+f 21 26 22
+f 22 25 28
+f 22 26 25
+f 23 29 24
+f 24 29 27
+f 25 27 28
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_2.obj b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee02a6d4c66741322a595e772fc45029e99362ea
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_2.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v -0.05513210 0.00305239 0.15914278
+v -0.06256963 0.00370919 0.15787593
+v -0.06256963 -0.00372258 0.15739533
+v -0.05513210 0.00238846 0.15909861
+v -0.05513210 0.00868333 0.15548003
+v -0.05513538 0.00870296 0.15546767
+v -0.06796086 0.00816039 0.15432273
+v -0.06911846 0.00370919 0.15569206
+v -0.06903156 -0.00372258 0.15560725
+v -0.05513210 -0.00304972 0.15803847
+v -0.06784608 -0.00808277 0.15420965
+v -0.05513210 0.00870296 0.15546413
+v -0.05513538 0.00973277 0.14954862
+v -0.07188294 0.00370919 0.14954862
+v -0.06256963 0.00913666 0.14954862
+v -0.06870527 0.00846559 0.14954862
+v -0.07170258 -0.00372258 0.14954862
+v -0.05513210 -0.00343345 0.15775048
+v -0.06852654 -0.00834691 0.14954862
+v -0.06256963 -0.00850040 0.14954862
+v -0.06256963 -0.00803636 0.15417961
+v -0.05513210 0.00973099 0.14954508
+v -0.05513538 0.00845666 0.14416139
+v -0.06783624 0.00807829 0.14495826
+v -0.06904959 0.00370919 0.14377975
+v -0.06895614 -0.00372258 0.14385396
+v -0.06771327 -0.00800602 0.14505897
+v -0.05513210 -0.00796140 0.15401175
+v -0.05513210 -0.00833977 0.14954862
+v -0.05513538 -0.00781862 0.14535227
+v -0.05513210 0.00845488 0.14415963
+v -0.05513538 0.00370919 0.14109409
+v -0.06256963 0.00370919 0.14202170
+v -0.06256963 -0.00372258 0.14240688
+v -0.05513210 -0.00372615 0.14228497
+v -0.05513210 -0.00781862 0.14535404
+v -0.05513210 0.00370562 0.14109409
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 18
+f 1 18 28
+f 1 28 29
+f 1 29 36
+f 1 36 35
+f 1 35 37
+f 1 37 31
+f 1 31 22
+f 1 22 12
+f 1 12 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 3 10 4
+f 3 9 11
+f 3 11 10
+f 5 12 6
+f 6 12 13
+f 6 13 7
+f 7 14 8
+f 7 13 15
+f 7 15 16
+f 7 16 14
+f 8 14 9
+f 9 17 11
+f 9 14 17
+f 10 11 18
+f 11 19 20
+f 11 20 21
+f 11 21 18
+f 11 17 19
+f 12 22 13
+f 13 22 23
+f 13 23 24
+f 13 24 15
+f 14 16 24
+f 14 24 25
+f 14 25 26
+f 14 26 17
+f 15 24 16
+f 17 26 27
+f 17 27 19
+f 18 21 28
+f 19 27 20
+f 20 29 28
+f 20 28 21
+f 20 27 30
+f 20 30 29
+f 22 31 23
+f 23 31 24
+f 24 32 33
+f 24 33 25
+f 24 31 32
+f 25 33 26
+f 26 34 27
+f 26 33 34
+f 27 35 30
+f 27 34 35
+f 29 30 36
+f 30 35 36
+f 31 37 32
+f 32 37 34
+f 32 34 33
+f 34 37 35
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_20.obj b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0dab65ee4a3b2546bd8b147da78db3666c09518c
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_20.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.04769974 0.04148106 -0.06621803
+v -0.04769974 0.03375186 -0.06644965
+v -0.04769974 0.04120621 -0.05861577
+v -0.02531597 0.04116752 -0.05861577
+v -0.02531597 0.04115551 -0.05868232
+v -0.02531597 0.03996137 -0.06480833
+v -0.04769974 0.03373584 -0.06644300
+v -0.02531597 0.03344898 -0.06494278
+v -0.04769974 0.03837497 -0.05390211
+v -0.04026550 0.03837364 -0.05390211
+v -0.03283346 0.03837230 -0.05390211
+v -0.02531597 0.03840165 -0.05395403
+v -0.04769974 0.02785055 -0.06256399
+v -0.02532474 0.02785055 -0.06239626
+v -0.02531597 0.03339161 -0.06491615
+v -0.04769974 0.03344898 -0.05287446
+v -0.02531597 0.03344898 -0.05287579
+v -0.02531597 0.03837097 -0.05390344
+v -0.04769974 0.02785055 -0.05285182
+v -0.02531597 0.02821079 -0.06245883
+v -0.02531597 0.02785055 -0.06082283
+v -0.02531597 0.02785055 -0.05285316
+f 1 2 7
+f 1 7 13
+f 1 13 19
+f 1 19 16
+f 1 16 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 8
+f 2 8 7
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 4
+f 4 12 18
+f 4 18 17
+f 4 17 22
+f 4 22 21
+f 4 21 20
+f 4 20 15
+f 4 15 8
+f 4 8 6
+f 4 6 5
+f 7 8 14
+f 7 14 13
+f 8 15 14
+f 9 16 10
+f 10 16 11
+f 11 16 17
+f 11 17 18
+f 11 18 12
+f 13 14 21
+f 13 21 22
+f 13 22 19
+f 14 15 20
+f 14 20 21
+f 16 19 22
+f 16 22 17
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_21.obj b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a23b8852e8b317084c70bc7eb594a1ad24a129ad
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_21.obj
@@ -0,0 +1,132 @@
+# https://github.com/mikedh/trimesh
+v -0.05861766 0.00371157 -0.05220277
+v -0.06257207 0.00371157 -0.05281712
+v -0.05861766 0.00370708 -0.05220277
+v -0.05770399 0.01333383 -0.05278840
+v -0.05770399 0.02642854 -0.05284965
+v -0.05770399 0.02665091 -0.05285157
+v -0.06095361 0.02665315 -0.05284965
+v -0.06257207 0.02665315 -0.05284965
+v -0.06257207 0.02601077 -0.05284774
+v -0.06837199 0.01333158 -0.05387355
+v -0.06837380 0.00371157 -0.05387355
+v -0.06257207 0.00370708 -0.05281712
+v -0.06836472 0.02665315 -0.05387355
+v -0.06836654 0.02601077 -0.05387355
+v -0.06837017 0.01857845 -0.05387355
+v -0.05861766 0.00370708 -0.06181598
+v -0.05770399 0.01333383 -0.06171647
+v -0.05770399 0.02665091 -0.06379681
+v -0.06095361 0.02665315 -0.06541017
+v -0.07209026 0.00371157 -0.05706392
+v -0.06837380 0.00370708 -0.05387355
+v -0.07207936 0.02665315 -0.05708498
+v -0.07208118 0.02601077 -0.05708307
+v -0.07208844 0.01114613 -0.05706967
+v -0.06287178 0.00370708 -0.06441307
+v -0.06640478 0.02458001 -0.06967613
+v -0.06931472 0.02665315 -0.07135456
+v -0.07209026 0.00370708 -0.05706392
+v -0.07432630 0.02601077 -0.06079974
+v -0.07432630 0.02665315 -0.06080165
+v -0.07000134 0.00370708 -0.06550779
+v -0.07261884 0.01422328 -0.07024645
+v -0.07112209 0.01857845 -0.07112107
+v -0.06740746 0.01857845 -0.06929719
+v -0.06932562 0.02664192 -0.07136030
+v -0.06933652 0.02665315 -0.07136221
+v -0.07430633 0.00370708 -0.06078060
+v -0.07625900 0.02665315 -0.06604748
+v -0.07625900 0.02601077 -0.06604748
+v -0.07430633 0.00370708 -0.06342361
+v -0.07418099 0.01422328 -0.07024645
+v -0.07564868 0.02601077 -0.07175456
+v -0.07503109 0.01857845 -0.07112107
+v -0.07564868 0.02665315 -0.07175456
+v -0.07562870 0.01857845 -0.06604748
+f 1 2 12
+f 1 12 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
+f 2 10 11
+f 2 11 21
+f 2 21 12
+f 2 9 13
+f 2 13 14
+f 2 14 15
+f 2 15 10
+f 3 12 21
+f 3 21 28
+f 3 28 37
+f 3 37 40
+f 3 40 31
+f 3 31 25
+f 3 25 16
+f 3 16 17
+f 3 17 4
+f 4 17 18
+f 4 18 6
+f 4 6 5
+f 6 18 19
+f 6 19 7
+f 7 19 27
+f 7 27 36
+f 7 36 44
+f 7 44 38
+f 7 38 30
+f 7 30 22
+f 7 22 13
+f 7 13 8
+f 8 13 9
+f 10 20 11
+f 10 15 20
+f 11 20 28
+f 11 28 21
+f 13 22 23
+f 13 23 14
+f 14 23 24
+f 14 24 20
+f 14 20 15
+f 16 25 26
+f 16 26 18
+f 16 18 17
+f 18 27 19
+f 18 26 27
+f 20 24 29
+f 20 29 28
+f 22 30 23
+f 23 30 29
+f 23 29 24
+f 25 31 32
+f 25 32 33
+f 25 33 34
+f 25 34 26
+f 26 34 33
+f 26 33 35
+f 26 35 27
+f 27 35 36
+f 28 29 37
+f 29 30 38
+f 29 38 39
+f 29 39 37
+f 31 40 41
+f 31 41 32
+f 32 41 43
+f 32 43 33
+f 33 42 36
+f 33 36 35
+f 33 43 42
+f 36 42 44
+f 37 39 45
+f 37 45 40
+f 38 44 42
+f 38 42 39
+f 39 42 45
+f 40 45 43
+f 40 43 41
+f 42 43 45
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_22.obj b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef404cb18e1a0e1b488ced58cbea3f7140ae9067
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_22.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v -0.03976651 -0.00881074 0.14952331
+v -0.03976651 -0.00807376 0.14453052
+v -0.03461808 -0.00751401 0.14571711
+v -0.03349833 -0.00757542 0.14745363
+v -0.03349833 -0.00780704 0.14918787
+v -0.03349833 -0.00774212 0.15319716
+v -0.03976651 -0.00880548 0.14981768
+v -0.03976651 -0.00413794 0.14036149
+v -0.03349833 -0.00595056 0.14470166
+v -0.03349833 -0.00767895 0.15369918
+v -0.03976651 -0.00816500 0.15503181
+v -0.03976651 -0.00406424 0.14036149
+v -0.03349833 -0.00439763 0.14323440
+v -0.03349833 -0.00309213 0.15732283
+v -0.03976651 -0.00241130 0.16367108
+v -0.03976651 0.00411097 0.14042310
+v -0.03349833 -0.00317635 0.14324353
+v -0.03349833 -0.00302194 0.15737760
+v -0.03643914 -0.00007402 0.16089628
+v -0.03976651 0.00240188 0.16367108
+v -0.03349833 0.00485673 0.14407414
+v -0.03349833 0.00434084 0.14354246
+v -0.03976651 0.00812050 0.14463320
+v -0.03571514 0.00747652 0.14576959
+v -0.03349833 0.00300726 0.15735478
+v -0.03643914 0.00006109 0.16089628
+v -0.03976651 0.00251418 0.16364825
+v -0.03349833 0.00738176 0.14675080
+v -0.03976651 0.00903470 0.14913539
+v -0.03349833 0.00743440 0.15400724
+v -0.03976651 0.00839774 0.15505006
+v -0.03349833 0.00770112 0.15367408
+v -0.03976651 0.00911542 0.14958720
+v -0.03349833 0.00771165 0.15005271
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 11
+f 1 11 15
+f 1 15 20
+f 1 20 27
+f 1 27 31
+f 1 31 33
+f 1 33 29
+f 1 29 23
+f 1 23 16
+f 1 16 12
+f 1 12 8
+f 1 8 2
+f 2 8 3
+f 3 8 9
+f 3 9 4
+f 4 9 13
+f 4 13 17
+f 4 17 22
+f 4 22 21
+f 4 21 28
+f 4 28 34
+f 4 34 32
+f 4 32 30
+f 4 30 25
+f 4 25 18
+f 4 18 14
+f 4 14 10
+f 4 10 6
+f 4 6 5
+f 6 10 11
+f 6 11 7
+f 8 12 13
+f 8 13 9
+f 10 14 15
+f 10 15 11
+f 12 16 17
+f 12 17 13
+f 14 18 15
+f 15 18 19
+f 15 19 26
+f 15 26 20
+f 16 21 22
+f 16 22 17
+f 16 23 24
+f 16 24 21
+f 18 25 26
+f 18 26 19
+f 20 26 27
+f 21 24 28
+f 23 29 28
+f 23 28 24
+f 25 27 26
+f 25 30 27
+f 27 30 32
+f 27 32 31
+f 28 29 33
+f 28 33 34
+f 31 32 33
+f 32 34 33
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_23.obj b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f380a9628c502b623291d951cb2ea0ba24cd8553
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_23.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v 0.04895226 -0.03342659 0.06776697
+v 0.04894395 -0.03342770 0.06777071
+v 0.04895226 -0.03490780 0.07285754
+v 0.04895226 -0.03569608 0.06331237
+v 0.04894395 -0.03569387 0.06331143
+v 0.02772140 -0.03613956 0.06337690
+v 0.02772140 -0.03460735 0.06715718
+v 0.02772140 -0.03442996 0.06777071
+v 0.02772140 -0.03547102 0.07280797
+v 0.04894395 -0.03491335 0.07286595
+v 0.04895226 -0.03988361 0.07286502
+v 0.04895226 -0.03894233 0.06331611
+v 0.04894395 -0.03894233 0.06331143
+v 0.02772140 -0.03920176 0.06337690
+v 0.02772140 -0.03961752 0.07280797
+v 0.04894395 -0.03988472 0.07286595
+v 0.04895226 -0.04164532 0.06777071
+v 0.03922422 -0.04475187 0.07164826
+v 0.04894395 -0.04164754 0.06777071
+v 0.04162661 -0.04340259 0.06773143
+v 0.04151231 -0.03957428 0.06349194
+v 0.03407860 -0.03961752 0.06354150
+v 0.03344267 -0.04357001 0.06773049
+v 0.02772140 -0.03983372 0.06404467
+v 0.02772140 -0.04045902 0.07278365
+v 0.04162661 -0.04148456 0.07253955
+v 0.03922422 -0.04475187 0.07018085
+v 0.03588040 -0.04475187 0.07164826
+v 0.03588040 -0.04406892 0.06876301
+v 0.03588040 -0.04352012 0.06773049
+v 0.03549801 -0.04475187 0.07018085
+v 0.02772140 -0.04241142 0.06776416
+v 0.03549801 -0.04475187 0.07164732
+v 0.03344267 -0.04161871 0.07250121
+f 1 2 3
+f 1 3 11
+f 1 11 17
+f 1 17 12
+f 1 12 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 8 9
+f 2 9 3
+f 3 10 11
+f 3 9 10
+f 4 12 13
+f 4 13 5
+f 5 13 14
+f 5 14 6
+f 6 14 24
+f 6 24 32
+f 6 32 25
+f 6 25 15
+f 6 15 9
+f 6 9 8
+f 6 8 7
+f 9 15 16
+f 9 16 10
+f 10 16 11
+f 11 16 18
+f 11 18 17
+f 12 17 13
+f 13 17 19
+f 13 19 20
+f 13 20 21
+f 13 21 14
+f 14 21 22
+f 14 22 23
+f 14 23 24
+f 15 25 16
+f 16 26 18
+f 16 25 26
+f 17 18 27
+f 17 27 19
+f 18 26 28
+f 18 28 33
+f 18 33 31
+f 18 31 27
+f 19 27 20
+f 20 27 29
+f 20 29 30
+f 20 30 21
+f 21 30 23
+f 21 23 22
+f 23 30 29
+f 23 29 31
+f 23 31 32
+f 23 32 24
+f 25 32 33
+f 25 33 34
+f 25 34 26
+f 26 34 28
+f 27 31 29
+f 28 34 33
+f 31 33 32
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_24.obj b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c5fe861c62640135eb77917c1d3579ca4d82fe1
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_24.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.02664273 -0.03538763 0.07283652
+v 0.02772140 -0.03546971 0.07280773
+v 0.01909878 -0.03330039 0.07282073
+v 0.02664273 -0.04024038 0.07283652
+v 0.02772140 -0.03443008 0.06777057
+v 0.01909878 -0.03076629 0.06777057
+v 0.02772140 -0.03961911 0.07280773
+v 0.01909878 -0.03350558 0.07281794
+v 0.01920935 -0.03901038 0.07275478
+v 0.02772140 -0.04045925 0.07278358
+v 0.02772140 -0.03460791 0.06715660
+v 0.01909878 -0.03101024 0.06672376
+v 0.01909878 -0.03898872 0.07274271
+v 0.02664273 -0.04219311 0.06777057
+v 0.02772140 -0.04241198 0.06776407
+v 0.02772140 -0.03613886 0.06337711
+v 0.01909878 -0.03371761 0.06343656
+v 0.01909878 -0.04009105 0.06777057
+v 0.01920935 -0.04013551 0.06777057
+v 0.01909878 -0.04007053 0.06766933
+v 0.01909878 -0.03828424 0.06342077
+v 0.01920935 -0.03830248 0.06341241
+v 0.02772140 -0.03983456 0.06404310
+v 0.02664273 -0.03606818 0.06334832
+v 0.02772140 -0.03920189 0.06337711
+v 0.01909878 -0.03822496 0.06341334
+v 0.02664273 -0.03913121 0.06334832
+f 1 2 3
+f 1 3 4
+f 1 4 7
+f 1 7 2
+f 2 5 6
+f 2 6 3
+f 2 7 10
+f 2 10 15
+f 2 15 23
+f 2 23 25
+f 2 25 16
+f 2 16 11
+f 2 11 5
+f 3 6 12
+f 3 12 17
+f 3 17 26
+f 3 26 21
+f 3 21 20
+f 3 20 18
+f 3 18 13
+f 3 13 8
+f 3 8 9
+f 3 9 4
+f 4 10 7
+f 4 9 10
+f 5 11 12
+f 5 12 6
+f 8 13 9
+f 9 13 14
+f 9 14 15
+f 9 15 10
+f 11 16 12
+f 12 16 17
+f 13 18 19
+f 13 19 14
+f 14 19 20
+f 14 20 21
+f 14 21 15
+f 15 21 22
+f 15 22 23
+f 16 24 17
+f 16 25 27
+f 16 27 24
+f 17 24 26
+f 18 20 19
+f 21 26 22
+f 22 26 27
+f 22 27 23
+f 23 27 25
+f 24 27 26
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_25.obj b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9eb0e128667f6389cc1ba1cea964dce0a8e12f13
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_25.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.02474872 0.00386598 0.10481384
+v -0.02474872 -0.00430988 0.10439833
+v -0.02474872 0.00380712 0.11113281
+v -0.00353474 0.00260009 0.11087269
+v -0.00353474 0.00260009 0.10517733
+v -0.02474872 -0.00431230 0.10440038
+v -0.00353474 -0.00437116 0.10548811
+v -0.02474872 -0.00379385 0.11139020
+v -0.01796190 0.00258074 0.11108695
+v -0.00353474 0.00225580 0.11087269
+v -0.00353474 -0.00437116 0.11067349
+v -0.02474872 -0.00420990 0.11139020
+v -0.01052923 -0.00343585 0.11096236
+f 1 2 6
+f 1 6 12
+f 1 12 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 6
+f 3 8 9
+f 3 9 4
+f 4 10 11
+f 4 11 7
+f 4 7 5
+f 4 9 8
+f 4 8 12
+f 4 12 10
+f 6 11 12
+f 6 7 11
+f 10 13 11
+f 10 12 13
+f 11 13 12
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_26.obj b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03f5cda6729333aeadf280809de8ed566492008a
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_26.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.06393182 -0.03408958 -0.06666763
+v 0.06394997 -0.03388810 -0.06666763
+v 0.06602375 -0.04089472 -0.07084741
+v 0.06421373 -0.04147363 -0.06666763
+v 0.06631655 -0.03643364 -0.07064402
+v 0.07629104 -0.03069695 -0.06666763
+v 0.07124935 -0.04089472 -0.07192931
+v 0.06673639 -0.04499539 -0.07032952
+v 0.06430326 -0.04185390 -0.06666763
+v 0.07629104 -0.03461317 -0.07099104
+v 0.07124935 -0.03603066 -0.07108223
+v 0.07629104 -0.04466336 -0.06666763
+v 0.07629104 -0.04089472 -0.07202261
+v 0.07124935 -0.04518836 -0.07061311
+v 0.06673639 -0.04499539 -0.06864272
+v 0.06448475 -0.04208944 -0.06666763
+v 0.07124935 -0.04467471 -0.06666763
+v 0.07629104 -0.04519120 -0.06807241
+v 0.07629104 -0.04519120 -0.07061520
+v 0.07124935 -0.04518836 -0.06807714
+v 0.06881864 -0.04445903 -0.06666763
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 16
+f 1 16 21
+f 1 21 17
+f 1 17 12
+f 1 12 6
+f 1 6 2
+f 2 5 3
+f 2 6 5
+f 3 7 8
+f 3 8 4
+f 3 5 7
+f 4 8 9
+f 5 6 10
+f 5 10 11
+f 5 11 7
+f 6 12 18
+f 6 18 19
+f 6 19 13
+f 6 13 10
+f 7 11 10
+f 7 10 13
+f 7 13 14
+f 7 14 8
+f 8 14 20
+f 8 20 15
+f 8 15 16
+f 8 16 9
+f 12 17 18
+f 13 19 14
+f 14 19 18
+f 14 18 20
+f 15 17 21
+f 15 21 16
+f 15 20 17
+f 17 20 18
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_27.obj b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e2c1f29a4a76855bf8f066a4b6bfb1fc3ca8b40
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_27.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v 0.07843760 0.02750438 -0.06644855
+v 0.07882634 0.02698505 -0.06644855
+v 0.07843760 0.04451770 -0.06644855
+v 0.07843760 0.03398887 -0.07095801
+v 0.08247513 0.02698505 -0.06971047
+v 0.09236711 0.02698505 -0.06644855
+v 0.08260062 0.04449103 -0.06644855
+v 0.07843760 0.04515264 -0.06814267
+v 0.07843760 0.03457933 -0.07105738
+v 0.08547600 0.02698505 -0.07140638
+v 0.08525504 0.02698505 -0.07135071
+v 0.09178330 0.02698505 -0.07176436
+v 0.09237120 0.03344820 -0.06644855
+v 0.08611847 0.04410864 -0.06644855
+v 0.08611847 0.04514730 -0.06826598
+v 0.07843760 0.04515264 -0.07058327
+v 0.07843760 0.04088063 -0.07204452
+v 0.08611847 0.03344820 -0.07256354
+v 0.09104400 0.02698505 -0.07186853
+v 0.09178603 0.03344820 -0.07176556
+v 0.09232073 0.03402799 -0.06644855
+v 0.08799265 0.04388099 -0.06644855
+v 0.08611847 0.04514730 -0.07057849
+v 0.09035788 0.04496233 -0.06884545
+v 0.08611847 0.04088063 -0.07237617
+v 0.07843760 0.04102291 -0.07200022
+v 0.09120222 0.04088063 -0.07117052
+v 0.09118312 0.04072234 -0.06644855
+v 0.09111629 0.04105493 -0.06644855
+v 0.09035788 0.04496233 -0.07030551
+f 1 2 6
+f 1 6 13
+f 1 13 21
+f 1 21 28
+f 1 28 29
+f 1 29 22
+f 1 22 14
+f 1 14 7
+f 1 7 3
+f 1 3 8
+f 1 8 16
+f 1 16 26
+f 1 26 17
+f 1 17 9
+f 1 9 4
+f 1 4 2
+f 2 5 11
+f 2 11 10
+f 2 10 19
+f 2 19 12
+f 2 12 6
+f 2 4 5
+f 3 7 8
+f 4 9 10
+f 4 10 11
+f 4 11 5
+f 6 12 13
+f 7 14 15
+f 7 15 8
+f 8 15 23
+f 8 23 16
+f 9 17 18
+f 9 18 10
+f 10 18 19
+f 12 19 20
+f 12 20 13
+f 13 20 21
+f 14 22 15
+f 15 22 24
+f 15 24 30
+f 15 30 23
+f 16 23 25
+f 16 25 26
+f 17 26 25
+f 17 25 18
+f 18 20 19
+f 18 25 20
+f 20 25 27
+f 20 27 21
+f 21 27 28
+f 22 29 24
+f 23 30 25
+f 24 29 28
+f 24 28 27
+f 24 27 30
+f 25 30 27
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_28.obj b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad83f19bc22e5aa73dfd771c5c8541d430709a2e
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_28.obj
@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
+v 0.04769525 -0.02168745 0.14954855
+v 0.04986803 -0.02016497 0.14954855
+v 0.04769525 -0.02160262 0.15187043
+v 0.04769525 -0.01952567 0.14530647
+v 0.05348236 -0.01577324 0.14532874
+v 0.05410263 -0.01644738 0.14954855
+v 0.05376598 -0.01607471 0.15400677
+v 0.04769525 -0.02009831 0.15407171
+v 0.04769525 -0.01837737 0.14518495
+v 0.04846596 -0.01838798 0.14518309
+v 0.05484004 -0.01115882 0.14510332
+v 0.05970353 -0.00670196 0.14736119
+v 0.05803880 -0.01049832 0.14972294
+v 0.06015609 -0.00758060 0.15231662
+v 0.06015609 -0.00758060 0.15332774
+v 0.05629761 -0.01049832 0.15417282
+v 0.04867806 -0.01856825 0.15431196
+v 0.04769525 -0.01920451 0.15428228
+v 0.04769525 -0.01232985 0.14514321
+v 0.04928476 -0.01156027 0.14502169
+v 0.05625938 -0.00621264 0.14523690
+v 0.05919054 -0.00621264 0.14698456
+v 0.05985151 -0.00621264 0.14779161
+v 0.06029297 -0.00621264 0.15131941
+v 0.06029297 -0.00621264 0.15194185
+v 0.06025844 -0.00621264 0.15343349
+v 0.05892172 -0.00621264 0.15382681
+v 0.05635063 -0.00621264 0.15435556
+v 0.04769525 -0.01849402 0.15430918
+v 0.05402741 -0.00621264 0.15447337
+v 0.04912569 -0.01139969 0.15449842
+v 0.04769525 -0.01254497 0.15446224
+v 0.04769525 -0.01012868 0.14954855
+v 0.04972253 -0.00621264 0.14954855
+v 0.05113570 -0.00621264 0.14522855
+v 0.05083975 -0.00621264 0.15422941
+v 0.04769525 -0.01201475 0.15435092
+v 0.04769525 -0.01013323 0.14958287
+v 0.05012946 -0.00621264 0.15232404
+f 1 2 3
+f 1 3 8
+f 1 8 18
+f 1 18 29
+f 1 29 32
+f 1 32 37
+f 1 37 38
+f 1 38 33
+f 1 33 19
+f 1 19 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 4 9 10
+f 4 10 5
+f 5 11 12
+f 5 12 13
+f 5 13 6
+f 5 10 11
+f 6 13 14
+f 6 14 15
+f 6 15 7
+f 7 15 16
+f 7 16 17
+f 7 17 8
+f 8 17 18
+f 9 19 20
+f 9 20 10
+f 10 20 11
+f 11 20 21
+f 11 21 22
+f 11 22 12
+f 12 22 23
+f 12 23 14
+f 12 14 13
+f 14 23 24
+f 14 24 25
+f 14 25 15
+f 15 25 26
+f 15 26 27
+f 15 27 16
+f 16 27 28
+f 16 28 17
+f 17 29 18
+f 17 28 30
+f 17 30 31
+f 17 31 32
+f 17 32 29
+f 19 33 34
+f 19 34 35
+f 19 35 20
+f 20 35 21
+f 21 35 34
+f 21 34 39
+f 21 39 36
+f 21 36 30
+f 21 30 28
+f 21 28 27
+f 21 27 26
+f 21 26 25
+f 21 25 24
+f 21 24 23
+f 21 23 22
+f 30 36 31
+f 31 36 32
+f 32 36 37
+f 33 38 34
+f 34 38 39
+f 36 39 37
+f 37 39 38
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_29.obj b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7622154186cf3a39c25c139563561d8b3cb73383
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_29.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v 0.00609445 -0.01799816 0.06777090
+v 0.00604861 -0.01799816 0.06756366
+v 0.00412099 -0.01799816 0.07277862
+v 0.00866606 -0.02146710 0.07196718
+v 0.01653808 -0.02907973 0.07201783
+v 0.01909878 -0.03076445 0.06776998
+v 0.00369312 -0.01799816 0.06347607
+v 0.01909878 -0.03100883 0.06672459
+v 0.00823601 -0.02205318 0.06392830
+v 0.00437422 -0.01883080 0.07279980
+v 0.01909878 -0.03329911 0.07282098
+v -0.00173827 -0.01799816 0.07275743
+v -0.00074062 -0.01859506 0.06341252
+v -0.00091963 -0.01799816 0.06342541
+v 0.01587880 -0.02951010 0.06388962
+v 0.01909878 -0.03371435 0.06343739
+v -0.00157672 -0.01859506 0.07276756
+v 0.00414500 -0.02576434 0.07280164
+v 0.01172231 -0.03363433 0.07277309
+v 0.01909878 -0.03350240 0.07281822
+v 0.00413191 -0.02617741 0.07280164
+v -0.00320308 -0.01799816 0.06777090
+v -0.00034768 -0.02379847 0.07227757
+v 0.00011294 -0.02314534 0.06369252
+v 0.01909878 -0.03728277 0.06341897
+v 0.01909878 -0.03822353 0.06341436
+v 0.00444845 -0.02576434 0.06346410
+v 0.00702224 -0.03073201 0.06355804
+v -0.00121652 -0.01799816 0.06384449
+v 0.00335256 -0.02576434 0.07271138
+v 0.01416512 -0.03798347 0.07217994
+v 0.01909878 -0.03898696 0.07274269
+v 0.00646993 -0.03127268 0.07240559
+v -0.00294330 -0.01859506 0.06777090
+v -0.00048957 -0.02405150 0.06777090
+v 0.00082679 -0.02576434 0.06776998
+v 0.00237020 -0.02776914 0.06776998
+v 0.01909878 -0.03828408 0.06342173
+v 0.01482222 -0.03755742 0.06376712
+v 0.01027714 -0.03534717 0.06776998
+v 0.00609009 -0.03163169 0.06776998
+v 0.01399703 -0.03806565 0.06776998
+v 0.01909878 -0.04009208 0.06776998
+v 0.01909878 -0.04006829 0.06766959
+f 1 2 7
+f 1 7 14
+f 1 14 29
+f 1 29 22
+f 1 22 12
+f 1 12 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 8
+f 2 8 9
+f 2 9 7
+f 3 10 11
+f 3 11 5
+f 3 5 4
+f 3 12 10
+f 5 11 6
+f 6 11 20
+f 6 20 32
+f 6 32 43
+f 6 43 44
+f 6 44 38
+f 6 38 26
+f 6 26 25
+f 6 25 16
+f 6 16 8
+f 7 13 14
+f 7 9 15
+f 7 15 16
+f 7 16 13
+f 8 16 15
+f 8 15 9
+f 10 12 17
+f 10 17 18
+f 10 18 11
+f 11 19 20
+f 11 18 21
+f 11 21 19
+f 12 22 23
+f 12 23 17
+f 13 24 14
+f 13 16 25
+f 13 25 26
+f 13 26 27
+f 13 27 28
+f 13 28 24
+f 14 24 29
+f 17 23 30
+f 17 30 21
+f 17 21 18
+f 19 31 32
+f 19 32 20
+f 19 21 33
+f 19 33 31
+f 21 30 33
+f 22 34 23
+f 22 29 24
+f 22 24 34
+f 23 34 35
+f 23 35 36
+f 23 36 37
+f 23 37 33
+f 23 33 30
+f 24 37 36
+f 24 36 35
+f 24 35 34
+f 24 28 37
+f 26 38 28
+f 26 28 27
+f 28 38 39
+f 28 39 40
+f 28 40 41
+f 28 41 37
+f 31 42 43
+f 31 43 32
+f 31 33 40
+f 31 40 42
+f 33 37 41
+f 33 41 40
+f 38 44 39
+f 39 44 43
+f 39 43 42
+f 39 42 40
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_3.obj b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f17027512517d29dafb6ab4931b7010713f672ea
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_3.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v -0.02531597 -0.02286857 -0.05284629
+v -0.02531597 -0.02602761 -0.05284629
+v -0.02531597 -0.02286857 -0.06168275
+v -0.04026503 -0.02286857 -0.05283295
+v -0.02531597 -0.03337866 -0.05288766
+v -0.04768373 -0.02602761 -0.05284629
+v -0.02531597 -0.03346064 -0.06497790
+v -0.04768373 -0.03374120 -0.06646599
+v -0.04768373 -0.02286857 -0.06170943
+v -0.04768373 -0.02286857 -0.05283428
+v -0.02531597 -0.03346064 -0.05288899
+v -0.04768373 -0.03346064 -0.05289033
+v -0.03283320 -0.03346064 -0.05288899
+v -0.02531597 -0.03353169 -0.06497656
+v -0.04768373 -0.03375577 -0.06646599
+v -0.02531597 -0.03835587 -0.05391397
+v -0.04768373 -0.03835223 -0.05391665
+v -0.04026503 -0.03835223 -0.05391531
+v -0.02539918 -0.03835587 -0.05391397
+v -0.02531597 -0.03994632 -0.06482442
+v -0.04768373 -0.04143657 -0.06625779
+v -0.02531597 -0.04112503 -0.05861581
+v -0.04768373 -0.04111046 -0.05861581
+v -0.02539918 -0.04112503 -0.05861581
+v -0.02531597 -0.03995907 -0.06475768
+v -0.04768373 -0.04147665 -0.06604559
+f 1 2 5
+f 1 5 11
+f 1 11 16
+f 1 16 22
+f 1 22 25
+f 1 25 20
+f 1 20 14
+f 1 14 7
+f 1 7 3
+f 1 3 9
+f 1 9 10
+f 1 10 4
+f 1 4 2
+f 2 4 6
+f 2 6 5
+f 3 7 8
+f 3 8 9
+f 4 10 6
+f 5 6 12
+f 5 12 13
+f 5 13 11
+f 6 10 9
+f 6 9 8
+f 6 8 15
+f 6 15 21
+f 6 21 26
+f 6 26 23
+f 6 23 17
+f 6 17 12
+f 7 14 15
+f 7 15 8
+f 11 13 19
+f 11 19 16
+f 12 17 18
+f 12 18 19
+f 12 19 13
+f 14 20 15
+f 15 20 21
+f 16 19 24
+f 16 24 22
+f 17 23 24
+f 17 24 19
+f 17 19 18
+f 20 25 21
+f 21 25 22
+f 21 22 26
+f 22 24 26
+f 23 26 24
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_30.obj b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84c72760daa465c51566e588c5159554a1f92e9a
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_30.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.02599264 0.00590219 0.06805084
+v -0.02599264 0.00588710 0.06802100
+v -0.02599264 0.00388021 0.07309694
+v -0.01411897 0.00310369 0.07298376
+v -0.01411897 0.00428530 0.06994004
+v -0.01411897 0.00497129 0.06776993
+v -0.02599264 0.00299922 0.06299135
+v -0.01411897 0.00259297 0.06317554
+v -0.02599264 -0.00388851 0.07313810
+v -0.01411897 -0.00309341 0.07298376
+v -0.02599264 0.00265681 0.06263018
+v -0.01411897 -0.00258850 0.06317554
+v -0.02599264 -0.00271502 0.06262710
+v -0.02599264 -0.00391288 0.07312370
+v -0.01411897 -0.00494128 0.06776993
+v -0.02599264 -0.00595576 0.06768658
+v -0.01411897 -0.00399413 0.06582722
+v -0.02599264 -0.00594183 0.06765777
+f 1 2 7
+f 1 7 11
+f 1 11 13
+f 1 13 18
+f 1 18 16
+f 1 16 14
+f 1 14 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 8
+f 2 8 7
+f 3 9 4
+f 4 10 15
+f 4 15 17
+f 4 17 12
+f 4 12 8
+f 4 8 6
+f 4 6 5
+f 4 9 10
+f 7 8 11
+f 8 12 13
+f 8 13 11
+f 9 14 10
+f 10 14 16
+f 10 16 15
+f 12 17 18
+f 12 18 13
+f 15 16 18
+f 15 18 17
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_31.obj b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..733215e8cb9fa2e4b8ea18e990e4463b7616f6ac
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_31.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.03923445 0.04474091 0.07164858
+v 0.04163198 0.04146992 0.07253966
+v 0.04892624 0.03987542 0.07286505
+v 0.04892624 0.04163613 0.06777101
+v 0.03923445 0.04474091 0.07017030
+v 0.03588094 0.04474091 0.07164951
+v 0.03588094 0.04156632 0.07251348
+v 0.04892624 0.03490024 0.07285289
+v 0.03342574 0.04160510 0.07250226
+v 0.03342574 0.03589084 0.07265186
+v 0.04892624 0.03892803 0.06331373
+v 0.04163198 0.04338797 0.06772426
+v 0.03588246 0.04350875 0.06772426
+v 0.03343181 0.04355861 0.06772520
+v 0.03547730 0.04474091 0.07017030
+v 0.03547730 0.04474091 0.07164951
+v 0.04892624 0.03342098 0.06775979
+v 0.03342574 0.04355750 0.06772520
+v 0.03342574 0.03579333 0.07220585
+v 0.04151210 0.03956074 0.06349419
+v 0.04892624 0.03568363 0.06331373
+v 0.03342574 0.03956184 0.06352692
+v 0.03588094 0.04234750 0.06644234
+v 0.03407824 0.03960506 0.06354281
+v 0.03342574 0.03523044 0.06777008
+v 0.03342574 0.03650471 0.06352692
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 15
+f 1 15 16
+f 1 16 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 8 17
+f 3 17 21
+f 3 21 11
+f 3 11 4
+f 3 7 9
+f 3 9 10
+f 3 10 8
+f 4 11 12
+f 4 12 5
+f 5 12 13
+f 5 13 14
+f 5 14 15
+f 6 16 7
+f 7 16 9
+f 8 10 17
+f 9 16 18
+f 9 18 22
+f 9 22 26
+f 9 26 25
+f 9 25 19
+f 9 19 10
+f 10 19 17
+f 11 20 12
+f 11 21 26
+f 11 26 22
+f 11 22 20
+f 12 20 13
+f 13 20 23
+f 13 23 14
+f 14 23 24
+f 14 24 22
+f 14 22 18
+f 14 18 15
+f 15 18 16
+f 17 19 25
+f 17 25 26
+f 17 26 21
+f 20 22 24
+f 20 24 23
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_32.obj b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eedd460efdfb852bff590947fa34eeee02129a7f
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_32.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.04906736 -0.03266998 0.10534057
+v 0.05496046 -0.03124009 0.10648313
+v 0.04906736 -0.03266998 0.11081849
+v 0.04906736 -0.02581978 0.10522480
+v 0.05701589 -0.02667555 0.10519292
+v 0.05496046 -0.03124009 0.11009202
+v 0.05701822 -0.02667555 0.10519516
+v 0.04906736 -0.03260905 0.11083471
+v 0.04906736 -0.02581978 0.11084814
+v 0.05162244 -0.02151793 0.10738577
+v 0.05648666 -0.01883689 0.10544962
+v 0.05647810 -0.01886126 0.10543676
+v 0.05701822 -0.01885991 0.10542446
+v 0.05701822 -0.02667555 0.11090574
+v 0.05701589 -0.02667555 0.11090630
+v 0.05701822 -0.01885991 0.11071615
+v 0.05647810 -0.01886126 0.11070776
+v 0.05648666 -0.01883689 0.11070441
+v 0.05162244 -0.02151793 0.10941028
+v 0.05701822 -0.01883689 0.10543620
+v 0.05701822 -0.01883689 0.11071279
+f 1 2 6
+f 1 6 3
+f 1 3 8
+f 1 8 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 14
+f 2 14 6
+f 3 6 8
+f 4 9 19
+f 4 19 10
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 5
+f 5 13 7
+f 6 14 15
+f 6 15 8
+f 7 13 20
+f 7 20 21
+f 7 21 16
+f 7 16 14
+f 8 15 9
+f 9 15 16
+f 9 16 17
+f 9 17 18
+f 9 18 19
+f 10 19 18
+f 10 18 11
+f 11 18 21
+f 11 21 20
+f 11 20 12
+f 12 20 13
+f 14 16 15
+f 16 21 18
+f 16 18 17
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_33.obj b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ae7c5434eb8a53bf7f1d45b60f5a79363801efa
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_33.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.02601553 -0.02194547 0.14954866
+v 0.02601553 -0.01883511 0.15432310
+v 0.02601553 -0.02167868 0.14826852
+v 0.02920964 -0.02272545 0.14547002
+v 0.02827119 -0.02309433 0.14954866
+v 0.02872613 -0.02294052 0.15384935
+v 0.02640594 -0.01899165 0.15433479
+v 0.02601553 -0.01197326 0.15407768
+v 0.02601553 -0.01850298 0.14515268
+v 0.03407750 -0.02304669 0.14520752
+v 0.03407750 -0.02411796 0.14954866
+v 0.03407750 -0.02338019 0.15423590
+v 0.03682302 -0.02121178 0.15425927
+v 0.03682302 -0.01797483 0.15424219
+v 0.02601553 -0.01171327 0.15405791
+v 0.02601553 -0.01278999 0.14525336
+v 0.02664399 -0.01299145 0.14525247
+v 0.02669583 -0.01879291 0.14515088
+v 0.03682302 -0.02299088 0.14525157
+v 0.03682302 -0.01828927 0.14524348
+v 0.03682302 -0.02399818 0.14954866
+v 0.03682302 -0.02378174 0.15122704
+v 0.03682302 -0.02331757 0.15418466
+v 0.03682302 -0.01558591 0.14954866
+v 0.03233815 -0.01455139 0.15355178
+v 0.02601553 -0.01021186 0.14905242
+v 0.02601553 -0.01209849 0.14541698
+v 0.03116800 -0.01475421 0.14572892
+v 0.03682302 -0.01593302 0.14899129
+f 1 2 8
+f 1 8 15
+f 1 15 26
+f 1 26 27
+f 1 27 16
+f 1 16 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 3 9 4
+f 4 10 11
+f 4 11 5
+f 4 9 10
+f 5 11 6
+f 6 11 12
+f 6 12 7
+f 7 13 14
+f 7 14 8
+f 7 12 13
+f 8 14 15
+f 9 16 17
+f 9 17 18
+f 9 18 10
+f 10 19 11
+f 10 18 20
+f 10 20 19
+f 11 21 22
+f 11 22 23
+f 11 23 12
+f 11 19 21
+f 12 23 13
+f 13 23 22
+f 13 22 21
+f 13 21 19
+f 13 19 20
+f 13 20 29
+f 13 29 24
+f 13 24 14
+f 14 24 25
+f 14 25 15
+f 15 25 26
+f 16 27 17
+f 17 27 20
+f 17 20 18
+f 20 27 28
+f 20 28 29
+f 24 29 28
+f 24 28 27
+f 24 27 26
+f 24 26 25
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_34.obj b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae894fe4766da1b117b5413e59160a5109c6d7e1
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_34.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.08617087 -0.01149683 -0.06774683
+v 0.07915947 -0.01149683 -0.06504374
+v 0.07898838 -0.00007113 -0.06441356
+v 0.08611719 -0.00007113 -0.06551054
+v 0.09058906 -0.01149683 -0.06574248
+v 0.07345475 -0.01149683 -0.06163462
+v 0.07345475 -0.00007113 -0.06162733
+v 0.09042300 -0.00007113 -0.06342744
+v 0.09059074 -0.01149683 -0.06564621
+v 0.07345475 -0.01149683 -0.05284559
+v 0.07345475 -0.00007113 -0.05284559
+v 0.09042300 -0.00007113 -0.06077541
+v 0.09042132 -0.01149683 -0.06078416
+v 0.07868478 -0.01149683 -0.05284559
+v 0.07868478 -0.00007113 -0.05284559
+v 0.08820888 -0.00007113 -0.05705849
+v 0.09032068 -0.01149683 -0.06061494
+v 0.08422345 -0.01149683 -0.05382443
+v 0.08448847 -0.01115795 -0.05387111
+v 0.08153966 -0.00007113 -0.05334887
+v 0.08631848 -0.00007113 -0.05543635
+v 0.08803610 -0.01149683 -0.05692282
+v 0.08820552 -0.01149683 -0.05706870
+v 0.08448679 -0.01149683 -0.05387111
+v 0.08449183 -0.00007113 -0.05387111
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 13
+f 1 13 17
+f 1 17 23
+f 1 23 22
+f 1 22 24
+f 1 24 18
+f 1 18 14
+f 1 14 10
+f 1 10 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 11
+f 3 11 15
+f 3 15 20
+f 3 20 25
+f 3 25 21
+f 3 21 16
+f 3 16 12
+f 3 12 8
+f 3 8 4
+f 4 8 5
+f 5 8 9
+f 6 10 11
+f 6 11 7
+f 8 12 9
+f 9 12 13
+f 10 14 15
+f 10 15 11
+f 12 16 17
+f 12 17 13
+f 14 18 19
+f 14 19 20
+f 14 20 15
+f 16 21 19
+f 16 19 22
+f 16 22 23
+f 16 23 17
+f 18 24 19
+f 19 24 22
+f 19 21 25
+f 19 25 20
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_35.obj b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92b48c4788b5c85d38b4542c9c30b860966bef89
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_35.obj
@@ -0,0 +1,132 @@
+# https://github.com/mikedh/trimesh
+v 0.09237366 -0.02884621 -0.06604850
+v 0.09236661 -0.03346298 -0.06604850
+v 0.09230325 -0.03346298 -0.06666763
+v 0.09230325 -0.02884621 -0.06666763
+v 0.09044073 -0.02884621 -0.06080218
+v 0.09044073 -0.03346298 -0.06080894
+v 0.09117306 -0.04071969 -0.06621342
+v 0.09117658 -0.04073519 -0.06666763
+v 0.09023652 -0.03812469 -0.06132398
+v 0.07774465 -0.02884621 -0.06666763
+v 0.08818389 -0.02884621 -0.05708744
+v 0.08816980 -0.03346298 -0.05709555
+v 0.09103223 -0.04146798 -0.06666763
+v 0.08375117 -0.03797751 -0.05423650
+v 0.06395359 -0.03388903 -0.06666763
+v 0.05722530 -0.02884621 -0.06292315
+v 0.08446941 -0.02884621 -0.05387827
+v 0.08445181 -0.03346298 -0.05389044
+v 0.08611716 -0.04303893 -0.06447502
+v 0.08611716 -0.04430622 -0.06666763
+v 0.07868119 -0.03346298 -0.05287930
+v 0.07868119 -0.03837722 -0.05390531
+v 0.07868119 -0.04128053 -0.05861633
+v 0.06393247 -0.03409043 -0.06666763
+v 0.05640495 -0.03346298 -0.06484946
+v 0.05640495 -0.02884621 -0.06275958
+v 0.07868119 -0.02884621 -0.05285767
+v 0.07868119 -0.04379651 -0.06435065
+v 0.07868119 -0.04466409 -0.06666763
+v 0.07125226 -0.03346298 -0.05287930
+v 0.05640495 -0.03346298 -0.05288065
+v 0.05640495 -0.03837412 -0.05390802
+v 0.07125226 -0.04131151 -0.05861633
+v 0.05640495 -0.03348622 -0.06484946
+v 0.06421413 -0.04147108 -0.06666763
+v 0.05640495 -0.02884621 -0.05286038
+v 0.06381980 -0.02884621 -0.05285902
+v 0.06380572 -0.02885550 -0.05285902
+v 0.07125226 -0.04383060 -0.06435876
+v 0.07125226 -0.04467339 -0.06666763
+v 0.05640495 -0.04104659 -0.05861498
+v 0.05640495 -0.03985521 -0.06470752
+v 0.06430567 -0.04185220 -0.06666763
+v 0.06882289 -0.04445805 -0.06666763
+v 0.06448524 -0.04208768 -0.06666763
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 16
+f 1 16 26
+f 1 26 36
+f 1 36 37
+f 1 37 27
+f 1 27 17
+f 1 17 11
+f 1 11 5
+f 1 5 6
+f 1 6 2
+f 2 7 8
+f 2 8 3
+f 2 6 9
+f 2 9 7
+f 3 8 13
+f 3 13 20
+f 3 20 29
+f 3 29 40
+f 3 40 44
+f 3 44 45
+f 3 45 43
+f 3 43 35
+f 3 35 24
+f 3 24 15
+f 3 15 10
+f 3 10 4
+f 5 11 6
+f 6 11 12
+f 6 12 9
+f 7 13 8
+f 7 9 13
+f 9 12 14
+f 9 14 13
+f 10 15 16
+f 11 17 12
+f 12 17 18
+f 12 18 14
+f 13 14 19
+f 13 19 20
+f 14 21 22
+f 14 22 23
+f 14 23 20
+f 14 20 19
+f 14 18 21
+f 15 24 25
+f 15 25 26
+f 15 26 16
+f 17 27 18
+f 18 27 21
+f 20 23 28
+f 20 28 29
+f 21 27 30
+f 21 30 22
+f 22 30 31
+f 22 31 32
+f 22 32 33
+f 22 33 23
+f 23 33 28
+f 24 34 25
+f 24 35 34
+f 25 34 42
+f 25 42 41
+f 25 41 32
+f 25 32 31
+f 25 31 36
+f 25 36 26
+f 27 37 38
+f 27 38 30
+f 28 33 39
+f 28 39 29
+f 29 39 40
+f 30 38 31
+f 31 38 36
+f 32 41 33
+f 33 41 39
+f 34 35 42
+f 35 43 42
+f 36 38 37
+f 39 41 40
+f 40 41 44
+f 41 42 44
+f 42 43 45
+f 42 45 44
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_36.obj b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49fa2234d427c53fb5abce7156332596a3f23ca7
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_36.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v -0.03976749 0.00309246 0.16263029
+v -0.03976749 0.00839782 0.15504923
+v -0.03998023 0.00309246 0.16281467
+v -0.03976749 0.00309246 0.14041888
+v -0.03976749 0.00911450 0.14958456
+v -0.04026685 0.00922669 0.14954714
+v -0.04769908 0.01063275 0.14954714
+v -0.04026685 0.00845244 0.15515879
+v -0.04796403 0.00309246 0.16297500
+v -0.04769908 0.00912926 0.15651092
+v -0.04076522 0.00309246 0.13589750
+v -0.03976749 0.00411176 0.14042422
+v -0.03976749 0.00903405 0.14913562
+v -0.03976749 0.00812104 0.14463562
+v -0.04026685 0.00820075 0.14449400
+v -0.04769908 0.00892998 0.14324607
+v -0.04982849 0.00879417 0.14350795
+v -0.04982849 0.01037441 0.14954714
+v -0.04982849 0.01007992 0.15124133
+v -0.04982849 0.00467049 0.15992067
+v -0.04982849 0.00309246 0.16031615
+v -0.04982849 0.00900674 0.15621164
+v -0.04254103 0.00309246 0.13567570
+v -0.04719086 0.00309246 0.13567570
+v -0.04982849 0.00513179 0.14053378
+v -0.04982849 0.00309246 0.13990047
+v -0.04982849 0.00403130 0.13982297
+f 1 2 3
+f 1 3 9
+f 1 9 21
+f 1 21 26
+f 1 26 24
+f 1 24 23
+f 1 23 11
+f 1 11 4
+f 1 4 12
+f 1 12 14
+f 1 14 13
+f 1 13 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 3 8 10
+f 3 10 9
+f 4 11 12
+f 5 13 6
+f 6 13 14
+f 6 14 15
+f 6 15 7
+f 7 15 16
+f 7 16 17
+f 7 17 18
+f 7 18 19
+f 7 19 10
+f 7 10 8
+f 9 20 21
+f 9 10 22
+f 9 22 20
+f 10 19 22
+f 11 23 16
+f 11 16 15
+f 11 15 14
+f 11 14 12
+f 16 23 24
+f 16 24 17
+f 17 24 25
+f 17 25 27
+f 17 27 26
+f 17 26 21
+f 17 21 20
+f 17 20 22
+f 17 22 19
+f 17 19 18
+f 24 26 27
+f 24 27 25
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_37.obj b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c01b1102f9332cb47ec609a941d8493e8b60f032
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_37.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.05640423 -0.02134164 -0.06154733
+v 0.07345308 -0.02134164 -0.06181970
+v 0.05640423 -0.02134164 -0.05284493
+v 0.05640423 -0.00007113 -0.06130747
+v 0.07345308 -0.00007113 -0.06162729
+v 0.07345308 -0.02134164 -0.05284493
+v 0.05640423 -0.00007113 -0.05284493
+v 0.07345308 -0.00007113 -0.05284493
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 4
+f 1 4 5
+f 1 5 2
+f 2 5 8
+f 2 8 6
+f 3 6 8
+f 3 8 7
+f 4 7 8
+f 4 8 5
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_38.obj b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f1a9cb9337846a7984b71fe72b2c5ffdb6737ea
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_38.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.07345308 -0.02884547 -0.06447659
+v 0.07345308 -0.02438651 -0.06314670
+v 0.07345308 -0.02884547 -0.05285820
+v 0.05722371 -0.02884547 -0.06292353
+v 0.05640423 -0.02134164 -0.06154695
+v 0.07345308 -0.02134164 -0.06181908
+v 0.07345308 -0.02602685 -0.05284567
+v 0.06100567 -0.02884547 -0.05285820
+v 0.05640423 -0.02884547 -0.06276071
+v 0.05640423 -0.02134164 -0.05284567
+v 0.07345308 -0.02134164 -0.05284567
+v 0.05640423 -0.02602685 -0.05284567
+v 0.05640423 -0.02884547 -0.05285934
+f 1 2 6
+f 1 6 11
+f 1 11 7
+f 1 7 3
+f 1 3 8
+f 1 8 13
+f 1 13 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 12
+f 3 12 8
+f 4 9 5
+f 5 9 13
+f 5 13 12
+f 5 12 10
+f 5 10 11
+f 5 11 6
+f 7 11 10
+f 7 10 12
+f 8 12 13
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_39.obj b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0f148ec4cca503cb4c016bd65a77e8850c6864a
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_39.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.06376584 0.03373625 -0.06644849
+v 0.06631789 0.03640739 -0.07065487
+v 0.07843759 0.02750418 -0.06644849
+v 0.06413206 0.04147840 -0.06644849
+v 0.06604789 0.04088059 -0.07084388
+v 0.07124964 0.03599791 -0.07110082
+v 0.07843759 0.03398851 -0.07095784
+v 0.07124964 0.04088059 -0.07192149
+v 0.07843759 0.04451755 -0.06644849
+v 0.06423834 0.04172374 -0.06644849
+v 0.06676884 0.04497022 -0.07031410
+v 0.07843759 0.03457941 -0.07105754
+v 0.07843759 0.04088059 -0.07204477
+v 0.07124964 0.04515510 -0.07058639
+v 0.07843759 0.04510672 -0.06801972
+v 0.07530103 0.04453483 -0.06644849
+v 0.07124964 0.04453828 -0.06644849
+v 0.06676884 0.04497022 -0.06867714
+v 0.07843759 0.04102227 -0.07200038
+v 0.07124964 0.04515510 -0.06813587
+v 0.07843759 0.04515164 -0.07058365
+v 0.07843759 0.04515164 -0.06814299
+f 1 2 3
+f 1 3 9
+f 1 9 16
+f 1 16 17
+f 1 17 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 6 7
+f 2 7 3
+f 2 5 8
+f 2 8 6
+f 3 7 12
+f 3 12 13
+f 3 13 19
+f 3 19 21
+f 3 21 22
+f 3 22 15
+f 3 15 9
+f 4 10 11
+f 4 11 5
+f 5 11 8
+f 6 12 7
+f 6 8 12
+f 8 13 12
+f 8 11 14
+f 8 14 13
+f 9 15 16
+f 10 17 18
+f 10 18 11
+f 11 18 20
+f 11 20 14
+f 13 14 19
+f 14 20 22
+f 14 22 21
+f 14 21 19
+f 15 22 20
+f 15 20 17
+f 15 17 16
+f 17 20 18
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_4.obj b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89c9f36d28adab0172f84d1d068e97d8dad892be
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_4.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.02531597 -0.01065359 -0.05333758
+v -0.02531597 -0.01065359 -0.06130972
+v -0.02532254 -0.01065359 -0.05284195
+v -0.02531597 -0.01107799 -0.05284395
+v -0.02531597 -0.02286675 -0.06168294
+v -0.02590281 -0.01065359 -0.06132176
+v -0.02531597 -0.02286675 -0.05284596
+v -0.02531597 -0.01115929 -0.05284395
+v -0.04022781 -0.01065359 -0.05146042
+v -0.04768373 -0.02286675 -0.06171003
+v -0.04026503 -0.01065359 -0.06151339
+v -0.04026503 -0.02286675 -0.05283392
+v -0.04712098 -0.01065359 -0.05147446
+v -0.04768373 -0.02286675 -0.05283392
+v -0.04768373 -0.01065479 -0.06150938
+v -0.04076866 -0.01065359 -0.06151339
+v -0.04768373 -0.01065359 -0.05147848
+v -0.04768373 -0.01065359 -0.06126157
+f 1 2 6
+f 1 6 11
+f 1 11 16
+f 1 16 18
+f 1 18 17
+f 1 17 13
+f 1 13 9
+f 1 9 3
+f 1 3 4
+f 1 4 8
+f 1 8 7
+f 1 7 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 3 8 4
+f 3 9 7
+f 5 7 12
+f 5 12 14
+f 5 14 10
+f 5 10 11
+f 5 11 6
+f 7 9 12
+f 9 13 14
+f 9 14 12
+f 10 14 17
+f 10 17 18
+f 10 18 15
+f 10 15 16
+f 10 16 11
+f 13 17 14
+f 15 18 16
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_40.obj b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07815ad39ede49b7cfd12dea65a6170a34e683ea
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_40.obj
@@ -0,0 +1,159 @@
+# https://github.com/mikedh/trimesh
+v -0.05669338 -0.04514574 -0.07055660
+v -0.06261700 -0.04089288 -0.07203879
+v -0.05513392 -0.04514391 -0.07055660
+v -0.05669338 -0.04514574 -0.06820085
+v -0.06261700 -0.04514209 -0.07055472
+v -0.06261700 -0.04084723 -0.07204067
+v -0.05669338 -0.04089288 -0.07193923
+v -0.05513392 -0.04089288 -0.07191293
+v -0.05068061 -0.04496679 -0.07029360
+v -0.05513392 -0.04514391 -0.06819897
+v -0.06256877 -0.04514209 -0.06820649
+v -0.06261700 -0.04514209 -0.06821963
+v -0.05513392 -0.04460706 -0.06672803
+v -0.05513392 -0.04378534 -0.06447937
+v -0.05669338 -0.04407020 -0.06526086
+v -0.05669338 -0.03952335 -0.07173070
+v -0.06261700 -0.03432460 -0.07103563
+v -0.05513392 -0.03598813 -0.07112204
+v -0.05018661 -0.03640629 -0.07066743
+v -0.04993961 -0.04089288 -0.07083837
+v -0.04768592 -0.04143522 -0.06625651
+v -0.04768592 -0.04147539 -0.06604423
+v -0.05068061 -0.04496679 -0.06871746
+v -0.04768592 -0.04110835 -0.05861819
+v -0.05669338 -0.04377986 -0.06448125
+v -0.06256877 -0.04374881 -0.06448688
+v -0.06261700 -0.04375794 -0.06451507
+v -0.05513392 -0.04124165 -0.05861819
+v -0.06261700 -0.03391009 -0.07096612
+v -0.04768592 -0.03374392 -0.06646504
+v -0.06261700 -0.02654931 -0.06623021
+v -0.04770199 -0.02649087 -0.06233403
+v -0.04768592 -0.03375853 -0.06646504
+v -0.04768592 -0.03834920 -0.05391797
+v -0.05669338 -0.04123435 -0.05861631
+v -0.06256877 -0.04120148 -0.05861631
+v -0.06261700 -0.04121244 -0.05865576
+v -0.05669338 -0.03834920 -0.05391797
+v -0.06256877 -0.03834738 -0.05391797
+v -0.04768592 -0.02779284 -0.06260642
+v -0.06261700 -0.02654931 -0.05286033
+v -0.05669192 -0.02649087 -0.06307607
+v -0.04768592 -0.02649087 -0.05541520
+v -0.04768592 -0.03346453 -0.05289226
+v -0.05669338 -0.03448894 -0.05310643
+v -0.06261700 -0.03834373 -0.05392173
+v -0.06256877 -0.03346453 -0.05289226
+v -0.06261700 -0.03350653 -0.05290542
+v -0.06261700 -0.02660591 -0.05286033
+v -0.06256877 -0.02654931 -0.05285094
+v -0.05669192 -0.02649087 -0.05285094
+v -0.04770199 -0.02649087 -0.05285094
+v -0.05669338 -0.02654931 -0.05284906
+v -0.06261700 -0.03346453 -0.05290166
+f 1 2 3
+f 1 3 10
+f 1 10 4
+f 1 4 12
+f 1 12 5
+f 1 5 2
+f 2 6 7
+f 2 7 3
+f 2 5 12
+f 2 12 27
+f 2 27 37
+f 2 37 46
+f 2 46 48
+f 2 48 54
+f 2 54 49
+f 2 49 41
+f 2 41 31
+f 2 31 29
+f 2 29 17
+f 2 17 6
+f 3 7 8
+f 3 8 9
+f 3 9 23
+f 3 23 10
+f 4 11 12
+f 4 10 13
+f 4 13 14
+f 4 14 15
+f 4 15 11
+f 6 16 8
+f 6 8 7
+f 6 17 16
+f 8 16 18
+f 8 18 19
+f 8 19 20
+f 8 20 9
+f 9 21 22
+f 9 22 23
+f 9 20 21
+f 10 23 24
+f 10 24 13
+f 11 15 25
+f 11 25 26
+f 11 26 27
+f 11 27 12
+f 13 24 14
+f 14 24 28
+f 14 28 25
+f 14 25 15
+f 16 17 18
+f 17 29 18
+f 18 29 19
+f 19 30 20
+f 19 29 31
+f 19 31 32
+f 19 32 30
+f 20 30 33
+f 20 33 21
+f 21 33 30
+f 21 30 40
+f 21 40 43
+f 21 43 44
+f 21 44 34
+f 21 34 24
+f 21 24 22
+f 22 24 23
+f 24 34 28
+f 25 28 35
+f 25 35 36
+f 25 36 26
+f 26 36 27
+f 27 36 37
+f 28 34 38
+f 28 38 39
+f 28 39 35
+f 30 32 40
+f 31 41 51
+f 31 51 42
+f 31 42 32
+f 32 42 51
+f 32 51 52
+f 32 52 43
+f 32 43 40
+f 34 44 45
+f 34 45 38
+f 35 39 36
+f 36 39 46
+f 36 46 37
+f 38 45 39
+f 39 45 47
+f 39 47 48
+f 39 48 46
+f 41 49 50
+f 41 50 51
+f 43 52 44
+f 44 52 53
+f 44 53 47
+f 44 47 45
+f 47 53 50
+f 47 50 49
+f 47 49 54
+f 47 54 48
+f 50 53 51
+f 51 53 52
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_41.obj b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..081f125414eb3890e33c1270ef91557df6852567
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_41.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.04787991 -0.00325478 0.12024150
+v -0.04784308 -0.00405850 0.12024150
+v -0.04717630 -0.00325478 0.12437195
+v -0.04020401 -0.00325478 0.12024150
+v -0.04770176 -0.00405850 0.12024150
+v -0.04388072 -0.00325478 0.12437195
+v -0.04074751 -0.00325478 0.12398786
+v -0.04020100 -0.00389785 0.12024150
+f 1 2 3
+f 1 3 6
+f 1 6 7
+f 1 7 4
+f 1 4 8
+f 1 8 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 4 7 8
+f 5 8 6
+f 6 8 7
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_42.obj b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b642bc3bfbb14e54bd56f24a49a5908c71187ddf
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_42.obj
@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
+v -0.04769974 0.03344802 -0.05287717
+v -0.06256784 0.03344802 -0.05287529
+v -0.05513753 0.03199646 -0.05286964
+v -0.04770123 0.02665367 -0.05284702
+v -0.04769974 0.02665367 -0.05616756
+v -0.04769974 0.03837400 -0.05390235
+v -0.06256784 0.03199646 -0.05286964
+v -0.05513753 0.03837692 -0.05390235
+v -0.06256784 0.03837692 -0.05390235
+v -0.06300993 0.03834194 -0.05393063
+v -0.06300993 0.03344802 -0.05295444
+v -0.05627051 0.02665367 -0.05284891
+v -0.04770123 0.02665367 -0.06232243
+v -0.04769974 0.02788954 -0.06256930
+v -0.04769974 0.04120571 -0.05861556
+v -0.05513753 0.04133542 -0.05861556
+v -0.06256784 0.02665367 -0.05285079
+v -0.06300993 0.03199646 -0.05294879
+v -0.06300993 0.02665367 -0.05292806
+v -0.06256784 0.04130335 -0.05861556
+v -0.06300993 0.04101333 -0.05823677
+v -0.06300993 0.02665367 -0.06652116
+v -0.05022046 0.03643421 -0.07062753
+v -0.04769974 0.03373513 -0.06644200
+v -0.04769974 0.03199646 -0.06529056
+v -0.04769974 0.04147970 -0.06621586
+v -0.04793802 0.04154237 -0.06627617
+v -0.05513753 0.04154237 -0.05908293
+v -0.06187096 0.04154237 -0.05914888
+v -0.06256784 0.04154237 -0.05915642
+v -0.06300993 0.04154237 -0.05942026
+v -0.06300993 0.04118968 -0.05862498
+v -0.06300993 0.03381383 -0.07092152
+v -0.05513753 0.03603926 -0.07105910
+v -0.05513753 0.04088071 -0.07193540
+v -0.04990275 0.04088071 -0.07084803
+v -0.04769974 0.03375262 -0.06644955
+v -0.05001365 0.04154237 -0.07076889
+v -0.06300993 0.04154237 -0.07185814
+v -0.06300993 0.04088071 -0.07209936
+v -0.05513753 0.04154237 -0.07173752
+v -0.06256784 0.04154237 -0.07185814
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 14
+f 1 14 25
+f 1 25 24
+f 1 24 37
+f 1 37 26
+f 1 26 15
+f 1 15 6
+f 1 6 2
+f 2 7 4
+f 2 4 3
+f 2 6 8
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 18
+f 2 18 7
+f 4 7 12
+f 4 12 17
+f 4 17 19
+f 4 19 22
+f 4 22 13
+f 4 13 5
+f 5 13 14
+f 6 15 16
+f 6 16 8
+f 7 17 12
+f 7 18 19
+f 7 19 17
+f 8 16 9
+f 9 16 20
+f 9 20 10
+f 10 20 21
+f 10 21 32
+f 10 32 31
+f 10 31 39
+f 10 39 40
+f 10 40 33
+f 10 33 22
+f 10 22 19
+f 10 19 18
+f 10 18 11
+f 13 22 23
+f 13 23 24
+f 13 24 25
+f 13 25 14
+f 15 26 27
+f 15 27 28
+f 15 28 16
+f 16 28 20
+f 20 28 29
+f 20 29 30
+f 20 30 31
+f 20 31 32
+f 20 32 21
+f 22 33 23
+f 23 33 34
+f 23 34 35
+f 23 35 36
+f 23 36 37
+f 23 37 24
+f 26 37 36
+f 26 36 38
+f 26 38 27
+f 27 38 41
+f 27 41 42
+f 27 42 39
+f 27 39 31
+f 27 31 30
+f 27 30 29
+f 27 29 28
+f 33 40 35
+f 33 35 34
+f 35 40 41
+f 35 41 38
+f 35 38 36
+f 39 42 40
+f 40 42 41
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_43.obj b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81391d77ded8e4fbf1bb2b8826d25a57b4e2561c
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_43.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v 0.06374554 0.02595198 0.07290645
+v 0.06617676 0.02001313 0.07235930
+v 0.07045091 0.01802944 0.07264452
+v 0.07045091 0.02547256 0.07253174
+v 0.06339717 0.03322143 0.07259885
+v 0.06205708 0.03318230 0.07263427
+v 0.06205708 0.02669555 0.07273401
+v 0.07045091 0.01121983 0.06777049
+v 0.07045091 0.02651944 0.07242268
+v 0.06836724 0.03059445 0.07212906
+v 0.06205708 0.03531764 0.07223253
+v 0.06205708 0.02452108 0.06777049
+v 0.06670918 0.02081786 0.06360860
+v 0.07045091 0.01377343 0.06584381
+v 0.06205708 0.02458712 0.06761297
+v 0.06205708 0.02731683 0.06348183
+v 0.07045091 0.02801638 0.06772016
+v 0.06843626 0.03066538 0.06777049
+v 0.06425660 0.03438328 0.06777049
+v 0.06205708 0.03620798 0.06777049
+v 0.06406516 0.02628218 0.06338489
+v 0.07045091 0.01926711 0.06359742
+v 0.06205708 0.02814113 0.06340354
+v 0.06790302 0.03011504 0.06380528
+v 0.07045091 0.02747093 0.06598736
+v 0.06205708 0.03588756 0.06576831
+v 0.06205708 0.03370085 0.06363377
+v 0.06929405 0.02601312 0.06353403
+v 0.07045091 0.02221452 0.06356572
+v 0.07045091 0.01987371 0.06356572
+v 0.06309973 0.03293525 0.06363563
+v 0.06205708 0.03443709 0.06377359
+v 0.07045091 0.02507631 0.06389010
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 8 3
+f 2 7 8
+f 3 8 14
+f 3 14 22
+f 3 22 30
+f 3 30 29
+f 3 29 33
+f 3 33 25
+f 3 25 17
+f 3 17 9
+f 3 9 4
+f 4 9 5
+f 5 9 10
+f 5 10 11
+f 5 11 6
+f 6 11 20
+f 6 20 26
+f 6 26 32
+f 6 32 27
+f 6 27 23
+f 6 23 16
+f 6 16 15
+f 6 15 12
+f 6 12 7
+f 7 12 8
+f 8 13 14
+f 8 12 15
+f 8 15 16
+f 8 16 13
+f 9 17 10
+f 10 17 18
+f 10 18 19
+f 10 19 20
+f 10 20 11
+f 13 21 22
+f 13 22 14
+f 13 16 23
+f 13 23 21
+f 17 24 18
+f 17 25 24
+f 18 24 26
+f 18 26 19
+f 19 26 20
+f 21 23 27
+f 21 27 28
+f 21 28 29
+f 21 29 30
+f 21 30 22
+f 24 31 32
+f 24 32 26
+f 24 25 33
+f 24 33 28
+f 24 28 31
+f 27 32 31
+f 27 31 28
+f 28 33 29
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_44.obj b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4d094f974b5edc024e003d1fe38bdc724470cae
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_44.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v -0.03349833 -0.00302138 0.15737946
+v -0.02599627 -0.00386916 0.15480938
+v -0.02599627 -0.00359568 0.15480938
+v -0.03349833 0.00300726 0.15735454
+v -0.03349833 -0.00767960 0.15369882
+v -0.02886682 -0.00751703 0.15337341
+v -0.02599627 -0.00604026 0.14912641
+v -0.02599627 0.00381554 0.15475677
+v -0.02906950 0.00743911 0.15328340
+v -0.03349833 0.00743455 0.15400761
+v -0.03349833 -0.00774189 0.15319754
+v -0.02886682 -0.00751703 0.15132814
+v -0.03349833 -0.00780874 0.14918733
+v -0.02966211 -0.00739549 0.14637354
+v -0.02599627 -0.00287400 0.14429920
+v -0.02599627 0.00591068 0.15007634
+v -0.02906950 0.00743911 0.15291644
+v -0.03349833 0.00771258 0.15005141
+v -0.03349833 0.00770195 0.15367390
+v -0.03349833 -0.00757628 0.14745225
+v -0.03349833 -0.00595062 0.14470077
+v -0.03349833 -0.00439788 0.14323295
+v -0.02599627 0.00275202 0.14430612
+v -0.02599627 0.00587877 0.15000710
+v -0.03075775 0.00726439 0.14796184
+v -0.03349833 0.00738137 0.14675019
+v -0.03349833 -0.00317635 0.14324264
+v -0.03349833 0.00434122 0.14354313
+v -0.03349833 0.00485627 0.14407349
+v -0.02599627 0.00313489 0.14475616
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 19
+f 1 19 18
+f 1 18 26
+f 1 26 29
+f 1 29 28
+f 1 28 27
+f 1 27 22
+f 1 22 21
+f 1 21 20
+f 1 20 13
+f 1 13 11
+f 1 11 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 2 7 15
+f 2 15 23
+f 2 23 30
+f 2 30 24
+f 2 24 16
+f 2 16 8
+f 2 8 3
+f 3 8 4
+f 4 8 9
+f 4 9 10
+f 5 11 6
+f 6 12 7
+f 6 11 13
+f 6 13 12
+f 7 12 14
+f 7 14 15
+f 8 16 9
+f 9 16 17
+f 9 17 18
+f 9 18 19
+f 9 19 10
+f 12 13 14
+f 13 20 14
+f 14 20 21
+f 14 21 22
+f 14 22 15
+f 15 22 23
+f 16 24 25
+f 16 25 17
+f 17 25 18
+f 18 25 26
+f 22 27 23
+f 23 27 28
+f 23 28 29
+f 23 29 26
+f 23 26 30
+f 24 30 25
+f 25 30 26
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_45.obj b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2dab50b6f70e8e7bfb320274f6252de1ea1494b
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_45.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v 0.01195429 -0.00371258 0.14472694
+v 0.01200659 0.00365969 0.14473976
+v 0.01828690 -0.00372322 0.14497351
+v 0.01836085 -0.00414795 0.14499225
+v 0.01242323 -0.00414795 0.14476146
+v 0.00432304 -0.00183468 0.14478611
+v 0.00432304 0.00173052 0.14478611
+v 0.01215449 0.00394414 0.14477527
+v 0.01923382 0.00573593 0.14513525
+v 0.01929334 0.00436403 0.14513328
+v 0.02102665 0.00573593 0.14544297
+v 0.01879012 -0.00414795 0.14511651
+v 0.01217072 -0.00414795 0.14478020
+v 0.00432304 -0.00407926 0.14953600
+v 0.00432304 0.00387351 0.14954882
+v 0.01308157 0.00573593 0.14500211
+v 0.02270224 0.00573593 0.14954882
+v 0.02170843 -0.00414795 0.14905963
+v 0.00455391 -0.00414795 0.14954882
+v 0.00434288 -0.00408506 0.14954882
+v 0.00432304 -0.00226135 0.15465771
+v 0.00432304 0.00213493 0.15467152
+v 0.01269559 0.00573593 0.15449103
+v 0.01034543 0.00573593 0.14966126
+v 0.01032379 0.00573593 0.14954882
+v 0.02274553 0.00573593 0.15244451
+v 0.01947370 -0.00414795 0.15432041
+v 0.01186050 -0.00414795 0.15476127
+v 0.00434288 -0.00225651 0.15467152
+v 0.01174326 -0.00388286 0.15480269
+v 0.01180458 0.00382127 0.15479086
+v 0.01355593 0.00573593 0.15467941
+v 0.02185813 0.00573593 0.15379472
+v 0.02107895 0.00573593 0.15425137
+v 0.02096532 0.00573593 0.15431744
+v 0.01931318 -0.00414795 0.15433421
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 4 11 12
+f 4 12 18
+f 4 18 27
+f 4 27 36
+f 4 36 28
+f 4 28 19
+f 4 19 13
+f 4 13 5
+f 5 13 6
+f 6 14 21
+f 6 21 22
+f 6 22 15
+f 6 15 7
+f 6 13 14
+f 7 15 16
+f 7 16 8
+f 8 16 9
+f 9 11 10
+f 9 16 25
+f 9 25 24
+f 9 24 23
+f 9 23 32
+f 9 32 35
+f 9 35 34
+f 9 34 33
+f 9 33 26
+f 9 26 17
+f 9 17 11
+f 11 17 18
+f 11 18 12
+f 13 19 14
+f 14 19 20
+f 14 20 21
+f 15 22 23
+f 15 23 24
+f 15 24 25
+f 15 25 16
+f 17 26 18
+f 18 26 27
+f 19 21 20
+f 19 28 21
+f 21 28 29
+f 21 29 22
+f 22 29 30
+f 22 30 31
+f 22 31 32
+f 22 32 23
+f 26 33 27
+f 27 33 34
+f 27 34 35
+f 27 35 36
+f 28 30 29
+f 28 36 30
+f 30 36 35
+f 30 35 31
+f 31 35 32
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_46.obj b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa43a5cdc5853a443ec1741e474f56d90189e878
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_46.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.06895351 0.02698328 -0.05284979
+v 0.05640423 0.02698328 -0.05284979
+v 0.06895351 0.02698328 -0.06257417
+v 0.06895351 0.03145252 -0.05287241
+v 0.05640423 0.03344824 -0.05288174
+v 0.05640423 0.02698328 -0.06226267
+v 0.06895351 0.03273153 -0.06644395
+v 0.06895351 0.03344824 -0.05288306
+v 0.06895351 0.03835140 -0.05390942
+v 0.06381513 0.03835303 -0.05390942
+v 0.05640423 0.03836278 -0.05392406
+v 0.05640423 0.03344986 -0.06484120
+v 0.06376477 0.03373590 -0.06644794
+v 0.06382864 0.03371639 -0.06644794
+v 0.06803467 0.03291193 -0.06644794
+v 0.06895351 0.03623054 -0.06644794
+v 0.06895351 0.04036662 -0.05716153
+v 0.06895351 0.04122797 -0.05861519
+v 0.06381513 0.04114021 -0.05861519
+v 0.05640423 0.04101344 -0.05861519
+v 0.05640423 0.03982869 -0.06469609
+v 0.06413083 0.04147987 -0.06644794
+v 0.06895351 0.04358448 -0.06644794
+v 0.06895351 0.04297666 -0.06262476
+v 0.05640423 0.04101507 -0.05863915
+v 0.06423770 0.04172365 -0.06644794
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 16
+f 1 16 23
+f 1 23 24
+f 1 24 18
+f 1 18 17
+f 1 17 9
+f 1 9 8
+f 1 8 4
+f 1 4 5
+f 1 5 2
+f 2 5 11
+f 2 11 20
+f 2 20 25
+f 2 25 21
+f 2 21 12
+f 2 12 6
+f 3 6 7
+f 4 8 5
+f 5 8 9
+f 5 9 10
+f 5 10 11
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 6 15 7
+f 7 15 16
+f 9 17 10
+f 10 17 11
+f 11 17 18
+f 11 18 19
+f 11 19 20
+f 12 21 22
+f 12 22 13
+f 13 22 26
+f 13 26 23
+f 13 23 16
+f 13 16 15
+f 13 15 14
+f 18 24 19
+f 19 24 20
+f 20 24 23
+f 20 23 25
+f 21 25 23
+f 21 23 26
+f 21 26 22
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_47.obj b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52a4bf5e03e84c7f9895d3fb4ef25f354c241549
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_47.obj
@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
+v -0.06261757 -0.04514371 -0.07055344
+v -0.07000304 -0.04513825 -0.07054958
+v -0.07000304 -0.04089485 -0.07235215
+v -0.06261757 -0.04511458 -0.07056502
+v -0.06261757 -0.04514371 -0.06822207
+v -0.07000304 -0.04513825 -0.06832435
+v -0.07422350 -0.04496166 -0.07028518
+v -0.07567140 -0.03346208 -0.07176546
+v -0.07000304 -0.03346208 -0.07257410
+v -0.06261757 -0.04084570 -0.07203950
+v -0.06261757 -0.04089485 -0.07203757
+v -0.07507402 -0.04089485 -0.07115559
+v -0.06261757 -0.04375837 -0.06451463
+v -0.07422350 -0.04496166 -0.06888017
+v -0.06261757 -0.04121342 -0.05865530
+v -0.07566872 -0.02654813 -0.07176546
+v -0.07630091 -0.03346208 -0.06604894
+v -0.07527226 -0.02654813 -0.07182141
+v -0.06937218 -0.02654813 -0.07136402
+v -0.06261757 -0.03432496 -0.07103593
+v -0.07505527 -0.04072191 -0.06626124
+v -0.06764034 -0.03795669 -0.05424536
+v -0.07414046 -0.03812781 -0.06128776
+v -0.06261757 -0.03834444 -0.05392113
+v -0.07629555 -0.02654813 -0.06604894
+v -0.07434940 -0.03346208 -0.06075894
+v -0.07448335 -0.02654813 -0.06112370
+v -0.06911502 -0.02654813 -0.07123665
+v -0.06261757 -0.03390990 -0.07096838
+v -0.06261757 -0.03350577 -0.05290597
+v -0.06261757 -0.03346208 -0.05290019
+v -0.06835290 -0.03346208 -0.05389604
+v -0.07206840 -0.03346208 -0.05704186
+v -0.07434672 -0.02654813 -0.06075509
+v -0.07225993 -0.02654813 -0.05729662
+v -0.06636656 -0.02654813 -0.06970427
+v -0.06261757 -0.02654813 -0.06623228
+v -0.06261757 -0.02654813 -0.05285773
+v -0.06297385 -0.02654813 -0.05291949
+v -0.06838370 -0.02654813 -0.05387481
+v -0.06864355 -0.02654813 -0.05409483
+v -0.07210055 -0.02654813 -0.05703800
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 10
+f 1 10 20
+f 1 20 29
+f 1 29 37
+f 1 37 38
+f 1 38 31
+f 1 31 30
+f 1 30 24
+f 1 24 15
+f 1 15 13
+f 1 13 5
+f 1 5 6
+f 1 6 2
+f 2 6 14
+f 2 14 7
+f 2 7 3
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 3 7 12
+f 3 12 8
+f 5 13 6
+f 6 13 15
+f 6 15 14
+f 7 14 12
+f 8 16 9
+f 8 12 17
+f 8 17 16
+f 9 16 18
+f 9 18 19
+f 9 19 20
+f 9 20 10
+f 12 14 21
+f 12 21 17
+f 14 15 22
+f 14 22 23
+f 14 23 21
+f 15 24 22
+f 16 17 25
+f 16 25 27
+f 16 27 34
+f 16 34 35
+f 16 35 42
+f 16 42 41
+f 16 41 40
+f 16 40 39
+f 16 39 38
+f 16 38 37
+f 16 37 36
+f 16 36 28
+f 16 28 19
+f 16 19 18
+f 17 23 26
+f 17 26 27
+f 17 27 25
+f 17 21 23
+f 19 28 29
+f 19 29 20
+f 22 24 30
+f 22 30 31
+f 22 31 32
+f 22 32 33
+f 22 33 23
+f 23 33 26
+f 26 34 27
+f 26 33 35
+f 26 35 34
+f 28 36 29
+f 29 36 37
+f 31 38 39
+f 31 39 32
+f 32 39 40
+f 32 40 33
+f 33 40 41
+f 33 41 42
+f 33 42 35
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_48.obj b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4eb4bd1e7845e741b350b29b0f82d011a413591
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_48.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.08614649 0.01122877 -0.06768470
+v 0.08611848 -0.00007113 -0.06550978
+v 0.07898715 -0.00007113 -0.06441288
+v 0.08081387 0.01122877 -0.06559550
+v 0.09061245 0.01122877 -0.06567249
+v 0.09042379 -0.00007113 -0.06342785
+v 0.07153269 -0.00007113 -0.06138223
+v 0.07895353 0.01122877 -0.06485164
+v 0.09061245 0.01122877 -0.06559114
+v 0.09042379 -0.00007113 -0.06077494
+v 0.07153269 -0.00007113 -0.05284528
+v 0.07153269 0.01122877 -0.06138078
+v 0.09044435 0.01122877 -0.06082434
+v 0.09042940 0.01114360 -0.06076477
+v 0.08820857 -0.00007113 -0.05705855
+v 0.07153269 0.01114360 -0.05284383
+v 0.07868457 -0.00007113 -0.05284528
+v 0.07153269 0.01122877 -0.05284383
+v 0.09042940 0.01122877 -0.06076477
+v 0.08821417 0.01114360 -0.05704983
+v 0.08631834 -0.00007113 -0.05543572
+v 0.07161301 0.01122877 -0.05284383
+v 0.07868457 0.01122877 -0.05284528
+v 0.08449161 -0.00007113 -0.05387100
+v 0.08449348 0.00371062 -0.05387100
+v 0.08449535 0.01114360 -0.05387100
+v 0.08821417 0.01122877 -0.05704983
+v 0.08453830 0.01122877 -0.05390732
+v 0.08449535 0.01122877 -0.05387100
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 12
+f 1 12 18
+f 1 18 22
+f 1 22 23
+f 1 23 29
+f 1 29 28
+f 1 28 27
+f 1 27 19
+f 1 19 13
+f 1 13 9
+f 1 9 5
+f 1 5 2
+f 2 5 6
+f 2 6 10
+f 2 10 15
+f 2 15 21
+f 2 21 24
+f 2 24 17
+f 2 17 11
+f 2 11 7
+f 2 7 3
+f 3 7 8
+f 3 8 4
+f 5 9 10
+f 5 10 6
+f 7 11 16
+f 7 16 18
+f 7 18 12
+f 7 12 8
+f 9 13 10
+f 10 13 14
+f 10 14 15
+f 11 17 16
+f 13 19 14
+f 14 19 27
+f 14 27 20
+f 14 20 15
+f 15 20 21
+f 16 17 22
+f 16 22 18
+f 17 23 22
+f 17 24 25
+f 17 25 26
+f 17 26 29
+f 17 29 23
+f 20 28 25
+f 20 25 24
+f 20 24 21
+f 20 27 28
+f 25 28 26
+f 26 28 29
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_49.obj b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab1040231be172795864e7897ec7c60d5f9eb8d9
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_49.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v -0.07565048 0.02665315 -0.07175555
+v -0.07564789 0.03344888 -0.07175363
+v -0.07000205 0.03344888 -0.07254695
+v -0.06933929 0.02665315 -0.07136370
+v -0.07626008 0.02665315 -0.06604871
+v -0.07510315 0.04088189 -0.07119851
+v -0.07000205 0.04088189 -0.07242594
+v -0.07625488 0.03344888 -0.06604871
+v -0.06301123 0.04088189 -0.07209746
+v -0.06301123 0.03381382 -0.07092191
+v -0.06931984 0.02665315 -0.07135601
+v -0.07609406 0.02665315 -0.06559731
+v -0.07506943 0.04071486 -0.06619277
+v -0.07428086 0.04499963 -0.06876671
+v -0.07428086 0.04499963 -0.07034950
+v -0.07000205 0.04519935 -0.07064338
+v -0.06301123 0.04519935 -0.07064338
+v -0.07432884 0.02665315 -0.06080094
+v -0.07432625 0.03344888 -0.06081055
+v -0.07412391 0.03812402 -0.06132341
+v -0.06301123 0.02665497 -0.06652124
+v -0.06301123 0.02665315 -0.06573177
+v -0.06764281 0.03797332 -0.05423355
+v -0.06301123 0.04101442 -0.05823468
+v -0.07000205 0.04519935 -0.06813475
+v -0.06301123 0.04519935 -0.06801181
+v -0.07208244 0.02665315 -0.05708217
+v -0.07205909 0.03344888 -0.05709370
+v -0.06301123 0.02665315 -0.05292545
+v -0.06834319 0.03344888 -0.05388588
+v -0.06301123 0.03344888 -0.05295234
+v -0.06301123 0.03834189 -0.05393006
+v -0.06301123 0.04376141 -0.06429497
+v -0.06836654 0.02665315 -0.05387435
+v -0.06786979 0.02665315 -0.05378599
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 22
+f 1 22 29
+f 1 29 35
+f 1 35 34
+f 1 34 27
+f 1 27 18
+f 1 18 12
+f 1 12 5
+f 1 5 2
+f 2 6 7
+f 2 7 3
+f 2 5 8
+f 2 8 6
+f 3 7 9
+f 3 9 4
+f 4 10 11
+f 4 9 10
+f 5 12 8
+f 6 8 13
+f 6 13 14
+f 6 14 15
+f 6 15 7
+f 7 15 16
+f 7 16 17
+f 7 17 9
+f 8 12 18
+f 8 18 19
+f 8 19 20
+f 8 20 13
+f 9 17 26
+f 9 26 33
+f 9 33 24
+f 9 24 32
+f 9 32 31
+f 9 31 29
+f 9 29 22
+f 9 22 21
+f 9 21 10
+f 10 21 11
+f 11 21 22
+f 13 20 14
+f 14 20 23
+f 14 23 24
+f 14 24 25
+f 14 25 16
+f 14 16 15
+f 16 25 26
+f 16 26 17
+f 18 27 19
+f 19 27 28
+f 19 28 20
+f 20 28 23
+f 23 28 30
+f 23 30 31
+f 23 31 32
+f 23 32 24
+f 24 33 25
+f 25 33 26
+f 27 34 30
+f 27 30 28
+f 29 31 30
+f 29 30 35
+f 30 34 35
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_5.obj b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c52d9af77b1ac15e47f8284cb635e1b9a613aa88
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_5.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.04768592 -0.01065359 -0.05147766
+v -0.04768592 -0.01065359 -0.06126082
+v -0.04773618 -0.01065359 -0.05147881
+v -0.05669356 -0.02649087 -0.05284947
+v -0.04770091 -0.02649087 -0.05284947
+v -0.04768592 -0.02602580 -0.05284606
+v -0.04768592 -0.01065514 -0.06150951
+v -0.04770091 -0.01065359 -0.06150951
+v -0.05669356 -0.01065359 -0.05265301
+v -0.05669356 -0.02649087 -0.06307777
+v -0.04768592 -0.02649087 -0.05541137
+v -0.04768592 -0.02407094 -0.06182181
+v -0.04770091 -0.02649087 -0.06233283
+v -0.05669356 -0.01065359 -0.06156971
+f 1 2 8
+f 1 8 14
+f 1 14 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 11
+f 1 11 12
+f 1 12 7
+f 1 7 2
+f 2 7 8
+f 3 9 4
+f 4 10 13
+f 4 13 11
+f 4 11 5
+f 4 9 14
+f 4 14 10
+f 5 11 6
+f 7 12 13
+f 7 13 10
+f 7 10 8
+f 8 10 14
+f 11 13 12
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_50.obj b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..653b636489cd2a9abeb6fd75fa072bed051ac9b9
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_50.obj
@@ -0,0 +1,144 @@
+# https://github.com/mikedh/trimesh
+v 0.07125019 0.04453748 -0.06644794
+v 0.07125019 0.04379681 -0.06441789
+v 0.07530156 0.04453576 -0.06644794
+v 0.06895580 0.04358544 -0.06644794
+v 0.06895580 0.04297710 -0.06262478
+v 0.07125019 0.04126722 -0.05861525
+v 0.07868459 0.04122770 -0.05861525
+v 0.07868459 0.04375901 -0.06442454
+v 0.07868459 0.04451685 -0.06644794
+v 0.06895580 0.03623209 -0.06644794
+v 0.06895580 0.04122770 -0.05861525
+v 0.06895580 0.04036674 -0.05716160
+v 0.06895580 0.03835097 -0.05390952
+v 0.07868459 0.03834926 -0.05391084
+v 0.08376028 0.03795400 -0.05423965
+v 0.08799079 0.04388101 -0.06644794
+v 0.08611669 0.04410957 -0.06644794
+v 0.08259816 0.04449108 -0.06644794
+v 0.06895580 0.03273157 -0.06644395
+v 0.07125019 0.03228992 -0.06644794
+v 0.06895580 0.03344817 -0.05288317
+v 0.07125019 0.03344817 -0.05288317
+v 0.07868459 0.03344817 -0.05288450
+v 0.08447226 0.03344817 -0.05389088
+v 0.08819060 0.03344817 -0.05703913
+v 0.09025533 0.03812585 -0.06128428
+v 0.09111659 0.04105413 -0.06644794
+v 0.07797491 0.02698328 -0.06616308
+v 0.06895580 0.02698328 -0.06257420
+v 0.07882699 0.02698328 -0.06644794
+v 0.06895580 0.03145131 -0.05287252
+v 0.07868459 0.02698328 -0.05284989
+v 0.07944020 0.02698328 -0.05298035
+v 0.08449752 0.02698328 -0.05387357
+v 0.08821586 0.02698328 -0.05703647
+v 0.09046433 0.03344817 -0.06075447
+v 0.08498213 0.02698328 -0.05428491
+v 0.09241652 0.03344817 -0.06604859
+v 0.09118090 0.04071559 -0.06623895
+v 0.09118319 0.04072246 -0.06644794
+v 0.06895580 0.02698328 -0.05284989
+v 0.09236599 0.02698328 -0.06644794
+v 0.08851214 0.02698328 -0.05752102
+v 0.09046204 0.02698328 -0.06075314
+v 0.09071696 0.02698328 -0.06144269
+v 0.09241192 0.02698328 -0.06604859
+v 0.09236829 0.02743524 -0.06644794
+v 0.09237058 0.03344817 -0.06644794
+v 0.09232005 0.03402730 -0.06644794
+f 1 2 3
+f 1 3 9
+f 1 9 18
+f 1 18 17
+f 1 17 16
+f 1 16 27
+f 1 27 40
+f 1 40 49
+f 1 49 48
+f 1 48 47
+f 1 47 42
+f 1 42 30
+f 1 30 20
+f 1 20 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 3 8 9
+f 4 10 19
+f 4 19 29
+f 4 29 41
+f 4 41 31
+f 4 31 21
+f 4 21 13
+f 4 13 12
+f 4 12 11
+f 4 11 5
+f 5 11 6
+f 6 11 12
+f 6 12 13
+f 6 13 14
+f 6 14 7
+f 7 14 15
+f 7 15 16
+f 7 16 17
+f 7 17 18
+f 7 18 8
+f 8 18 9
+f 10 20 19
+f 13 21 22
+f 13 22 14
+f 14 22 23
+f 14 23 15
+f 15 23 24
+f 15 24 25
+f 15 25 26
+f 15 26 16
+f 16 26 27
+f 19 28 29
+f 19 20 30
+f 19 30 28
+f 21 31 22
+f 22 32 23
+f 22 31 32
+f 23 32 33
+f 23 33 24
+f 24 33 34
+f 24 34 25
+f 25 35 36
+f 25 36 26
+f 25 34 37
+f 25 37 35
+f 26 36 38
+f 26 38 39
+f 26 39 27
+f 27 39 40
+f 28 30 42
+f 28 42 46
+f 28 46 45
+f 28 45 44
+f 28 44 43
+f 28 43 35
+f 28 35 37
+f 28 37 34
+f 28 34 33
+f 28 33 32
+f 28 32 41
+f 28 41 29
+f 31 41 32
+f 35 43 36
+f 36 43 44
+f 36 44 45
+f 36 45 38
+f 38 46 47
+f 38 47 48
+f 38 48 49
+f 38 49 40
+f 38 40 39
+f 38 45 46
+f 42 47 46
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_51.obj b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d03314f8e1bb13d2a39572c03979d9bc3b980a0a
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_51.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.01186267 -0.01135856 0.11052110
+v 0.01186267 -0.01135856 0.10572591
+v 0.00838314 -0.01135856 0.11057939
+v 0.01177488 -0.01859172 0.11138368
+v 0.02055831 -0.02544165 0.11089514
+v 0.01742832 -0.01859172 0.10986879
+v 0.01561514 -0.01461879 0.10881052
+v 0.01157537 -0.01135856 0.10561835
+v 0.01561514 -0.01461879 0.10839276
+v 0.01742832 -0.01859172 0.10674394
+v 0.02055831 -0.02544165 0.10518672
+v 0.00425239 -0.01135856 0.11063976
+v 0.00649812 -0.01859172 0.11017413
+v 0.01207814 -0.02544165 0.11030528
+v 0.01992305 -0.02544165 0.11088195
+v 0.01177488 -0.01859172 0.10429499
+v 0.00457321 -0.01135856 0.10544695
+v 0.02006192 -0.02544165 0.10518533
+v 0.00760423 -0.02293135 0.10921995
+v 0.00425239 -0.01135856 0.10556283
+v 0.01173338 -0.02544165 0.11018870
+v 0.00649812 -0.01859172 0.10621098
+v 0.01992305 -0.02544165 0.10519712
+v 0.01207814 -0.02544165 0.10597365
+v 0.00760423 -0.02293135 0.10769534
+v 0.01173338 -0.02544165 0.10615824
+v 0.01191694 -0.02544165 0.10603264
+f 1 2 8
+f 1 8 17
+f 1 17 20
+f 1 20 12
+f 1 12 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 9
+f 1 9 2
+f 2 9 10
+f 2 10 11
+f 2 11 8
+f 3 12 4
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 4 15 5
+f 5 15 14
+f 5 14 21
+f 5 21 26
+f 5 26 27
+f 5 27 24
+f 5 24 23
+f 5 23 18
+f 5 18 11
+f 5 11 9
+f 5 9 7
+f 5 7 6
+f 8 11 16
+f 8 16 17
+f 9 11 10
+f 11 18 16
+f 12 19 13
+f 12 20 25
+f 12 25 19
+f 13 19 21
+f 13 21 14
+f 16 22 20
+f 16 20 17
+f 16 18 23
+f 16 23 24
+f 16 24 22
+f 19 25 26
+f 19 26 21
+f 20 22 25
+f 22 24 27
+f 22 27 26
+f 22 26 25
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_52.obj b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6aa05bc806f167851ec8d87af8f56fce247a3dd1
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_52.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v 0.07705582 0.01114617 0.07288408
+v 0.07227053 0.01114617 0.07288408
+v 0.07764861 -0.00002245 0.07287657
+v 0.07764861 0.00371048 0.07287657
+v 0.07942256 0.00371048 0.06777031
+v 0.07841351 0.01114617 0.06777031
+v 0.07594139 0.01857636 0.07229251
+v 0.07100769 0.02543289 0.07250097
+v 0.07045091 0.02547132 0.07253196
+v 0.07319791 -0.00002245 0.07287657
+v 0.07045091 0.01802740 0.07264464
+v 0.07942168 -0.00002245 0.06777031
+v 0.07673967 0.00371048 0.06329975
+v 0.07632341 0.01114617 0.06329130
+v 0.07673967 -0.00002245 0.06329975
+v 0.07565246 0.01686635 0.06357957
+v 0.07615831 0.01903749 0.06767078
+v 0.07513872 0.02256731 0.07166151
+v 0.07045091 0.02651984 0.07242210
+v 0.07208348 -0.00002245 0.06777031
+v 0.07045091 0.01122028 0.06777031
+v 0.07045091 0.02221323 0.06356643
+v 0.07318298 0.01114617 0.06329130
+v 0.07385304 -0.00002245 0.06329975
+v 0.07045091 0.02507607 0.06389038
+v 0.07446778 0.02182347 0.06512610
+v 0.07513872 0.02256731 0.07008118
+v 0.07045091 0.02801850 0.06771961
+v 0.07045091 0.01377295 0.06584349
+v 0.07045091 0.01987191 0.06356549
+v 0.07045091 0.01926531 0.06359742
+v 0.07045091 0.02747229 0.06598716
+v 0.07241719 0.02543289 0.06767078
+f 1 2 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
+f 2 9 11
+f 2 11 10
+f 3 10 20
+f 3 20 24
+f 3 24 15
+f 3 15 12
+f 3 12 5
+f 3 5 4
+f 5 13 14
+f 5 14 6
+f 5 12 15
+f 5 15 13
+f 6 14 16
+f 6 16 17
+f 6 17 18
+f 6 18 7
+f 7 18 8
+f 8 18 19
+f 8 19 9
+f 9 19 28
+f 9 28 32
+f 9 32 25
+f 9 25 22
+f 9 22 30
+f 9 30 31
+f 9 31 29
+f 9 29 21
+f 9 21 11
+f 10 11 20
+f 11 21 20
+f 13 15 14
+f 14 22 16
+f 14 15 24
+f 14 24 23
+f 14 23 22
+f 16 22 25
+f 16 25 26
+f 16 26 17
+f 17 26 27
+f 17 27 18
+f 18 27 28
+f 18 28 19
+f 20 21 29
+f 20 29 24
+f 22 23 30
+f 23 24 30
+f 24 29 31
+f 24 31 30
+f 25 32 26
+f 26 32 33
+f 26 33 27
+f 27 33 28
+f 28 33 32
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_53.obj b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..637f833969b8beb371cb044530f3db4f493818ab
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_53.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v -0.03976651 -0.00325478 0.16206715
+v -0.03999700 -0.00325478 0.16256951
+v -0.03976651 -0.00816503 0.15503163
+v -0.03976651 -0.00325478 0.14036851
+v -0.04186756 -0.00325478 0.16263358
+v -0.04769986 -0.00847859 0.15546734
+v -0.04026592 -0.00820324 0.15513671
+v -0.04026592 -0.00889041 0.14954673
+v -0.03976651 -0.00880550 0.14981585
+v -0.03976651 -0.00406568 0.14036338
+v -0.03992805 -0.00325478 0.13964061
+v -0.04794612 -0.00325478 0.16250799
+v -0.04982849 -0.00833061 0.15504956
+v -0.04769986 -0.00945021 0.14954673
+v -0.04026592 -0.00812803 0.14441554
+v -0.03976651 -0.00807345 0.14453087
+v -0.03976651 -0.00881035 0.14952366
+v -0.03976651 -0.00413846 0.14036338
+v -0.04061560 -0.00325478 0.13655728
+v -0.04982849 -0.00325478 0.16109576
+v -0.04982849 -0.00617995 0.15770230
+v -0.04982849 -0.00913240 0.14954673
+v -0.04982849 -0.00898320 0.14834723
+v -0.04769986 -0.00841309 0.14408491
+v -0.04734427 -0.00325478 0.13645219
+v -0.04982849 -0.00325478 0.14048897
+v -0.04982849 -0.00824266 0.14444886
+v -0.04982849 -0.00405537 0.14061712
+f 1 2 3
+f 1 3 9
+f 1 9 17
+f 1 17 16
+f 1 16 18
+f 1 18 10
+f 1 10 4
+f 1 4 11
+f 1 11 19
+f 1 19 25
+f 1 25 26
+f 1 26 20
+f 1 20 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 3 8 9
+f 4 10 11
+f 5 12 6
+f 6 12 13
+f 6 13 14
+f 6 14 7
+f 7 14 8
+f 8 14 15
+f 8 15 16
+f 8 16 17
+f 8 17 9
+f 10 18 19
+f 10 19 11
+f 12 20 21
+f 12 21 13
+f 13 21 20
+f 13 20 26
+f 13 26 28
+f 13 28 27
+f 13 27 23
+f 13 23 22
+f 13 22 14
+f 14 22 23
+f 14 23 24
+f 14 24 15
+f 15 24 19
+f 15 19 16
+f 16 19 18
+f 19 24 25
+f 23 27 24
+f 24 27 25
+f 25 28 26
+f 25 27 28
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_54.obj b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95c1a7b2fa02353cd4f402a98a3248d95fdbb1e4
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_54.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.01308066 0.00573593 0.14500166
+v 0.01032411 0.00573593 0.14954811
+v 0.01463844 0.00874663 0.14538440
+v 0.01716726 0.01016527 0.14524323
+v 0.01904292 0.01016527 0.14514092
+v 0.01923428 0.00573593 0.14513524
+v 0.01034467 0.00573593 0.14966085
+v 0.01481873 0.01016527 0.15295014
+v 0.01425572 0.01016527 0.14954811
+v 0.02489130 0.01016527 0.14546018
+v 0.02102611 0.00573593 0.14544313
+v 0.01269320 0.00573593 0.15449153
+v 0.01430158 0.00919537 0.15395152
+v 0.01622468 0.01016527 0.15412111
+v 0.02646805 0.01016527 0.14954811
+v 0.02297610 0.00727943 0.14579177
+v 0.02270250 0.00573593 0.14954811
+v 0.01311862 0.00573593 0.15458437
+v 0.01761166 0.01016527 0.15442332
+v 0.02647912 0.01016527 0.14997443
+v 0.02274204 0.00573593 0.15210887
+v 0.01351716 0.00573593 0.15467058
+v 0.01355670 0.00573593 0.15467910
+v 0.02481222 0.01016527 0.15421773
+v 0.02521867 0.01016527 0.15397900
+v 0.02319119 0.00669628 0.15348163
+v 0.02274679 0.00573593 0.15244519
+v 0.02096760 0.00573593 0.15431910
+v 0.02185957 0.00573593 0.15379521
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 11
+f 1 11 17
+f 1 17 21
+f 1 21 27
+f 1 27 29
+f 1 29 28
+f 1 28 23
+f 1 23 22
+f 1 22 18
+f 1 18 12
+f 1 12 7
+f 1 7 2
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 3 9 4
+f 4 9 8
+f 4 8 14
+f 4 14 19
+f 4 19 24
+f 4 24 25
+f 4 25 20
+f 4 20 15
+f 4 15 10
+f 4 10 5
+f 5 10 6
+f 6 10 11
+f 7 12 13
+f 7 13 8
+f 8 13 14
+f 10 15 16
+f 10 16 11
+f 11 16 17
+f 12 18 13
+f 13 18 14
+f 14 18 19
+f 15 20 17
+f 15 17 16
+f 17 20 21
+f 18 22 19
+f 19 22 23
+f 19 23 24
+f 20 25 26
+f 20 26 27
+f 20 27 21
+f 23 28 24
+f 24 28 26
+f 24 26 25
+f 26 28 29
+f 26 29 27
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_55.obj b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..870f8dac5946fd387476f365df7c663a9d97b124
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_55.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.00669938 0.01879938 0.06895680
+v 0.00668875 0.01879938 0.06777117
+v 0.00436679 0.01879938 0.07279916
+v 0.00149223 0.00569279 0.07229171
+v 0.00170123 0.00569279 0.07100271
+v 0.00183406 0.00569279 0.06777023
+v 0.00396120 0.01879938 0.06347069
+v 0.00096266 0.00569279 0.06379792
+v 0.00435085 0.01879938 0.07279916
+v -0.00320659 0.00569279 0.07310268
+v -0.00172946 0.00569279 0.07308845
+v 0.00208025 0.01317054 0.06352001
+v -0.00310564 0.00569279 0.06342800
+v 0.00107247 0.01879938 0.06343370
+v 0.00140014 0.01114457 0.06353803
+v 0.00398068 0.01879938 0.07279821
+v -0.00141243 0.01879938 0.07276881
+v -0.00869535 0.00569279 0.07288358
+v -0.00847750 0.00569279 0.06361012
+v -0.00073940 0.01857741 0.06341378
+v -0.00069866 0.01879938 0.06342706
+v -0.00152755 0.01879938 0.07274699
+v -0.00158069 0.01857741 0.07276786
+v -0.00943037 0.00569279 0.07259239
+v -0.01139456 0.00569279 0.06777023
+v -0.00283997 0.01879938 0.06777117
+v -0.00282934 0.01879938 0.06796277
+v -0.00775665 0.00897104 0.07192654
+f 1 2 7
+f 1 7 14
+f 1 14 21
+f 1 21 26
+f 1 26 27
+f 1 27 22
+f 1 22 17
+f 1 17 16
+f 1 16 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 8
+f 2 8 7
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 4 11 10
+f 4 10 18
+f 4 18 24
+f 4 24 25
+f 4 25 19
+f 4 19 13
+f 4 13 8
+f 4 8 6
+f 4 6 5
+f 7 8 12
+f 7 12 13
+f 7 13 14
+f 8 15 12
+f 8 13 15
+f 9 16 10
+f 10 16 17
+f 10 17 18
+f 12 15 13
+f 13 19 20
+f 13 20 14
+f 14 20 21
+f 17 22 23
+f 17 23 18
+f 18 23 22
+f 18 22 24
+f 19 25 21
+f 19 21 20
+f 21 25 26
+f 22 27 25
+f 22 25 28
+f 22 28 24
+f 24 28 25
+f 25 27 26
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_56.obj b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d19b9cc9bb74f36856bd79e3a04211d5ede7a27
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_56.obj
@@ -0,0 +1,138 @@
+# https://github.com/mikedh/trimesh
+v -0.07527161 -0.02654408 -0.07182196
+v -0.07566879 -0.02654408 -0.07176379
+v -0.07566879 -0.02602606 -0.07176379
+v -0.07509125 -0.01859495 -0.07117649
+v -0.07103697 -0.01859495 -0.07117649
+v -0.06936959 -0.02654408 -0.07136413
+v -0.06089072 -0.02654563 -0.06535222
+v -0.06096171 -0.02654563 -0.06524714
+v -0.07629622 -0.02654408 -0.06604648
+v -0.07629429 -0.02602606 -0.06604648
+v -0.07570141 -0.01859495 -0.06604648
+v -0.07449069 -0.01065515 -0.06549858
+v -0.07424893 -0.01415992 -0.07031336
+v -0.07248945 -0.01415992 -0.07031336
+v -0.06284015 -0.01065515 -0.06482121
+v -0.06732231 -0.01859495 -0.06931137
+v -0.06641858 -0.02467269 -0.06966413
+v -0.06911248 -0.02654408 -0.07123653
+v -0.05669445 -0.02654563 -0.06311183
+v -0.06096171 -0.02654563 -0.05284994
+v -0.07448302 -0.02654408 -0.06112475
+v -0.07431225 -0.01065515 -0.06076824
+v -0.07449069 -0.01065515 -0.06521900
+v -0.06096171 -0.01065359 -0.06330885
+v -0.07000853 -0.01065515 -0.06752319
+v -0.05669445 -0.01065359 -0.06157133
+v -0.06636870 -0.02654408 -0.06970541
+v -0.05669445 -0.02654563 -0.05284994
+v -0.05669445 -0.01065359 -0.05265292
+v -0.06257153 -0.02654408 -0.05285181
+v -0.06297446 -0.02654408 -0.05292124
+v -0.06838337 -0.02654408 -0.05387444
+v -0.07209803 -0.02654408 -0.05703800
+v -0.07225921 -0.02654408 -0.05729882
+v -0.07434487 -0.02654408 -0.06075510
+v -0.07434487 -0.02602606 -0.06075510
+v -0.07416259 -0.01065515 -0.06051680
+v -0.06096171 -0.01065359 -0.05274485
+v -0.06096363 -0.01065515 -0.05274298
+v -0.06257153 -0.02602606 -0.05284806
+v -0.06838720 -0.02602606 -0.05387256
+v -0.07210187 -0.02602606 -0.05703800
+v -0.07209611 -0.01065515 -0.05705113
+v -0.06838144 -0.01065515 -0.05387256
+v -0.06798619 -0.01065515 -0.05380126
+v -0.06257153 -0.01065515 -0.05284431
+v -0.06206690 -0.01065515 -0.05276737
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 5
+f 5 14 15
+f 5 15 16
+f 5 16 17
+f 5 17 6
+f 6 17 18
+f 6 18 7
+f 7 19 28
+f 7 28 20
+f 7 20 8
+f 7 18 19
+f 8 20 9
+f 9 20 21
+f 9 21 22
+f 9 22 10
+f 10 22 11
+f 11 22 23
+f 11 23 12
+f 12 23 38
+f 12 38 24
+f 12 24 25
+f 12 25 13
+f 13 25 14
+f 14 25 15
+f 15 24 26
+f 15 26 16
+f 15 25 24
+f 16 26 17
+f 17 27 18
+f 17 26 19
+f 17 19 27
+f 18 27 19
+f 19 26 29
+f 19 29 28
+f 20 28 29
+f 20 29 30
+f 20 30 31
+f 20 31 32
+f 20 32 33
+f 20 33 34
+f 20 34 35
+f 20 35 21
+f 21 35 36
+f 21 36 22
+f 22 36 37
+f 22 37 38
+f 22 38 23
+f 24 38 29
+f 24 29 26
+f 29 38 39
+f 29 39 40
+f 29 40 30
+f 30 40 31
+f 31 40 41
+f 31 41 32
+f 32 41 33
+f 33 41 42
+f 33 42 34
+f 34 42 35
+f 35 42 36
+f 36 42 43
+f 36 43 37
+f 37 43 38
+f 38 43 44
+f 38 44 45
+f 38 45 46
+f 38 46 47
+f 38 47 39
+f 39 47 40
+f 40 47 46
+f 40 46 41
+f 41 46 45
+f 41 45 44
+f 41 44 42
+f 42 44 43
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_57.obj b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c77acbd2677c0dbd9a591f4e330b90d6e8fcd839
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_57.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.07629104 -0.04519076 -0.07061536
+v 0.07868506 -0.04519076 -0.07061592
+v 0.07629104 -0.04519076 -0.06807271
+v 0.07629104 -0.04089462 -0.07202217
+v 0.08611797 -0.04089462 -0.07240327
+v 0.08611797 -0.04519076 -0.07061651
+v 0.07868506 -0.04519076 -0.06807040
+v 0.07868506 -0.04466595 -0.06666763
+v 0.07629104 -0.04466435 -0.06666763
+v 0.07629104 -0.03461440 -0.07099070
+v 0.08566487 -0.02884621 -0.07175580
+v 0.08611797 -0.03346236 -0.07255780
+v 0.09176359 -0.03346236 -0.07175464
+v 0.09120545 -0.04089462 -0.07118442
+v 0.09037766 -0.04499716 -0.07033169
+v 0.08611797 -0.04519076 -0.06819379
+v 0.08611797 -0.04430754 -0.06666763
+v 0.07629104 -0.03069587 -0.06666763
+v 0.07774595 -0.02884621 -0.06666763
+v 0.07896726 -0.02884621 -0.06779596
+v 0.09176515 -0.02884621 -0.07175580
+v 0.09230448 -0.03346236 -0.06666763
+v 0.09117567 -0.04073621 -0.06666763
+v 0.09103457 -0.04147064 -0.06666763
+v 0.09037766 -0.04499716 -0.06880264
+v 0.09230605 -0.02884621 -0.06666763
+f 1 2 6
+f 1 6 16
+f 1 16 7
+f 1 7 3
+f 1 3 9
+f 1 9 18
+f 1 18 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 3 8 9
+f 4 10 11
+f 4 11 12
+f 4 12 5
+f 5 12 13
+f 5 13 14
+f 5 14 15
+f 5 15 6
+f 6 15 25
+f 6 25 16
+f 7 16 8
+f 8 17 24
+f 8 24 23
+f 8 23 22
+f 8 22 26
+f 8 26 19
+f 8 19 18
+f 8 18 9
+f 8 16 17
+f 10 18 19
+f 10 19 20
+f 10 20 11
+f 11 20 19
+f 11 19 26
+f 11 26 21
+f 11 21 12
+f 12 21 13
+f 13 22 14
+f 13 21 22
+f 14 22 23
+f 14 23 24
+f 14 24 25
+f 14 25 15
+f 16 25 17
+f 17 25 24
+f 21 26 22
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_58.obj b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1c69dda9b12a74276a6bf489e3b7d8e570dbae8
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_58.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.05701893 -0.02667573 0.10519515
+v 0.05701893 -0.02667573 0.11090599
+v 0.05701893 -0.01885914 0.10542435
+v 0.06426667 -0.01883689 0.10525552
+v 0.06208986 -0.02463085 0.10633162
+v 0.06208986 -0.02463085 0.11021841
+v 0.06426667 -0.01883689 0.11082997
+v 0.06401195 -0.01883689 0.11082606
+v 0.05701893 -0.01885914 0.11071649
+v 0.05701893 -0.01883689 0.10543608
+v 0.06401195 -0.01883689 0.10526167
+v 0.05701893 -0.01883689 0.11071314
+f 1 2 9
+f 1 9 12
+f 1 12 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 3 10 11
+f 3 11 4
+f 4 7 6
+f 4 6 5
+f 4 11 10
+f 4 10 12
+f 4 12 8
+f 4 8 7
+f 8 12 9
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_59.obj b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..113a5e27ceff51db97c1f36235b0b630d62579c5
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_59.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.07099378 -0.01642292 0.07270661
+v 0.07099378 -0.01757007 0.07266766
+v 0.07099378 -0.01267722 0.07120008
+v 0.06724767 -0.01796770 0.07013976
+v 0.07061426 -0.01796770 0.07265387
+v 0.07061905 -0.01796591 0.07265387
+v 0.07063780 -0.01796770 0.07265306
+v 0.07099378 -0.01796770 0.07263278
+v 0.07099378 -0.00976897 0.06872410
+v 0.06691724 -0.01796770 0.06777005
+v 0.07099378 -0.00879866 0.06777005
+v 0.07099378 -0.01796770 0.06441951
+f 1 2 8
+f 1 8 12
+f 1 12 11
+f 1 11 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 3 9 4
+f 4 10 12
+f 4 12 8
+f 4 8 7
+f 4 7 5
+f 4 9 11
+f 4 11 10
+f 5 7 6
+f 10 11 12
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_6.obj b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c5bca9aebcbdd3ceefb1f7110abaf5ae8ea53cb
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_6.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v -0.04982999 -0.00914122 0.06777033
+v -0.05513498 -0.00835256 0.06777033
+v -0.05513498 -0.00778542 0.06363315
+v -0.04982999 -0.00897699 0.06658571
+v -0.04982999 -0.00836020 0.07340969
+v -0.05513498 -0.00800884 0.07233092
+v -0.04982999 -0.00822080 0.06276608
+v -0.05513498 -0.00372375 0.06063555
+v -0.04982999 -0.00400828 0.05894870
+v -0.04982999 -0.00641816 0.07606272
+v -0.04982999 -0.00284343 0.08078996
+v -0.05513498 -0.00326354 0.07636901
+v -0.05513498 0.00371023 0.05955452
+v -0.04982999 -0.00226483 0.05869646
+v -0.04982999 -0.00175307 0.08119760
+v -0.05513498 -0.00318716 0.07642531
+v -0.04982999 0.00400621 0.05818972
+v -0.05513498 0.00836959 0.06255437
+v -0.04982999 0.00265423 0.08119760
+v -0.05244016 -0.00033807 0.07959407
+v -0.05513498 0.00375033 0.07759417
+v -0.04982999 0.00509849 0.05889465
+v -0.04982999 0.00874005 0.06186747
+v -0.05513498 0.00969293 0.06777033
+v -0.04982999 0.01036701 0.06777033
+v -0.04982999 0.00583559 0.07833513
+v -0.05513498 0.00874960 0.07381508
+v -0.05513498 0.00387827 0.07760093
+v -0.05244016 0.00151804 0.07959407
+v -0.04982999 0.01009585 0.06950223
+v -0.04982999 0.00905322 0.07459882
+f 1 2 3
+f 1 3 4
+f 1 4 7
+f 1 7 9
+f 1 9 14
+f 1 14 17
+f 1 17 22
+f 1 22 23
+f 1 23 25
+f 1 25 30
+f 1 30 31
+f 1 31 26
+f 1 26 19
+f 1 19 15
+f 1 15 11
+f 1 11 10
+f 1 10 5
+f 1 5 6
+f 1 6 2
+f 2 6 12
+f 2 12 16
+f 2 16 21
+f 2 21 28
+f 2 28 27
+f 2 27 24
+f 2 24 18
+f 2 18 13
+f 2 13 8
+f 2 8 3
+f 3 7 4
+f 3 8 9
+f 3 9 7
+f 5 10 6
+f 6 10 11
+f 6 11 12
+f 8 13 9
+f 9 13 14
+f 11 15 16
+f 11 16 12
+f 13 17 14
+f 13 18 17
+f 15 19 29
+f 15 29 20
+f 15 20 16
+f 16 20 21
+f 17 18 22
+f 18 23 22
+f 18 24 25
+f 18 25 23
+f 19 26 27
+f 19 27 28
+f 19 28 29
+f 20 29 28
+f 20 28 21
+f 24 27 25
+f 25 27 30
+f 26 31 27
+f 27 31 30
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_60.obj b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5612adadb2593eb868523c0aadb5ed3d3e9d7865
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_60.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.03407932 0.03139224 0.11055690
+v 0.04149529 0.03123894 0.11040998
+v 0.03407932 0.03139224 0.10570633
+v 0.02971481 0.03100784 0.11016653
+v 0.02971481 0.02823465 0.11111265
+v 0.04151083 0.02601289 0.11142566
+v 0.04151083 0.03123780 0.11040998
+v 0.04149529 0.03123894 0.10589229
+v 0.02971481 0.02601289 0.10420871
+v 0.02971481 0.03100784 0.10626846
+v 0.04151083 0.02601289 0.10419593
+v 0.02971481 0.02601289 0.11144696
+v 0.04955807 0.01970685 0.11063143
+v 0.04954253 0.02668217 0.11080745
+v 0.04746226 0.03054793 0.10965691
+v 0.04151083 0.03123780 0.10589300
+v 0.02971481 0.02109803 0.10659922
+v 0.04955807 0.01970685 0.10561831
+v 0.04954253 0.02668217 0.10528756
+v 0.04955807 0.02667759 0.10528898
+v 0.04955807 0.02666043 0.10528756
+v 0.02971481 0.02287360 0.11072228
+v 0.04955807 0.02667759 0.11079539
+v 0.02971481 0.02109803 0.10993798
+v 0.04746226 0.03054793 0.10702437
+f 1 2 8
+f 1 8 3
+f 1 3 10
+f 1 10 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 16
+f 2 16 8
+f 3 9 10
+f 3 8 11
+f 3 11 9
+f 4 10 9
+f 4 9 17
+f 4 17 24
+f 4 24 22
+f 4 22 12
+f 4 12 5
+f 5 12 6
+f 6 13 14
+f 6 14 7
+f 6 12 13
+f 7 14 15
+f 7 15 25
+f 7 25 16
+f 8 16 11
+f 9 11 18
+f 9 18 17
+f 11 16 19
+f 11 19 20
+f 11 20 21
+f 11 21 18
+f 12 22 13
+f 13 18 21
+f 13 21 20
+f 13 20 23
+f 13 23 14
+f 13 22 24
+f 13 24 17
+f 13 17 18
+f 14 23 15
+f 15 23 20
+f 15 20 25
+f 16 25 19
+f 19 25 20
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_61.obj b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cfde5135b853ff3985458a9a2e54c8eb447fbb61
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_61.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.05081109 0.00990315 0.14504924
+v 0.04978570 0.00990315 0.14505293
+v 0.05505880 0.00990315 0.14513861
+v 0.05682237 0.00370030 0.14527866
+v 0.04761650 0.00990315 0.14954833
+v 0.05193979 0.00370030 0.14530262
+v 0.05599979 0.00990315 0.14590796
+v 0.06000185 0.00370030 0.14670864
+v 0.05709699 0.00370030 0.14530446
+v 0.05682112 0.00388670 0.14527866
+v 0.05087534 0.00370030 0.14954833
+v 0.05160093 0.00370030 0.15412205
+v 0.04954258 0.00990315 0.15446204
+v 0.05810097 0.00990315 0.14990030
+v 0.05959245 0.00648175 0.14810821
+v 0.06048306 0.00388670 0.15017026
+v 0.06047047 0.00370030 0.14981184
+v 0.05638022 0.00370030 0.15444545
+v 0.05638022 0.00371062 0.15444545
+v 0.05626055 0.00990315 0.15416259
+v 0.05826473 0.00990315 0.15067333
+v 0.06010893 0.00745504 0.15306338
+v 0.06048432 0.00370030 0.15016012
+v 0.06010893 0.00745504 0.15327806
+v 0.06041126 0.00371062 0.15358765
+v 0.06041126 0.00370030 0.15358765
+v 0.05692063 0.00990315 0.15398937
+f 1 2 5
+f 1 5 13
+f 1 13 20
+f 1 20 27
+f 1 27 21
+f 1 21 14
+f 1 14 7
+f 1 7 3
+f 1 3 4
+f 1 4 2
+f 2 4 6
+f 2 6 5
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 4 9 8
+f 4 8 17
+f 4 17 23
+f 4 23 26
+f 4 26 18
+f 4 18 12
+f 4 12 11
+f 4 11 6
+f 4 10 9
+f 5 6 11
+f 5 11 12
+f 5 12 13
+f 7 14 15
+f 7 15 8
+f 8 16 17
+f 8 15 16
+f 12 18 13
+f 13 18 19
+f 13 19 20
+f 14 21 15
+f 15 21 22
+f 15 22 16
+f 16 23 17
+f 16 22 24
+f 16 24 25
+f 16 25 23
+f 18 26 25
+f 18 25 19
+f 19 25 20
+f 20 25 27
+f 21 27 24
+f 21 24 22
+f 23 25 26
+f 24 27 25
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_62.obj b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d346b3f2af38dfa76fabf773412cb594f373bbe9
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_62.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v -0.03309590 0.00313823 0.07562058
+v -0.03309590 0.00334644 0.07548099
+v -0.03309590 -0.00315344 0.07559665
+v -0.02599264 -0.00388822 0.07313849
+v -0.02599264 0.00388056 0.07309727
+v -0.02895355 0.00747148 0.07155377
+v -0.03309590 0.00761029 0.07204700
+v -0.03309590 -0.00766473 0.07187151
+v -0.02883881 -0.00752592 0.07161227
+v -0.02599264 -0.00391236 0.07312253
+v -0.02599264 0.00590083 0.06805198
+v -0.02895355 0.00747148 0.07071887
+v -0.03309590 0.00772496 0.07190475
+v -0.03309590 -0.00768887 0.07165614
+v -0.02883881 -0.00752592 0.07008339
+v -0.02599264 -0.00595526 0.06768638
+v -0.02599264 0.00588725 0.06802273
+v -0.03125733 0.00721650 0.06576399
+v -0.03309590 0.00764198 0.06822082
+v -0.03309590 -0.00762248 0.06774488
+v -0.03309590 -0.00762097 0.06766644
+v -0.03080255 -0.00730111 0.06512851
+v -0.02599264 -0.00594168 0.06765846
+v -0.02599264 0.00299791 0.06299074
+v -0.03309590 0.00730099 0.06512053
+v -0.03309590 0.00759520 0.06775418
+v -0.03309590 -0.00438914 0.06204018
+v -0.02599264 -0.00271438 0.06262780
+v -0.02599264 0.00265692 0.06263046
+v -0.03309590 0.00426379 0.06206809
+f 1 2 7
+f 1 7 13
+f 1 13 19
+f 1 19 26
+f 1 26 25
+f 1 25 30
+f 1 30 27
+f 1 27 21
+f 1 21 20
+f 1 20 14
+f 1 14 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 3 8 9
+f 3 9 4
+f 4 9 10
+f 4 10 16
+f 4 16 23
+f 4 23 28
+f 4 28 29
+f 4 29 24
+f 4 24 17
+f 4 17 11
+f 4 11 5
+f 5 11 6
+f 6 11 12
+f 6 12 13
+f 6 13 7
+f 8 14 9
+f 9 14 15
+f 9 15 16
+f 9 16 10
+f 11 17 18
+f 11 18 12
+f 12 18 19
+f 12 19 13
+f 14 20 15
+f 15 20 21
+f 15 21 22
+f 15 22 16
+f 16 22 23
+f 17 24 18
+f 18 25 26
+f 18 26 19
+f 18 24 25
+f 21 27 22
+f 22 27 28
+f 22 28 23
+f 24 29 25
+f 25 29 30
+f 27 30 29
+f 27 29 28
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_63.obj b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23e1ecf9845680c2695ef965773f39952ee4cede
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_63.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v -0.03976651 -0.00878300 0.06804154
+v -0.03976651 -0.00877949 0.06776452
+v -0.03309660 -0.00768780 0.07165652
+v -0.03309660 -0.00766498 0.07186943
+v -0.03976651 -0.00817397 0.07337586
+v -0.03309660 -0.00762110 0.06766837
+v -0.03309660 -0.00762286 0.06774621
+v -0.03976651 -0.00806164 0.06311016
+v -0.03309660 -0.00315427 0.07559659
+v -0.03976651 -0.00258736 0.08216489
+v -0.03575973 -0.00747016 0.06400761
+v -0.03309660 -0.00438814 0.06204101
+v -0.03976651 -0.00802478 0.06290640
+v -0.03309660 0.00313790 0.07561948
+v -0.03614298 -0.00025479 0.07954123
+v -0.03976651 0.00257625 0.08216489
+v -0.03976651 -0.00409503 0.05877631
+v -0.03310182 -0.00438287 0.06203414
+v -0.03309660 0.00426294 0.06206848
+v -0.03976651 0.00267630 0.08212598
+v -0.03614298 0.00023841 0.07954123
+v -0.03309660 0.00334676 0.07547983
+v -0.03976651 0.00409445 0.05878547
+v -0.03309660 0.00730109 0.06512026
+v -0.03976651 0.00846474 0.07342623
+v -0.03309660 0.00760999 0.07204572
+v -0.03309660 0.00772407 0.07190377
+v -0.03976651 0.00788906 0.06272783
+v -0.03976651 0.00914398 0.06779200
+v -0.03309660 0.00759595 0.06775308
+v -0.03976651 0.00807861 0.06293387
+v -0.03309660 0.00764158 0.06822241
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 16
+f 1 16 20
+f 1 20 25
+f 1 25 29
+f 1 29 31
+f 1 31 28
+f 1 28 23
+f 1 23 17
+f 1 17 13
+f 1 13 8
+f 1 8 2
+f 2 6 7
+f 2 7 3
+f 2 8 6
+f 3 7 6
+f 3 6 12
+f 3 12 19
+f 3 19 24
+f 3 24 30
+f 3 30 32
+f 3 32 27
+f 3 27 26
+f 3 26 22
+f 3 22 14
+f 3 14 9
+f 3 9 4
+f 4 9 10
+f 4 10 5
+f 6 8 11
+f 6 11 12
+f 8 13 11
+f 9 14 15
+f 9 15 10
+f 10 15 21
+f 10 21 16
+f 11 13 17
+f 11 17 12
+f 12 17 18
+f 12 18 19
+f 14 20 16
+f 14 16 21
+f 14 21 15
+f 14 22 20
+f 17 23 18
+f 18 23 19
+f 19 23 24
+f 20 22 26
+f 20 26 27
+f 20 27 25
+f 23 28 24
+f 24 29 30
+f 24 28 31
+f 24 31 29
+f 25 27 29
+f 27 32 29
+f 29 32 30
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_64.obj b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99f5fa94ffc389e3448635b8f981e0c8a386b3b8
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_64.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.04955946 0.01970648 0.10561847
+v 0.05566474 0.01794047 0.10509429
+v 0.05566474 0.01790439 0.10509660
+v 0.04955946 0.01970648 0.11063200
+v 0.04955946 0.02666142 0.10528732
+v 0.04955946 0.02667860 0.10528905
+v 0.05566474 0.02477430 0.10591379
+v 0.05566474 0.01790439 0.11099841
+v 0.04955946 0.02667860 0.11079556
+v 0.05566474 0.02477430 0.11042915
+f 1 2 3
+f 1 3 8
+f 1 8 4
+f 1 4 9
+f 1 9 6
+f 1 6 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 10
+f 2 10 8
+f 2 8 3
+f 4 8 9
+f 6 9 10
+f 6 10 7
+f 8 10 9
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_65.obj b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3012670f368f6f2d5b8159958bd94773f1ee2bda
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_65.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.03342574 0.04355808 0.06772481
+v 0.03342574 0.04160590 0.07250310
+v 0.03342574 0.03955988 0.06352697
+v 0.02664242 0.03911438 0.06334958
+v 0.01921001 0.03828721 0.06341366
+v 0.02664242 0.04218029 0.06777124
+v 0.01921001 0.03899800 0.07275571
+v 0.03342574 0.03589079 0.07265170
+v 0.02664242 0.04022937 0.07283651
+v 0.03342574 0.03650523 0.06352697
+v 0.02664242 0.03605473 0.06334958
+v 0.01913446 0.03371587 0.06343781
+v 0.01913446 0.03759769 0.06341830
+v 0.01913446 0.03827344 0.06342016
+v 0.01921001 0.04012050 0.06777124
+v 0.01913446 0.04008921 0.06783625
+v 0.01913446 0.03898173 0.07274736
+v 0.01913446 0.03894419 0.07275571
+v 0.02665781 0.03537397 0.07283744
+v 0.01913446 0.03329540 0.07282165
+v 0.01913446 0.03078386 0.06907889
+v 0.03342574 0.03579318 0.07220591
+v 0.01913446 0.03332043 0.07282165
+v 0.03342574 0.03523006 0.06777124
+v 0.01913446 0.03077510 0.06777124
+v 0.01913446 0.04009046 0.06777124
+f 1 2 8
+f 1 8 22
+f 1 22 24
+f 1 24 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 9
+f 2 9 8
+f 3 10 11
+f 3 11 4
+f 4 11 5
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 5 14 6
+f 6 14 15
+f 6 15 16
+f 6 16 17
+f 6 17 7
+f 7 17 18
+f 7 18 9
+f 8 19 20
+f 8 20 21
+f 8 21 22
+f 8 9 19
+f 9 18 23
+f 9 23 19
+f 10 24 25
+f 10 25 12
+f 10 12 11
+f 12 25 21
+f 12 21 20
+f 12 20 23
+f 12 23 18
+f 12 18 17
+f 12 17 16
+f 12 16 26
+f 12 26 14
+f 12 14 13
+f 14 26 15
+f 15 26 16
+f 19 23 20
+f 21 25 24
+f 21 24 22
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_66.obj b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1695cc8296f245115798ca9eb9d10ff87e9279d
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_66.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.02055811 -0.02544165 0.11089492
+v 0.02696587 -0.03363696 0.11062923
+v 0.02664228 -0.02690490 0.11089940
+v 0.02696587 -0.02694939 0.11088821
+v 0.02055811 -0.02544165 0.10518675
+v 0.01992285 -0.02544165 0.11088206
+v 0.02696587 -0.02739759 0.11087087
+v 0.02696587 -0.03385776 0.11061357
+v 0.02696587 -0.02694939 0.10529862
+v 0.02006154 -0.02544165 0.10518507
+v 0.02664228 -0.02690490 0.10528519
+v 0.02696587 -0.02718996 0.10525499
+v 0.01207905 -0.02544165 0.11030536
+v 0.01921005 -0.03159534 0.11035794
+v 0.02696587 -0.03385776 0.10566667
+v 0.01477368 -0.03030677 0.10932426
+v 0.02696587 -0.02762169 0.10528128
+v 0.01921005 -0.03159534 0.10602242
+v 0.01992285 -0.02544165 0.10519682
+v 0.01173458 -0.02544165 0.11018846
+v 0.01208800 -0.02565752 0.11027180
+v 0.01477368 -0.03030677 0.10752371
+v 0.01208800 -0.02565752 0.10602689
+v 0.01207905 -0.02544165 0.10597375
+v 0.01173458 -0.02544165 0.10615834
+v 0.01191800 -0.02544165 0.10603249
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 5
+f 1 5 10
+f 1 10 19
+f 1 19 24
+f 1 24 26
+f 1 26 25
+f 1 25 20
+f 1 20 13
+f 1 13 6
+f 1 6 2
+f 2 7 3
+f 2 6 8
+f 2 8 15
+f 2 15 17
+f 2 17 12
+f 2 12 9
+f 2 9 4
+f 2 4 7
+f 3 7 4
+f 5 9 11
+f 5 11 12
+f 5 12 10
+f 6 13 14
+f 6 14 8
+f 8 14 16
+f 8 16 22
+f 8 22 15
+f 9 12 11
+f 10 12 17
+f 10 17 15
+f 10 15 18
+f 10 18 19
+f 13 20 21
+f 13 21 14
+f 14 21 16
+f 15 22 18
+f 16 21 20
+f 16 20 25
+f 16 25 22
+f 18 22 23
+f 18 23 24
+f 18 24 19
+f 22 25 23
+f 23 25 26
+f 23 26 24
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_67.obj b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5750fa02132e21849a905071b4b62f31e8230ac5
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_67.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v 0.03682302 -0.02399892 0.14954852
+v 0.04104697 -0.02381564 0.14954852
+v 0.04104697 -0.02328751 0.15364440
+v 0.03682302 -0.02378169 0.15122610
+v 0.03682302 -0.02299018 0.14525196
+v 0.04151310 -0.02289515 0.14532858
+v 0.04151310 -0.02379391 0.14954852
+v 0.04151310 -0.02320876 0.15409595
+v 0.04104697 -0.02326578 0.15381134
+v 0.03682302 -0.02331738 0.15418352
+v 0.04104697 -0.02290329 0.14532037
+v 0.03682302 -0.01828998 0.14524375
+v 0.04128642 -0.01828998 0.14520270
+v 0.04769525 -0.01837687 0.14518537
+v 0.04769525 -0.01952680 0.14530669
+v 0.04566575 -0.02252315 0.14563144
+v 0.04614891 -0.02277160 0.14954852
+v 0.04601802 -0.02271050 0.15366174
+v 0.04104697 -0.02321962 0.15410507
+v 0.04769525 -0.02009837 0.15407133
+v 0.04769525 -0.01920368 0.15428114
+v 0.04769525 -0.01849362 0.15430850
+v 0.03682302 -0.02121029 0.15425832
+v 0.03682302 -0.01593308 0.14899116
+v 0.04361178 -0.01430797 0.14545447
+v 0.04769525 -0.01233122 0.14514249
+v 0.04769525 -0.02168683 0.14954852
+v 0.04769525 -0.02160130 0.15186922
+v 0.04769525 -0.01254573 0.15446175
+v 0.03682302 -0.01797500 0.15424191
+v 0.03682302 -0.01558552 0.14954852
+v 0.04769525 -0.01012911 0.14954852
+v 0.04769525 -0.01201489 0.15435046
+v 0.04300091 -0.01403780 0.15386790
+v 0.04769525 -0.01013454 0.14958319
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 23
+f 1 23 30
+f 1 30 31
+f 1 31 24
+f 1 24 12
+f 1 12 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 3 8 9
+f 3 9 4
+f 4 9 10
+f 5 11 6
+f 5 12 13
+f 5 13 14
+f 5 14 11
+f 6 11 14
+f 6 14 15
+f 6 15 16
+f 6 16 7
+f 7 16 17
+f 7 17 18
+f 7 18 8
+f 8 19 9
+f 8 18 20
+f 8 20 21
+f 8 21 19
+f 9 19 10
+f 10 19 21
+f 10 21 22
+f 10 22 23
+f 12 24 25
+f 12 25 26
+f 12 26 13
+f 13 26 14
+f 14 26 32
+f 14 32 35
+f 14 35 33
+f 14 33 29
+f 14 29 22
+f 14 22 21
+f 14 21 20
+f 14 20 28
+f 14 28 27
+f 14 27 15
+f 15 27 16
+f 16 27 17
+f 17 27 28
+f 17 28 18
+f 18 28 20
+f 22 29 23
+f 23 29 30
+f 24 31 25
+f 25 31 26
+f 26 31 32
+f 29 33 30
+f 30 33 34
+f 30 34 31
+f 31 34 35
+f 31 35 32
+f 33 35 34
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_68.obj b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30300132d784512f347b3b9c6ce1dc6f8c25d4fc
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_68.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v -0.03976651 -0.00325478 0.08090086
+v -0.03997632 -0.00325478 0.08130797
+v -0.03976651 -0.00817420 0.07337584
+v -0.03976651 -0.00325478 0.06140116
+v -0.04135535 -0.00325478 0.08139354
+v -0.04769986 -0.00850082 0.07384259
+v -0.04026592 -0.00821245 0.07348735
+v -0.04026592 -0.00886630 0.06777227
+v -0.03976651 -0.00878434 0.06804195
+v -0.03976651 -0.00409624 0.05877700
+v -0.03976749 -0.00325478 0.05877700
+v -0.04797764 -0.00325478 0.08148170
+v -0.04982849 -0.00835997 0.07340955
+v -0.04769986 -0.00945641 0.06777227
+v -0.04026592 -0.00809467 0.06276770
+v -0.03976651 -0.00806188 0.06310998
+v -0.03976651 -0.00877949 0.06776450
+v -0.04056832 -0.00325478 0.05512340
+v -0.03976651 -0.00802606 0.06290513
+v -0.04982849 -0.00325478 0.08011776
+v -0.04982849 -0.00641904 0.07606224
+v -0.04982849 -0.00914072 0.06777227
+v -0.04982849 -0.00897801 0.06658725
+v -0.04982849 -0.00822155 0.06276510
+v -0.04769986 -0.00839640 0.06241764
+v -0.04738367 -0.00325478 0.05499116
+v -0.04982849 -0.00325478 0.05883923
+v -0.04982849 -0.00400882 0.05894814
+f 1 2 3
+f 1 3 9
+f 1 9 17
+f 1 17 16
+f 1 16 19
+f 1 19 10
+f 1 10 4
+f 1 4 11
+f 1 11 18
+f 1 18 26
+f 1 26 27
+f 1 27 20
+f 1 20 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 3 8 9
+f 4 10 11
+f 5 12 6
+f 6 12 13
+f 6 13 14
+f 6 14 7
+f 7 14 8
+f 8 14 15
+f 8 15 16
+f 8 16 17
+f 8 17 9
+f 10 18 11
+f 10 19 18
+f 12 20 21
+f 12 21 13
+f 13 21 20
+f 13 20 27
+f 13 27 28
+f 13 28 24
+f 13 24 23
+f 13 23 22
+f 13 22 14
+f 14 22 23
+f 14 23 24
+f 14 24 25
+f 14 25 15
+f 15 19 16
+f 15 25 18
+f 15 18 19
+f 18 25 26
+f 24 28 26
+f 24 26 25
+f 26 28 27
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_69.obj b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3666573a3a254fa70eb81dad896a7cac5f2c593f
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_69.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.04734510 -0.00325478 0.13645255
+v -0.04702219 -0.00292612 0.13511491
+v -0.04702219 -0.00325478 0.13646298
+v -0.04982947 -0.00325478 0.14048983
+v -0.04982947 -0.00233341 0.14034043
+v -0.04702219 -0.00234708 0.13506626
+v -0.04702219 -0.00325478 0.16252461
+v -0.04982947 -0.00325478 0.16109662
+v -0.04982947 0.00309230 0.13989918
+v -0.04702219 -0.00226445 0.13506279
+v -0.04702219 -0.00279503 0.17055399
+v -0.04794668 -0.00325478 0.16250723
+v -0.04982947 -0.00261796 0.16210767
+v -0.04719202 0.00309230 0.13567776
+v -0.04702219 0.00292207 0.13506279
+v -0.04982947 0.00309230 0.16031835
+v -0.04702219 0.00282763 0.17055399
+v -0.04982947 -0.00117471 0.16211115
+v -0.04702219 0.00309230 0.13567776
+v -0.04982947 0.00118992 0.16211115
+v -0.04796537 0.00309230 0.16297281
+v -0.04702219 0.00309230 0.16280604
+f 1 2 3
+f 1 3 7
+f 1 7 12
+f 1 12 8
+f 1 8 4
+f 1 4 2
+f 2 5 6
+f 2 6 10
+f 2 10 15
+f 2 15 19
+f 2 19 22
+f 2 22 17
+f 2 17 11
+f 2 11 7
+f 2 7 3
+f 2 4 5
+f 4 8 13
+f 4 13 18
+f 4 18 20
+f 4 20 16
+f 4 16 9
+f 4 9 5
+f 5 9 6
+f 6 9 10
+f 7 11 12
+f 8 12 11
+f 8 11 13
+f 9 14 15
+f 9 15 10
+f 9 16 21
+f 9 21 22
+f 9 22 19
+f 9 19 14
+f 11 17 20
+f 11 20 18
+f 11 18 13
+f 14 19 15
+f 16 20 17
+f 16 17 21
+f 17 22 21
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_7.obj b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9ec4427e6f43405bd5b9c5079ef3a781da807c1
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_7.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v -0.04982947 -0.00855106 0.10500875
+v -0.05554343 -0.00795908 0.10664749
+v -0.04982947 -0.00751649 0.10120792
+v -0.04982947 -0.00836245 0.11145003
+v -0.05554343 -0.00795908 0.10974499
+v -0.05554343 -0.00660705 0.10292954
+v -0.04982947 -0.00420738 0.09733131
+v -0.04982947 -0.00440346 0.11827494
+v -0.05554343 -0.00539694 0.11325690
+v -0.05554343 -0.00288896 0.09897479
+v -0.04982947 0.00408221 0.09615436
+v -0.04982947 -0.00340251 0.11939743
+v -0.05554343 -0.00171434 0.11740111
+v -0.05554343 -0.00522701 0.11346056
+v -0.05554343 0.00411209 0.09872140
+v -0.04982947 0.00546038 0.09692163
+v -0.04982947 0.00267042 0.12033047
+v -0.05554343 -0.00151079 0.11756688
+v -0.05554343 0.00413636 0.09873561
+v -0.05335819 0.00833998 0.10010438
+v -0.04982947 0.00858835 0.09951709
+v -0.04982947 0.00391227 0.12034231
+v -0.05554343 0.00318584 0.11762371
+v -0.05554343 0.00947913 0.10447592
+v -0.04982947 0.01052303 0.10482404
+v -0.04982947 0.00811963 0.11715483
+v -0.05262493 0.00798517 0.11670725
+v -0.05554343 0.00336138 0.11762371
+v -0.05554343 0.00948473 0.10449250
+v -0.05554343 0.00948099 0.10473168
+v -0.05554343 0.00926063 0.11252515
+v -0.04982947 0.01044086 0.10714006
+v -0.04982947 0.00935027 0.11424678
+v -0.05554343 0.00667983 0.11583105
+v -0.04982947 0.01006924 0.11243754
+f 1 2 3
+f 1 3 7
+f 1 7 11
+f 1 11 16
+f 1 16 21
+f 1 21 25
+f 1 25 32
+f 1 32 35
+f 1 35 33
+f 1 33 26
+f 1 26 22
+f 1 22 17
+f 1 17 12
+f 1 12 8
+f 1 8 4
+f 1 4 5
+f 1 5 2
+f 2 6 3
+f 2 5 9
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+f 2 14 13
+f 2 13 18
+f 2 18 23
+f 2 23 28
+f 2 28 34
+f 2 34 31
+f 2 31 30
+f 2 30 29
+f 2 29 24
+f 2 24 19
+f 2 19 15
+f 2 15 10
+f 2 10 6
+f 3 6 7
+f 4 8 5
+f 5 8 9
+f 6 10 7
+f 7 10 11
+f 8 12 13
+f 8 13 14
+f 8 14 9
+f 10 15 11
+f 11 15 16
+f 12 17 18
+f 12 18 13
+f 15 19 20
+f 15 20 16
+f 16 20 21
+f 17 22 23
+f 17 23 18
+f 19 24 20
+f 20 24 25
+f 20 25 21
+f 22 26 27
+f 22 27 28
+f 22 28 23
+f 24 29 25
+f 25 29 30
+f 25 30 31
+f 25 31 32
+f 26 33 27
+f 27 33 31
+f 27 31 34
+f 27 34 28
+f 31 33 35
+f 31 35 32
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_70.obj b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c3348685dc4504ca6b18eceaf8c0e0fe020a7aa
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_70.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.06048404 0.00370030 0.15015956
+v 0.06051150 -0.00402259 0.14972336
+v 0.06032139 0.00152481 0.14561471
+v 0.06047031 0.00370030 0.14981204
+v 0.06041116 0.00370030 0.15358765
+v 0.06044602 -0.00372373 0.15362475
+v 0.06029287 -0.00621264 0.15194238
+v 0.06029287 -0.00621264 0.15131975
+v 0.05985137 -0.00621264 0.14779211
+v 0.06032139 -0.00174425 0.14561471
+v 0.05709679 0.00370030 0.14530521
+v 0.06000241 0.00370030 0.14670884
+v 0.05638069 0.00370030 0.15444558
+v 0.05638069 -0.00372373 0.15446096
+v 0.05892191 -0.00621264 0.15382657
+v 0.06025907 -0.00621264 0.15343290
+v 0.05919019 -0.00621264 0.14698486
+v 0.05693625 0.00370030 0.14528982
+v 0.05625922 -0.00621264 0.14523733
+v 0.05682218 0.00370030 0.14527896
+v 0.05160030 0.00370030 0.15412250
+v 0.05402852 -0.00621264 0.15447364
+v 0.05635005 -0.00621264 0.15435508
+v 0.05113557 -0.00621264 0.14522919
+v 0.05193934 0.00370030 0.14530249
+v 0.05087575 0.00370030 0.14954869
+v 0.05012901 -0.00621264 0.15232429
+v 0.05083878 -0.00621264 0.15422929
+v 0.04972131 -0.00621264 0.14954869
+f 1 2 3
+f 1 3 4
+f 1 4 12
+f 1 12 11
+f 1 11 18
+f 1 18 20
+f 1 20 25
+f 1 25 26
+f 1 26 21
+f 1 21 13
+f 1 13 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 3
+f 3 10 11
+f 3 11 12
+f 3 12 4
+f 5 13 6
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 6 16 7
+f 7 16 15
+f 7 15 23
+f 7 23 22
+f 7 22 28
+f 7 28 27
+f 7 27 29
+f 7 29 24
+f 7 24 19
+f 7 19 17
+f 7 17 9
+f 7 9 8
+f 9 17 10
+f 10 18 11
+f 10 17 19
+f 10 19 20
+f 10 20 18
+f 13 21 22
+f 13 22 14
+f 14 22 23
+f 14 23 15
+f 19 24 20
+f 20 24 25
+f 21 26 27
+f 21 27 28
+f 21 28 22
+f 24 29 25
+f 25 29 26
+f 26 29 27
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_71.obj b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f55bb9a7c70c557f7de14b6b3be81914bdd426ec
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_71.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.02696736 -0.02695011 0.11088764
+v 0.02696736 -0.02695011 0.10529876
+v 0.02696736 -0.03363716 0.11062837
+v 0.03407896 -0.03346053 0.11122878
+v 0.04219201 -0.02757143 0.11071804
+v 0.02696736 -0.02719116 0.10525523
+v 0.04219201 -0.02757143 0.10545147
+v 0.02696736 -0.03385743 0.11061278
+v 0.02697929 -0.03386055 0.11061992
+v 0.03407896 -0.03756254 0.10923911
+v 0.04014139 -0.03750955 0.10915139
+v 0.04217711 -0.03418264 0.11059198
+v 0.04219201 -0.03417953 0.11059263
+v 0.02696736 -0.02762234 0.10528187
+v 0.02971543 -0.02961412 0.10499791
+v 0.04219201 -0.02819691 0.10545991
+v 0.03407896 -0.03346053 0.10459049
+v 0.02967966 -0.03735889 0.10893956
+v 0.02696736 -0.03385743 0.10566720
+v 0.02971543 -0.03736097 0.10894216
+v 0.03407896 -0.03756254 0.10765427
+v 0.04014139 -0.03750955 0.10780892
+v 0.04219201 -0.03417953 0.10561197
+v 0.04217711 -0.03418264 0.10560092
+v 0.02971543 -0.03528815 0.10643265
+v 0.02697929 -0.03386055 0.10566655
+v 0.02967966 -0.03735889 0.10816890
+v 0.02971543 -0.03736097 0.10817735
+f 1 2 6
+f 1 6 14
+f 1 14 19
+f 1 19 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 7
+f 1 7 2
+f 2 7 6
+f 3 8 9
+f 3 9 4
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 5
+f 4 9 10
+f 5 13 23
+f 5 23 16
+f 5 16 7
+f 6 7 15
+f 6 15 14
+f 7 16 17
+f 7 17 15
+f 8 18 9
+f 8 19 27
+f 8 27 18
+f 9 18 20
+f 9 20 10
+f 10 21 22
+f 10 22 11
+f 10 20 28
+f 10 28 21
+f 11 22 23
+f 11 23 13
+f 11 13 12
+f 14 15 19
+f 15 17 19
+f 16 23 24
+f 16 24 17
+f 17 24 22
+f 17 22 21
+f 17 21 25
+f 17 25 26
+f 17 26 19
+f 18 27 28
+f 18 28 20
+f 19 26 27
+f 21 28 27
+f 21 27 25
+f 22 24 23
+f 25 27 26
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_72.obj b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b053f7af89588fe9eab71d21ac937e9efa1fdc89
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_72.obj
@@ -0,0 +1,147 @@
+# https://github.com/mikedh/trimesh
+v 0.09176256 -0.02602540 -0.07175635
+v 0.08940856 -0.02217885 -0.07143609
+v 0.09145326 -0.02217885 -0.07143609
+v 0.09176071 -0.01859384 -0.06604722
+v 0.09237560 -0.02602540 -0.06604722
+v 0.09176256 -0.02884620 -0.07175264
+v 0.08566366 -0.02884620 -0.07175264
+v 0.08720829 -0.01859384 -0.07113434
+v 0.09116063 -0.01859384 -0.07113434
+v 0.09059205 -0.01150532 -0.06574177
+v 0.09059019 -0.01149683 -0.06564366
+v 0.09041980 -0.01149683 -0.06078793
+v 0.09044202 -0.02602540 -0.06080090
+v 0.09044202 -0.02884620 -0.06080644
+v 0.09237190 -0.02884620 -0.06604722
+v 0.09043276 -0.01859384 -0.06079349
+v 0.09043832 -0.02217885 -0.06079719
+v 0.07897024 -0.02884620 -0.06779476
+v 0.08251882 -0.02450207 -0.06967744
+v 0.08544141 -0.02659941 -0.07136574
+v 0.08641745 -0.02218055 -0.07123986
+v 0.08869366 -0.01421234 -0.07026612
+v 0.08290220 -0.02218055 -0.06953305
+v 0.08349117 -0.01859384 -0.06930719
+v 0.07916100 -0.01149683 -0.06504201
+v 0.09031608 -0.01421234 -0.07026612
+v 0.09058834 -0.01149683 -0.06574177
+v 0.09031978 -0.01149683 -0.06061762
+v 0.08820471 -0.01149683 -0.05707071
+v 0.08820101 -0.02218055 -0.05707996
+v 0.08819916 -0.02602540 -0.05708367
+v 0.08818619 -0.02884620 -0.05708922
+v 0.07345845 -0.02884620 -0.06447554
+v 0.07345659 -0.01149683 -0.06163764
+v 0.08616927 -0.01149683 -0.06774478
+v 0.08448758 -0.01149683 -0.05387367
+v 0.08448017 -0.02602540 -0.05387367
+v 0.08640634 -0.02218055 -0.05553050
+v 0.08446906 -0.02884620 -0.05387922
+v 0.07345845 -0.02884620 -0.05286106
+v 0.07345659 -0.02217885 -0.06190236
+v 0.07345659 -0.01149683 -0.05284440
+v 0.08422274 -0.01149683 -0.05382553
+v 0.08168724 -0.02218055 -0.05337755
+v 0.07868687 -0.02602540 -0.05284810
+v 0.07868687 -0.02884620 -0.05286106
+v 0.07345659 -0.02217885 -0.05284625
+v 0.07345845 -0.02602540 -0.05284810
+v 0.07868502 -0.02217885 -0.05284625
+v 0.07868502 -0.01149683 -0.05284625
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 8 9
+f 2 9 3
+f 2 7 8
+f 3 9 4
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 5
+f 5 13 14
+f 5 14 15
+f 5 15 6
+f 5 12 16
+f 5 16 17
+f 5 17 13
+f 6 15 14
+f 6 14 32
+f 6 32 39
+f 6 39 46
+f 6 46 40
+f 6 40 33
+f 6 33 18
+f 6 18 7
+f 7 18 19
+f 7 19 20
+f 7 20 21
+f 7 21 8
+f 8 22 26
+f 8 26 9
+f 8 21 19
+f 8 19 23
+f 8 23 24
+f 8 24 25
+f 8 25 22
+f 9 26 10
+f 10 26 27
+f 10 27 11
+f 11 27 35
+f 11 35 25
+f 11 25 34
+f 11 34 42
+f 11 42 50
+f 11 50 43
+f 11 43 36
+f 11 36 29
+f 11 29 28
+f 11 28 12
+f 12 28 16
+f 13 29 30
+f 13 30 31
+f 13 31 14
+f 13 17 29
+f 14 31 32
+f 16 28 29
+f 16 29 17
+f 18 33 19
+f 19 21 20
+f 19 33 34
+f 19 34 23
+f 22 25 35
+f 22 35 26
+f 23 34 24
+f 24 34 25
+f 26 35 27
+f 29 36 37
+f 29 37 38
+f 29 38 30
+f 30 38 31
+f 31 38 37
+f 31 37 39
+f 31 39 32
+f 33 40 47
+f 33 47 41
+f 33 41 34
+f 34 41 47
+f 34 47 42
+f 36 43 37
+f 37 43 44
+f 37 44 45
+f 37 45 39
+f 39 45 46
+f 40 46 45
+f 40 45 48
+f 40 48 47
+f 42 47 49
+f 42 49 50
+f 43 49 44
+f 43 50 49
+f 44 49 45
+f 45 49 47
+f 45 47 48
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_73.obj b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5d01316d64ba197db24bd7d42d49f9cf0d25e80
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_73.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.06300993 0.04154272 -0.07185952
+v -0.06300993 0.04520086 -0.07064381
+v -0.06296568 0.04154272 -0.07185952
+v -0.06300993 0.04154272 -0.05941844
+v -0.06300993 0.04520086 -0.06801351
+v -0.05513606 0.04519799 -0.07064131
+v -0.06256881 0.04520050 -0.07064381
+v -0.06256881 0.04154272 -0.07185826
+v -0.06300993 0.04376267 -0.06429756
+v -0.06256881 0.04154272 -0.05915453
+v -0.06256881 0.04380779 -0.06429007
+v -0.06256881 0.04520050 -0.06800600
+v -0.05513606 0.04519799 -0.06801226
+v -0.05059644 0.04499780 -0.07034737
+v -0.05513606 0.04154272 -0.07173695
+v -0.05513606 0.04154272 -0.05908199
+v -0.05513606 0.04384110 -0.06429631
+v -0.05059644 0.04499780 -0.06859885
+v -0.04793788 0.04154272 -0.06627748
+v -0.05001368 0.04154272 -0.07077013
+f 1 2 3
+f 1 3 8
+f 1 8 15
+f 1 15 20
+f 1 20 19
+f 1 19 16
+f 1 16 10
+f 1 10 4
+f 1 4 9
+f 1 9 5
+f 1 5 2
+f 2 5 13
+f 2 13 6
+f 2 6 7
+f 2 7 3
+f 3 7 6
+f 3 6 8
+f 4 10 9
+f 5 9 11
+f 5 11 12
+f 5 12 13
+f 6 13 18
+f 6 18 14
+f 6 14 15
+f 6 15 8
+f 9 10 11
+f 10 16 11
+f 11 16 17
+f 11 17 12
+f 12 17 13
+f 13 17 18
+f 14 18 19
+f 14 19 20
+f 14 20 15
+f 16 19 18
+f 16 18 17
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_74.obj b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30182181f928204f2f2f6d705e1646ec54c5c748
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_74.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.00092037 -0.01799740 0.06342497
+v -0.00121795 -0.01799740 0.06384345
+v -0.00616049 -0.01058689 0.06618492
+v -0.00319472 -0.01058689 0.06359712
+v -0.00317721 -0.01058689 0.06358888
+v 0.00105765 -0.01058689 0.06352204
+v 0.00369084 -0.01799740 0.06347625
+v -0.00320222 -0.01799740 0.06777001
+v -0.00667938 -0.01058689 0.06777001
+v 0.00135773 -0.01058689 0.06356324
+v 0.00140399 -0.01115855 0.06353577
+v 0.00604771 -0.01799740 0.06756306
+v -0.00173933 -0.01799740 0.07275787
+v -0.00487016 -0.01058689 0.07241448
+v 0.00265682 -0.01058689 0.06747149
+v 0.00609147 -0.01799740 0.06777001
+v -0.00348479 -0.01058689 0.07270476
+v 0.00411845 -0.01799740 0.07277985
+v 0.00270933 -0.01058689 0.06777001
+v 0.00197414 -0.01058689 0.07257198
+v 0.00203040 -0.01115855 0.07260495
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 12
+f 1 12 16
+f 1 16 18
+f 1 18 13
+f 1 13 8
+f 1 8 2
+f 2 8 3
+f 3 9 14
+f 3 14 17
+f 3 17 20
+f 3 20 19
+f 3 19 15
+f 3 15 10
+f 3 10 6
+f 3 6 5
+f 3 5 4
+f 3 8 9
+f 6 10 11
+f 6 11 7
+f 7 11 10
+f 7 10 12
+f 8 13 9
+f 9 13 14
+f 10 15 12
+f 12 15 16
+f 13 17 14
+f 13 18 17
+f 15 19 16
+f 16 19 20
+f 16 20 18
+f 17 18 21
+f 17 21 20
+f 18 20 21
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_75.obj b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81e4b0cb74b4e3730b3b49a3490a5ea69740242f
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_75.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.04895404 -0.04164382 0.06776997
+v 0.05405530 -0.03997561 0.06776997
+v 0.05405530 -0.03997561 0.06777091
+v 0.06064070 -0.03755081 0.07184687
+v 0.05405530 -0.03948357 0.07100826
+v 0.04895404 -0.03988125 0.07286446
+v 0.04895404 -0.03893930 0.06331640
+v 0.05405530 -0.03822146 0.06352442
+v 0.05637994 -0.03789456 0.06361999
+v 0.06014599 -0.03720874 0.06402478
+v 0.05637994 -0.03921396 0.06777091
+v 0.06054098 -0.03748172 0.06777091
+v 0.06218313 -0.03611851 0.06777091
+v 0.06218313 -0.03620445 0.07010780
+v 0.06218313 -0.03513275 0.07226665
+v 0.06218313 -0.03414362 0.07257867
+v 0.05637994 -0.03849613 0.07248591
+v 0.05405530 -0.03893087 0.07260491
+v 0.04895404 -0.03490695 0.07285884
+v 0.06218313 -0.03319998 0.07263021
+v 0.06218313 -0.02738652 0.07288413
+v 0.04895404 -0.03569387 0.06331265
+v 0.06218313 -0.02726689 0.06347476
+v 0.06218313 -0.03300789 0.06361062
+v 0.06218313 -0.03426831 0.06375586
+v 0.06218313 -0.02665521 0.07274546
+v 0.05819303 -0.02840767 0.07233692
+v 0.04895404 -0.03342578 0.06776623
+v 0.06217925 -0.02443093 0.06777091
+v 0.05891309 -0.02895363 0.06363217
+v 0.06218313 -0.02443430 0.06776154
+v 0.06218313 -0.02443430 0.06778309
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 19
+f 1 19 28
+f 1 28 22
+f 1 22 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 2
+f 2 11 3
+f 2 10 11
+f 3 11 4
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 4 15 16
+f 4 16 17
+f 4 17 5
+f 5 17 18
+f 5 18 6
+f 6 18 16
+f 6 16 20
+f 6 20 21
+f 6 21 19
+f 7 22 23
+f 7 23 24
+f 7 24 8
+f 8 24 9
+f 9 24 25
+f 9 25 10
+f 10 13 12
+f 10 12 11
+f 10 25 13
+f 13 25 24
+f 13 24 23
+f 13 23 31
+f 13 31 32
+f 13 32 26
+f 13 26 21
+f 13 21 20
+f 13 20 16
+f 13 16 15
+f 13 15 14
+f 16 18 17
+f 19 21 26
+f 19 26 27
+f 19 27 28
+f 22 28 29
+f 22 29 30
+f 22 30 23
+f 23 30 31
+f 26 32 27
+f 27 32 29
+f 27 29 28
+f 29 32 31
+f 29 31 30
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_76.obj b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38861fbfe993c2279e2bbe6d42d5dc451e600ba1
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_76.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v -0.03227408 -0.00363800 0.11388112
+v -0.03227408 -0.00365357 0.11388112
+v -0.02475183 -0.00379364 0.11139044
+v -0.03227408 0.00359589 0.11364877
+v -0.02475183 -0.00421074 0.11139044
+v -0.03227408 -0.00800666 0.10969599
+v -0.02766058 -0.00779188 0.10930780
+v -0.02475183 0.00380755 0.11113259
+v -0.02879168 0.00752721 0.10885443
+v -0.03227408 0.00789295 0.10937014
+v -0.02475183 -0.00431190 0.10441996
+v -0.03227408 -0.00800666 0.10682987
+v -0.02766058 -0.00779188 0.10751417
+v -0.02475183 0.00386513 0.10481382
+v -0.02879168 0.00752721 0.10830048
+v -0.03227408 0.00789295 0.10749009
+v -0.02475183 -0.00431034 0.10439729
+v -0.03227408 -0.00646899 0.10351464
+v -0.03227408 -0.00617329 0.10312503
+v -0.02679679 0.00123336 0.10058760
+v -0.03227408 0.00557089 0.10336305
+v -0.03227408 0.00586037 0.10372999
+v -0.02679679 -0.00149803 0.10058760
+v -0.03227408 -0.00249253 0.09940885
+v -0.03227408 0.00219673 0.09940885
+f 1 2 5
+f 1 5 3
+f 1 3 4
+f 1 4 10
+f 1 10 16
+f 1 16 22
+f 1 22 21
+f 1 21 25
+f 1 25 24
+f 1 24 19
+f 1 19 18
+f 1 18 12
+f 1 12 6
+f 1 6 2
+f 2 6 7
+f 2 7 5
+f 3 5 11
+f 3 11 17
+f 3 17 14
+f 3 14 8
+f 3 8 4
+f 4 8 9
+f 4 9 10
+f 5 7 11
+f 6 12 13
+f 6 13 7
+f 7 13 11
+f 8 14 9
+f 9 15 16
+f 9 16 10
+f 9 14 15
+f 11 13 17
+f 12 18 13
+f 13 18 19
+f 13 19 17
+f 14 20 21
+f 14 21 22
+f 14 22 15
+f 14 17 20
+f 15 22 16
+f 17 19 23
+f 17 23 20
+f 19 24 23
+f 20 25 21
+f 20 23 24
+f 20 24 25
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_77.obj b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce5d1e8bfa93855d9a01d2550bb4497f67bb2fd3
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_77.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v 0.06374520 -0.02596813 0.07290589
+v 0.06218442 -0.02738380 0.07288352
+v 0.06218442 -0.03320002 0.07263095
+v 0.06339855 -0.03323394 0.07259833
+v 0.07099378 -0.02544863 0.07249954
+v 0.07099378 -0.02520227 0.07250420
+v 0.07063765 -0.01796860 0.07265332
+v 0.07061437 -0.01796860 0.07265425
+v 0.06617692 -0.02002695 0.07235882
+v 0.06218442 -0.02665365 0.07274559
+v 0.06218442 -0.03414440 0.07257876
+v 0.06218442 -0.03513519 0.07226748
+v 0.06836546 -0.03060611 0.07212768
+v 0.07099378 -0.02547184 0.07249675
+v 0.07099378 -0.01796860 0.07263282
+v 0.06724704 -0.01796860 0.07013978
+v 0.06218442 -0.02443463 0.06778280
+v 0.06218442 -0.03620632 0.07010809
+v 0.06843531 -0.03067930 0.06776976
+v 0.07099378 -0.02725705 0.06923669
+v 0.07099378 -0.01796860 0.06441929
+v 0.06691678 -0.01796860 0.06776976
+v 0.06218442 -0.02443463 0.06776137
+v 0.06218442 -0.03611884 0.06776976
+v 0.06425914 -0.03439611 0.06776976
+v 0.06790240 -0.03012767 0.06380605
+v 0.07099378 -0.02731418 0.06770824
+v 0.07099378 -0.01905758 0.06359543
+v 0.06670896 -0.02083208 0.06360940
+v 0.06218442 -0.02726419 0.06347520
+v 0.06218442 -0.03427115 0.06375573
+v 0.06929245 -0.02602883 0.06353485
+v 0.07099378 -0.02571106 0.06578930
+v 0.06310106 -0.03294831 0.06363457
+v 0.07099378 -0.02044290 0.06358145
+v 0.06406512 -0.02629661 0.06338480
+v 0.06218442 -0.03300722 0.06361034
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
+f 2 9 10
+f 2 10 17
+f 2 17 23
+f 2 23 30
+f 2 30 37
+f 2 37 31
+f 2 31 24
+f 2 24 18
+f 2 18 12
+f 2 12 11
+f 2 11 3
+f 3 11 4
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 5
+f 5 14 20
+f 5 20 27
+f 5 27 33
+f 5 33 35
+f 5 35 28
+f 5 28 21
+f 5 21 15
+f 5 15 6
+f 6 15 7
+f 7 15 21
+f 7 21 22
+f 7 22 16
+f 7 16 8
+f 8 16 9
+f 9 16 17
+f 9 17 10
+f 12 18 13
+f 13 18 19
+f 13 19 20
+f 13 20 14
+f 16 22 17
+f 17 22 23
+f 18 24 25
+f 18 25 19
+f 19 26 27
+f 19 27 20
+f 19 25 26
+f 21 28 29
+f 21 29 22
+f 22 29 23
+f 23 29 30
+f 24 31 26
+f 24 26 25
+f 26 32 33
+f 26 33 27
+f 26 31 34
+f 26 34 32
+f 28 35 36
+f 28 36 29
+f 29 36 30
+f 30 36 37
+f 31 37 34
+f 32 34 36
+f 32 36 35
+f 32 35 33
+f 34 37 36
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_78.obj b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_78.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cdc5637253be909a7546a0033cf178fa422c674f
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_78.obj
@@ -0,0 +1,117 @@
+# https://github.com/mikedh/trimesh
+v -0.03976651 0.00240267 0.16367684
+v -0.03976651 -0.00241294 0.16367684
+v -0.03976651 0.00251388 0.16362395
+v -0.04104061 0.00293077 0.22386763
+v -0.03976651 -0.00325478 0.16206365
+v -0.04104061 -0.00289630 0.22386763
+v -0.03976651 0.00309230 0.16261901
+v -0.04209738 0.00187520 0.22897168
+v -0.04092626 0.00304446 0.21643633
+v -0.04686709 0.00293077 0.22386763
+v -0.03999732 -0.00325478 0.16256612
+v -0.03976651 -0.00325478 0.06141071
+v -0.04092626 -0.00301559 0.21643633
+v -0.04209738 -0.00185378 0.22897168
+v -0.04686709 -0.00289630 0.22386763
+v -0.03976651 0.00309230 0.05916281
+v -0.03998099 0.00309230 0.16280414
+v -0.04582594 0.00187520 0.22897168
+v -0.04698711 0.00304446 0.21643633
+v -0.04186799 -0.00325478 0.16261901
+v -0.03976722 -0.00325478 0.05879257
+v -0.04698711 -0.00301559 0.21643633
+v -0.04582594 -0.00185378 0.22897168
+v -0.03976722 0.00309230 0.05881901
+v -0.04702191 0.00309230 0.16277769
+v -0.04702191 0.00282701 0.17055277
+v -0.04702191 -0.00325478 0.16251323
+v -0.04056974 -0.00325478 0.05514304
+v -0.04089146 -0.00304168 -0.04119923
+v -0.04089146 0.00308174 -0.04119923
+v -0.04702191 -0.00279503 0.17055277
+v -0.04075013 0.00309230 0.05432322
+v -0.04702191 0.00309230 0.05408521
+v -0.04702191 -0.00325478 0.05503726
+v -0.04701410 -0.00304168 -0.04119923
+v -0.04701410 0.00308174 -0.04119923
+v -0.04275148 0.00309230 0.05408521
+v -0.04702191 0.00291461 0.05342406
+v -0.04702191 -0.00288325 0.05350340
+v -0.04702191 -0.00203768 0.05342406
+f 1 2 5
+f 1 5 12
+f 1 12 16
+f 1 16 7
+f 1 7 3
+f 1 3 4
+f 1 4 6
+f 1 6 2
+f 2 6 5
+f 3 7 4
+f 4 8 14
+f 4 14 6
+f 4 7 9
+f 4 9 19
+f 4 19 10
+f 4 10 18
+f 4 18 8
+f 5 11 20
+f 5 20 27
+f 5 27 34
+f 5 34 28
+f 5 28 21
+f 5 21 12
+f 5 6 13
+f 5 13 11
+f 6 14 23
+f 6 23 15
+f 6 15 22
+f 6 22 13
+f 7 16 24
+f 7 24 32
+f 7 32 37
+f 7 37 33
+f 7 33 25
+f 7 25 17
+f 7 17 9
+f 8 18 23
+f 8 23 14
+f 9 17 19
+f 10 19 22
+f 10 22 15
+f 10 15 23
+f 10 23 18
+f 11 13 20
+f 12 21 16
+f 13 22 20
+f 16 21 24
+f 17 25 19
+f 19 25 26
+f 19 26 31
+f 19 31 22
+f 20 22 27
+f 21 28 29
+f 21 29 30
+f 21 30 24
+f 22 31 27
+f 24 30 32
+f 25 33 38
+f 25 38 40
+f 25 40 39
+f 25 39 34
+f 25 34 27
+f 25 27 31
+f 25 31 26
+f 28 34 29
+f 29 35 36
+f 29 36 30
+f 29 34 35
+f 30 36 33
+f 30 33 37
+f 30 37 32
+f 33 36 38
+f 34 39 35
+f 35 39 40
+f 35 40 38
+f 35 38 36
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_79.obj b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_79.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1747acc29158777109e818730720b214159ea32c
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_79.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.03976651 0.00369502 0.11981925
+v -0.03976651 0.00309245 0.11981925
+v -0.03976651 0.00389421 0.11964182
+v -0.04091701 0.00309245 0.12506528
+v -0.03976651 0.00309245 0.09673937
+v -0.03976651 0.00459851 0.11839308
+v -0.04072296 0.00459851 0.11954138
+v -0.04739845 0.00459851 0.12069638
+v -0.04707142 0.00309245 0.12564446
+v -0.04084116 0.00309245 0.09158707
+v -0.03976651 0.00427017 0.09679628
+v -0.03976651 0.00459851 0.09730515
+v -0.04801901 0.00459851 0.12075329
+v -0.04982849 0.00459851 0.11969203
+v -0.04982849 0.00391367 0.12034151
+v -0.04982849 0.00309245 0.12033482
+v -0.04295601 0.00309245 0.09144647
+v -0.04808008 0.00459851 0.09581203
+v -0.03992707 0.00459851 0.09715450
+v -0.04982849 0.00459851 0.09644142
+v -0.04982849 0.00309245 0.09631085
+v -0.04714037 0.00309245 0.09144647
+v -0.04877157 0.00459851 0.09596937
+v -0.04982849 0.00408263 0.09615350
+f 1 2 5
+f 1 5 11
+f 1 11 12
+f 1 12 6
+f 1 6 3
+f 1 3 4
+f 1 4 2
+f 2 4 9
+f 2 9 16
+f 2 16 21
+f 2 21 22
+f 2 22 17
+f 2 17 10
+f 2 10 5
+f 3 6 4
+f 4 7 8
+f 4 8 9
+f 4 6 7
+f 5 10 11
+f 6 12 19
+f 6 19 18
+f 6 18 23
+f 6 23 20
+f 6 20 14
+f 6 14 13
+f 6 13 8
+f 6 8 7
+f 8 13 9
+f 9 13 14
+f 9 14 15
+f 9 15 16
+f 10 17 18
+f 10 18 19
+f 10 19 12
+f 10 12 11
+f 14 20 24
+f 14 24 21
+f 14 21 16
+f 14 16 15
+f 17 22 18
+f 18 22 23
+f 20 23 22
+f 20 22 24
+f 21 24 22
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_8.obj b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6120fe2bc3902bf01f5da4e9c9840f38cd639c1d
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_8.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.03974356 0.00422910 -0.04889086
+v -0.04089075 0.00308200 -0.04119922
+v -0.04089075 -0.00304167 -0.04119922
+v -0.03975430 -0.00420777 -0.04889086
+v -0.04818103 0.00421919 -0.04889086
+v -0.04701485 0.00308200 -0.04119922
+v -0.04701485 -0.00304167 -0.04119922
+v -0.04817029 -0.00419621 -0.04889086
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 4
+f 4 7 8
+f 5 8 7
+f 5 7 6
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_80.obj b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_80.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3abf5682e1f8189b94feae2cbde6b2ac7a2033d
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_80.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v -0.03976651 0.00309245 0.08139180
+v -0.03976651 0.00459851 0.07873006
+v -0.03981182 0.00459851 0.07877096
+v -0.03995859 0.00309245 0.08156170
+v -0.03976651 0.00309245 0.05914452
+v -0.03976651 0.00459851 0.05930813
+v -0.04013786 0.00459851 0.07905727
+v -0.04741322 0.00309245 0.08619930
+v -0.03976749 0.00309245 0.05878585
+v -0.03976651 0.00409605 0.05878585
+v -0.04074956 0.00309245 0.05429927
+v -0.03982955 0.00459851 0.05927981
+v -0.04791361 0.00459851 0.08096706
+v -0.04982849 0.00459851 0.07893771
+v -0.04982849 0.00309245 0.08064299
+v -0.04275211 0.00309245 0.05405701
+v -0.04059787 0.00459851 0.05908160
+v -0.04982849 0.00459851 0.05857190
+v -0.04982849 0.00309245 0.05826357
+v -0.04719849 0.00309245 0.05405701
+v -0.04815199 0.00459851 0.05817233
+v -0.04901782 0.00459851 0.05833594
+v -0.04982849 0.00400626 0.05819121
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 15
+f 1 15 19
+f 1 19 20
+f 1 20 16
+f 1 16 11
+f 1 11 9
+f 1 9 5
+f 1 5 10
+f 1 10 6
+f 1 6 2
+f 2 6 12
+f 2 12 17
+f 2 17 21
+f 2 21 22
+f 2 22 18
+f 2 18 14
+f 2 14 13
+f 2 13 7
+f 2 7 3
+f 3 7 4
+f 4 7 8
+f 5 9 10
+f 6 10 11
+f 6 11 12
+f 7 13 8
+f 8 13 14
+f 8 14 15
+f 9 11 10
+f 11 16 17
+f 11 17 12
+f 14 18 23
+f 14 23 19
+f 14 19 15
+f 16 20 21
+f 16 21 17
+f 18 22 20
+f 18 20 23
+f 19 23 20
+f 20 22 21
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_81.obj b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_81.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64b2bb4174e4fc5103169d533e3f3653411bb060
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_81.obj
@@ -0,0 +1,117 @@
+# https://github.com/mikedh/trimesh
+v 0.03444097 0.02373509 0.14954823
+v 0.03444097 0.02369989 0.14935006
+v 0.03444097 0.02317049 0.15409584
+v 0.04151400 0.02299719 0.15393974
+v 0.04151400 0.02340743 0.14954823
+v 0.04151400 0.02270338 0.14546799
+v 0.03444097 0.02285908 0.14533058
+v 0.03444097 0.01857790 0.15449125
+v 0.04151400 0.01857790 0.15452303
+v 0.04850308 0.01848177 0.15425194
+v 0.04573497 0.02254768 0.15352377
+v 0.04573264 0.02254361 0.14954823
+v 0.04539449 0.02237572 0.14575403
+v 0.04830020 0.01830440 0.14524271
+v 0.03444097 0.02261131 0.14532123
+v 0.04923767 0.01147779 0.14498939
+v 0.03444097 0.01441721 0.15365931
+v 0.04953850 0.00990315 0.15446134
+v 0.04907443 0.01130855 0.15453892
+v 0.05625940 0.00990315 0.15416221
+v 0.05625007 0.01041901 0.15413884
+v 0.05368484 0.01594041 0.15397059
+v 0.05398101 0.01625723 0.14954823
+v 0.04944755 0.01997247 0.14954823
+v 0.05339801 0.01564389 0.14536610
+v 0.05384576 0.01409498 0.14527730
+v 0.05469461 0.01114608 0.14510904
+v 0.03444097 0.01803226 0.14529412
+v 0.05505608 0.00990315 0.14513895
+v 0.05080712 0.00990315 0.14505109
+v 0.04978337 0.00990315 0.14505295
+v 0.03444097 0.01434275 0.14942297
+v 0.04761458 0.00990315 0.14954916
+v 0.05691937 0.00990315 0.15398835
+v 0.05826494 0.00990315 0.15067274
+v 0.05787550 0.01041901 0.15016984
+v 0.05809937 0.00990315 0.14989970
+v 0.05599821 0.00990315 0.14590826
+v 0.03444097 0.01796321 0.14530160
+v 0.03444097 0.01436847 0.14934819
+f 1 2 7
+f 1 7 15
+f 1 15 28
+f 1 28 39
+f 1 39 40
+f 1 40 32
+f 1 32 17
+f 1 17 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 3 8 9
+f 3 9 4
+f 4 9 10
+f 4 10 11
+f 4 11 5
+f 5 11 12
+f 5 12 13
+f 5 13 6
+f 6 13 14
+f 6 14 7
+f 7 14 16
+f 7 16 15
+f 8 17 18
+f 8 18 19
+f 8 19 9
+f 9 19 10
+f 10 19 20
+f 10 20 21
+f 10 21 22
+f 10 22 11
+f 11 22 23
+f 11 23 24
+f 11 24 12
+f 12 24 13
+f 13 24 23
+f 13 23 25
+f 13 25 14
+f 14 25 26
+f 14 26 27
+f 14 27 16
+f 15 16 28
+f 16 27 29
+f 16 29 30
+f 16 30 31
+f 16 31 28
+f 17 32 33
+f 17 33 18
+f 18 20 19
+f 18 33 31
+f 18 31 30
+f 18 30 29
+f 18 29 38
+f 18 38 37
+f 18 37 35
+f 18 35 34
+f 18 34 20
+f 20 34 21
+f 21 34 22
+f 22 34 35
+f 22 35 23
+f 23 35 36
+f 23 36 25
+f 25 36 37
+f 25 37 38
+f 25 38 26
+f 26 38 27
+f 27 38 29
+f 28 31 39
+f 31 33 32
+f 31 32 40
+f 31 40 39
+f 35 37 36
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_82.obj b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_82.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55ffea028f558c97f36d3dd102a0e0e34a8fc783
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_82.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v 0.01048543 -0.00621418 0.14954939
+v 0.01419933 -0.00942059 0.15397062
+v 0.01277792 -0.00621418 0.15445316
+v 0.01072106 -0.00621418 0.14896512
+v 0.01633524 -0.01377127 0.14954939
+v 0.02083053 -0.01677747 0.15417502
+v 0.01925710 -0.00621418 0.15432249
+v 0.02601447 -0.01883499 0.15432342
+v 0.01319446 -0.00621418 0.14503296
+v 0.01455202 -0.00894625 0.14536616
+v 0.01521179 -0.01073118 0.14691270
+v 0.02118474 -0.01644790 0.14516176
+v 0.02005065 -0.01748282 0.14954939
+v 0.02455202 -0.02120053 0.14954939
+v 0.02601447 -0.02194592 0.14954939
+v 0.02216680 -0.00621418 0.15364022
+v 0.02599927 -0.01170758 0.15406862
+v 0.02601447 -0.01197401 0.15407702
+v 0.01465235 -0.00621418 0.14491816
+v 0.02601447 -0.01850234 0.14515243
+v 0.02601447 -0.02167795 0.14826884
+v 0.02308957 -0.00691953 0.15340595
+v 0.02317014 -0.00621418 0.14906312
+v 0.02601447 -0.01171374 0.15405742
+v 0.01872350 -0.00621418 0.14507775
+v 0.02601447 -0.01279179 0.14525322
+v 0.02601447 -0.01073118 0.15078233
+v 0.02601295 -0.01021218 0.14905285
+v 0.02237203 -0.00621418 0.14735137
+v 0.02601447 -0.01209876 0.14541749
+v 0.02123642 -0.00621418 0.14581509
+v 0.02601447 -0.01073118 0.14806631
+v 0.02505066 -0.01073118 0.14566856
+v 0.02279465 -0.00752939 0.14626030
+f 1 2 3
+f 1 3 7
+f 1 7 16
+f 1 16 23
+f 1 23 29
+f 1 29 31
+f 1 31 25
+f 1 25 19
+f 1 19 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 8
+f 3 8 7
+f 4 9 10
+f 4 10 11
+f 4 11 5
+f 5 11 12
+f 5 12 13
+f 5 13 6
+f 6 13 14
+f 6 14 15
+f 6 15 8
+f 7 8 17
+f 7 17 16
+f 8 15 21
+f 8 21 20
+f 8 20 26
+f 8 26 30
+f 8 30 32
+f 8 32 27
+f 8 27 24
+f 8 24 18
+f 8 18 17
+f 9 19 12
+f 9 12 10
+f 10 12 11
+f 12 20 21
+f 12 21 14
+f 12 14 13
+f 12 19 20
+f 14 21 15
+f 16 22 23
+f 16 17 22
+f 17 18 24
+f 17 24 22
+f 19 25 20
+f 20 25 26
+f 22 27 28
+f 22 28 23
+f 22 24 27
+f 23 28 30
+f 23 30 29
+f 25 31 30
+f 25 30 26
+f 27 32 28
+f 28 32 30
+f 29 30 33
+f 29 33 34
+f 29 34 31
+f 30 31 33
+f 31 34 33
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_83.obj b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_83.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b02743c0f6f439b40362bb9ee05a52f05bca21b2
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_83.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v -0.03976578 -0.00869110 0.10489056
+v -0.03976578 -0.00869110 0.10496388
+v -0.03976578 -0.00859021 0.10467977
+v -0.03227482 -0.00646977 0.10351354
+v -0.03227482 -0.00800574 0.10683123
+v -0.03227482 -0.00800574 0.10969525
+v -0.03976578 -0.00847019 0.11188108
+v -0.03724679 -0.00692030 0.10229919
+v -0.03976578 -0.00423279 0.09641764
+v -0.03227482 -0.00617232 0.10312633
+v -0.03227482 -0.00365354 0.11388131
+v -0.03976578 -0.00374747 0.11982244
+v -0.03976578 -0.00668199 0.11533853
+v -0.03976578 -0.00379444 0.09641764
+v -0.03227482 -0.00249156 0.09940997
+v -0.03227482 -0.00363789 0.11388131
+v -0.03440294 -0.00112780 0.11768244
+v -0.03976578 -0.00359788 0.11982244
+v -0.03976578 0.00426983 0.09679569
+v -0.03227482 0.00219636 0.09940997
+v -0.03227482 0.00359665 0.11364761
+v -0.03440294 0.00104134 0.11768244
+v -0.03976578 0.00369406 0.11982015
+v -0.03976578 0.00748093 0.10103673
+v -0.03227482 0.00586146 0.10373121
+v -0.03227482 0.00557097 0.10336461
+v -0.03976578 0.00389410 0.11964373
+v -0.03227482 0.00789144 0.10936990
+v -0.03976578 0.00907951 0.10495930
+v -0.03227482 0.00789144 0.10749339
+v -0.03976578 0.00882207 0.11187191
+f 1 2 7
+f 1 7 13
+f 1 13 12
+f 1 12 18
+f 1 18 23
+f 1 23 27
+f 1 27 31
+f 1 31 29
+f 1 29 24
+f 1 24 19
+f 1 19 14
+f 1 14 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 3 8 4
+f 3 9 8
+f 4 8 9
+f 4 9 10
+f 4 10 15
+f 4 15 20
+f 4 20 26
+f 4 26 25
+f 4 25 30
+f 4 30 28
+f 4 28 21
+f 4 21 16
+f 4 16 11
+f 4 11 6
+f 4 6 5
+f 6 11 12
+f 6 12 13
+f 6 13 7
+f 9 14 20
+f 9 20 15
+f 9 15 10
+f 11 16 22
+f 11 22 17
+f 11 17 12
+f 12 17 22
+f 12 22 18
+f 14 19 20
+f 16 21 22
+f 18 22 23
+f 19 24 25
+f 19 25 26
+f 19 26 20
+f 21 27 22
+f 21 28 27
+f 22 27 23
+f 24 29 30
+f 24 30 25
+f 27 28 31
+f 28 30 29
+f 28 29 31
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_84.obj b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_84.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5fad39bcd777adf94e45a53c02f5ced22535500
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_84.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v -0.03976651 -0.00325532 0.11982393
+v -0.04020386 -0.00325532 0.12024150
+v -0.04020090 -0.00389793 0.12024150
+v -0.03976651 -0.00374893 0.11982393
+v -0.03976651 -0.00325532 0.09693032
+v -0.04787913 -0.00325532 0.12024150
+v -0.04753635 -0.00405550 0.12024150
+v -0.04314414 -0.00796205 0.11732532
+v -0.03976651 -0.00668273 0.11534013
+v -0.03976651 -0.00435831 0.09693032
+v -0.04896660 -0.00325532 0.09693032
+v -0.04784368 -0.00405871 0.12024150
+v -0.04982849 -0.00325532 0.11942004
+v -0.04770183 -0.00405871 0.12024150
+v -0.04495757 -0.00796205 0.11732532
+v -0.04754128 -0.00854034 0.11219120
+v -0.04050626 -0.00851783 0.11210906
+v -0.03976651 -0.00847120 0.11188087
+v -0.04852137 -0.00453249 0.09693032
+v -0.03976651 -0.00455179 0.09709917
+v -0.04220345 -0.00827773 0.09962060
+v -0.04982849 -0.00325532 0.09728400
+v -0.04982849 -0.00420824 0.09733192
+v -0.04982849 -0.00340271 0.11939722
+v -0.04982849 -0.00440386 0.11827456
+v -0.04982849 -0.00836401 0.11144961
+v -0.04825837 -0.00873007 0.10451969
+v -0.03994184 -0.00870756 0.10484371
+v -0.03976651 -0.00869094 0.10496464
+v -0.04615338 -0.00827773 0.09962060
+v -0.03976651 -0.00859126 0.10467942
+v -0.03976651 -0.00869094 0.10489162
+v -0.04982849 -0.00751828 0.10120875
+v -0.04982849 -0.00855267 0.10500800
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+f 1 3 4
+f 1 4 9
+f 1 9 18
+f 1 18 29
+f 1 29 32
+f 1 32 31
+f 1 31 20
+f 1 20 10
+f 1 10 5
+f 1 5 11
+f 1 11 22
+f 1 22 13
+f 1 13 6
+f 1 6 2
+f 2 6 12
+f 2 12 14
+f 2 14 7
+f 2 7 3
+f 3 7 8
+f 3 8 9
+f 3 9 4
+f 5 10 19
+f 5 19 11
+f 6 13 12
+f 7 14 8
+f 8 15 16
+f 8 16 17
+f 8 17 18
+f 8 18 9
+f 8 14 12
+f 8 12 15
+f 10 20 21
+f 10 21 19
+f 11 19 23
+f 11 23 22
+f 12 13 24
+f 12 24 25
+f 12 25 15
+f 13 22 23
+f 13 23 33
+f 13 33 34
+f 13 34 26
+f 13 26 25
+f 13 25 24
+f 15 26 16
+f 15 25 26
+f 16 26 27
+f 16 27 28
+f 16 28 17
+f 17 28 18
+f 18 28 29
+f 19 21 30
+f 19 30 23
+f 20 31 21
+f 21 31 32
+f 21 32 28
+f 21 28 27
+f 21 27 30
+f 23 30 33
+f 26 34 27
+f 27 34 30
+f 28 32 29
+f 30 34 33
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_85.obj b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_85.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb078d38f69895b3cd841e148c1c9d60e6743379
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_85.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v -0.03976651 0.00459851 0.11839288
+v -0.03976651 0.00882235 0.11187172
+v -0.04072296 0.00459851 0.11954281
+v -0.03976651 0.00459851 0.09730592
+v -0.04769986 0.01039115 0.11237467
+v -0.04055748 0.00892121 0.11214761
+v -0.04322885 0.00792580 0.11735282
+v -0.03976651 0.00907939 0.10495993
+v -0.04769986 0.01091079 0.10494284
+v -0.04739845 0.00459851 0.12069519
+v -0.03992707 0.00459851 0.09715455
+v -0.03976651 0.00748155 0.10103649
+v -0.04982849 0.01007047 0.11243814
+v -0.04982849 0.00935126 0.11424727
+v -0.04982849 0.00811920 0.11715506
+v -0.04769986 0.00822053 0.11749686
+v -0.04801901 0.00459851 0.12075378
+v -0.04237780 0.00826440 0.09959358
+v -0.04004625 0.00912449 0.10486227
+v -0.04982849 0.01052461 0.10482320
+v -0.04982849 0.01044058 0.10714016
+v -0.04769986 0.00874017 0.09916144
+v -0.04982849 0.00859003 0.09951545
+v -0.04808008 0.00459851 0.09581174
+v -0.04982849 0.00459851 0.11969175
+v -0.04949063 0.00459851 0.11989194
+v -0.04877157 0.00459851 0.09596800
+v -0.04982849 0.00546169 0.09692261
+v -0.04982849 0.00459851 0.09644164
+f 1 2 3
+f 1 3 10
+f 1 10 17
+f 1 17 26
+f 1 26 25
+f 1 25 29
+f 1 29 27
+f 1 27 24
+f 1 24 11
+f 1 11 4
+f 1 4 12
+f 1 12 8
+f 1 8 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 2 8 9
+f 2 9 5
+f 3 7 10
+f 4 11 12
+f 5 13 14
+f 5 14 15
+f 5 15 16
+f 5 16 7
+f 5 7 6
+f 5 9 13
+f 7 16 17
+f 7 17 10
+f 8 12 18
+f 8 18 19
+f 8 19 9
+f 9 20 21
+f 9 21 13
+f 9 19 18
+f 9 18 22
+f 9 22 23
+f 9 23 20
+f 11 24 18
+f 11 18 12
+f 13 21 20
+f 13 20 23
+f 13 23 28
+f 13 28 29
+f 13 29 25
+f 13 25 15
+f 13 15 14
+f 15 25 26
+f 15 26 17
+f 15 17 16
+f 18 24 22
+f 22 24 23
+f 23 24 27
+f 23 27 28
+f 27 29 28
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_86.obj b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_86.obj
new file mode 100644
index 0000000000000000000000000000000000000000..150e300acad2e72ff2ee125c6f62b944ff009a1c
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_86.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v 0.07705692 -0.01113036 0.07288290
+v 0.07942113 -0.00372509 0.06777060
+v 0.07764756 -0.00372509 0.07287539
+v 0.07764756 -0.00002512 0.07287539
+v 0.07227570 -0.01113036 0.07288290
+v 0.07705445 -0.01115975 0.07288290
+v 0.07706435 -0.01113036 0.07286131
+v 0.07841556 -0.01113036 0.06777060
+v 0.07632192 -0.01115975 0.06329111
+v 0.07673933 -0.00372509 0.06330050
+v 0.07942113 -0.00002512 0.06777060
+v 0.07319878 -0.00002512 0.07287539
+v 0.07227240 -0.01115975 0.07288290
+v 0.07099461 -0.02544669 0.07249889
+v 0.07100698 -0.02544402 0.07249796
+v 0.07593998 -0.01859174 0.07229046
+v 0.07841061 -0.01115975 0.06777060
+v 0.07565209 -0.01687934 0.06358029
+v 0.07673933 -0.00002512 0.06330050
+v 0.07099461 -0.02044039 0.06358217
+v 0.07318394 -0.01115975 0.06329111
+v 0.07208432 -0.00002512 0.06777060
+v 0.07099461 -0.01267981 0.07119852
+v 0.07099461 -0.01642252 0.07270545
+v 0.07099461 -0.02547074 0.07249608
+v 0.07513817 -0.02258022 0.07165952
+v 0.07615694 -0.01905123 0.06767389
+v 0.07446668 -0.02183489 0.06513229
+v 0.07385377 -0.00002512 0.06330050
+v 0.07099461 -0.01905657 0.06359719
+v 0.07099461 -0.02570850 0.06579046
+v 0.07099461 -0.00879818 0.06777060
+v 0.07099461 -0.00977059 0.06872358
+v 0.07297276 -0.00002512 0.06552569
+v 0.07099461 -0.02725527 0.06923528
+v 0.07513817 -0.02258022 0.07008592
+v 0.07099461 -0.02731137 0.06770863
+v 0.07241594 -0.02544402 0.06767389
+f 1 2 3
+f 1 3 4
+f 1 4 12
+f 1 12 5
+f 1 5 13
+f 1 13 6
+f 1 6 7
+f 1 7 2
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 19
+f 2 19 11
+f 2 11 4
+f 2 4 3
+f 4 11 19
+f 4 19 29
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+f 4 22 12
+f 5 12 13
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+f 6 15 16
+f 6 16 17
+f 6 17 8
+f 6 8 7
+f 8 17 18
+f 8 18 9
+f 9 19 10
+f 9 18 20
+f 9 20 21
+f 9 21 29
+f 9 29 19
+f 12 22 23
+f 12 23 24
+f 12 24 13
+f 13 24 14
+f 14 25 15
+f 14 24 23
+f 14 23 33
+f 14 33 32
+f 14 32 30
+f 14 30 20
+f 14 20 31
+f 14 31 37
+f 14 37 35
+f 14 35 25
+f 15 25 26
+f 15 26 16
+f 16 26 17
+f 17 26 27
+f 17 27 18
+f 18 27 28
+f 18 28 20
+f 20 30 21
+f 20 28 31
+f 21 30 29
+f 22 32 33
+f 22 33 23
+f 22 34 30
+f 22 30 32
+f 25 35 26
+f 26 36 27
+f 26 35 37
+f 26 37 36
+f 27 36 28
+f 28 36 38
+f 28 38 37
+f 28 37 31
+f 29 30 34
+f 36 37 38
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_87.obj b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_87.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9c7f5536a22cfe07be86fa93d90f6f35711abf3
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_87.obj
@@ -0,0 +1,120 @@
+# https://github.com/mikedh/trimesh
+v 0.00183359 0.00569279 0.06777035
+v 0.00170017 0.00569279 0.07100215
+v 0.00270990 -0.01058551 0.06777134
+v 0.00265719 -0.01058551 0.06747206
+v 0.00096388 0.00569279 0.06379777
+v 0.00197196 -0.01058551 0.07257064
+v 0.00149263 0.00569279 0.07229112
+v 0.00135591 -0.01058551 0.06356368
+v 0.00105612 -0.01058551 0.06352417
+v -0.00309480 0.00370899 0.06336317
+v -0.00310633 0.00569279 0.06342738
+v -0.00172928 0.00569279 0.07308820
+v -0.00309480 -0.00372268 0.07326303
+v -0.00310633 -0.00392027 0.07324722
+v -0.00348683 -0.01058551 0.07270299
+v -0.00318046 -0.01058551 0.06359035
+v -0.01411781 -0.00258817 0.06317551
+v -0.00990758 -0.00363186 0.06325354
+v -0.00309480 -0.00372268 0.06336317
+v -0.01411781 0.00259201 0.06317452
+v -0.00991088 0.00362614 0.06325354
+v -0.00847782 0.00569279 0.06360911
+v -0.00320846 0.00569279 0.07310302
+v -0.00309480 0.00370899 0.07326500
+v -0.01411781 -0.00309329 0.07298350
+v -0.00487212 -0.01058551 0.07241359
+v -0.00319858 -0.01058551 0.06359825
+v -0.00615858 -0.01058551 0.06618606
+v -0.01411781 -0.00392027 0.06568924
+v -0.01411781 0.00497098 0.06777035
+v -0.01139335 0.00569279 0.06777035
+v -0.00869690 0.00569279 0.07288374
+v -0.01411781 0.00310350 0.07298449
+v -0.01411781 0.00083448 0.07298449
+v -0.01411781 -0.00392027 0.07033841
+v -0.01411616 -0.00494165 0.06777134
+v -0.00773164 -0.00897935 0.07192270
+v -0.00667744 -0.01058551 0.06777134
+v -0.01411616 -0.00399356 0.06582851
+v -0.01411781 0.00428581 0.06993937
+v -0.00942990 0.00569279 0.07259336
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 22
+f 1 22 31
+f 1 31 41
+f 1 41 32
+f 1 32 23
+f 1 23 12
+f 1 12 7
+f 1 7 2
+f 2 6 3
+f 2 7 6
+f 3 6 15
+f 3 15 26
+f 3 26 38
+f 3 38 28
+f 3 28 27
+f 3 27 16
+f 3 16 9
+f 3 9 8
+f 3 8 4
+f 4 8 5
+f 5 8 9
+f 5 9 10
+f 5 10 11
+f 6 7 12
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 9 16 17
+f 9 17 18
+f 9 18 19
+f 9 19 10
+f 10 19 20
+f 10 20 21
+f 10 21 11
+f 11 21 20
+f 11 20 22
+f 12 23 24
+f 12 24 13
+f 13 24 25
+f 13 25 14
+f 14 25 15
+f 15 25 26
+f 16 27 17
+f 17 28 29
+f 17 29 35
+f 17 35 25
+f 17 25 34
+f 17 34 33
+f 17 33 40
+f 17 40 30
+f 17 30 20
+f 17 20 19
+f 17 19 18
+f 17 27 28
+f 20 30 22
+f 22 30 31
+f 23 32 33
+f 23 33 24
+f 24 33 34
+f 24 34 25
+f 25 35 36
+f 25 36 37
+f 25 37 26
+f 26 37 38
+f 28 38 36
+f 28 36 39
+f 28 39 29
+f 29 39 36
+f 29 36 35
+f 30 40 41
+f 30 41 31
+f 32 41 33
+f 33 41 40
+f 36 38 37
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_88.obj b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_88.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3a039313f490228e381f6a83df314bf41376baf
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_88.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.00391702 0.00416423 0.10450491
+v 0.01073272 0.00416578 0.10518716
+v 0.00391702 0.00416423 0.11129084
+v 0.00710462 0.01626415 0.10697548
+v 0.00588468 0.01114513 0.10562361
+v 0.01157554 0.01867667 0.10531603
+v 0.01222005 0.01864867 0.10529013
+v 0.01221599 0.01073760 0.10508286
+v 0.01222005 0.01073916 0.10508618
+v 0.01073272 0.00416578 0.11084044
+v 0.01221599 0.01073760 0.11086436
+v 0.01222005 0.01864867 0.11079593
+v 0.01157554 0.01867667 0.11077467
+v 0.00588468 0.01114513 0.11050098
+v 0.00710462 0.01626415 0.10969450
+v 0.01222005 0.02005481 0.10569203
+v 0.01222005 0.01073916 0.11086369
+v 0.01222005 0.01927708 0.11075807
+v 0.01222005 0.02005481 0.11054283
+f 1 2 10
+f 1 10 3
+f 1 3 15
+f 1 15 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 8 9
+f 2 9 17
+f 2 17 10
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 14
+f 3 14 15
+f 4 15 19
+f 4 19 16
+f 4 16 6
+f 4 6 5
+f 6 16 7
+f 7 9 8
+f 7 16 19
+f 7 19 18
+f 7 18 12
+f 7 12 17
+f 7 17 9
+f 10 17 11
+f 11 17 12
+f 12 18 13
+f 13 18 19
+f 13 19 15
+f 13 15 14
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_89.obj b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_89.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc680ab31675bc8bca21c635e53ee2bb9fa81876
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_89.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.06260462 0.00337816 0.10568436
+v 0.06260462 0.00337816 0.11054856
+v 0.06260462 0.00387303 0.10545352
+v 0.06311913 -0.00164511 0.10572683
+v 0.06311913 -0.00164511 0.11057391
+v 0.06260462 0.01114291 0.11119041
+v 0.06260462 0.01215129 0.10449520
+v 0.06768865 -0.00164511 0.10532679
+v 0.06381569 0.01114291 0.10438971
+v 0.06962170 -0.00164511 0.11083832
+v 0.06381569 0.01114291 0.11138769
+v 0.06260462 0.01789306 0.11018757
+v 0.06260462 0.01870473 0.10637895
+v 0.06962170 -0.00164511 0.10536104
+v 0.06346810 0.01789513 0.10643375
+v 0.06836529 0.01114291 0.10712218
+v 0.06943279 0.00371153 0.10553503
+v 0.06943279 0.00371153 0.11069721
+v 0.06836529 0.01114291 0.10962792
+v 0.06346810 0.01789513 0.11008619
+v 0.06260462 0.01950399 0.10985055
+v 0.06260462 0.01950399 0.10676941
+v 0.06759454 0.01496109 0.10849972
+v 0.06759454 0.01496109 0.10874906
+f 1 2 6
+f 1 6 12
+f 1 12 21
+f 1 21 22
+f 1 22 13
+f 1 13 7
+f 1 7 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 4
+f 4 8 14
+f 4 14 10
+f 4 10 5
+f 4 7 9
+f 4 9 8
+f 5 10 11
+f 5 11 6
+f 6 11 12
+f 7 13 9
+f 8 9 14
+f 9 13 15
+f 9 15 16
+f 9 16 17
+f 9 17 14
+f 10 14 17
+f 10 17 18
+f 10 18 11
+f 11 18 19
+f 11 19 20
+f 11 20 12
+f 12 20 21
+f 13 22 15
+f 15 22 23
+f 15 23 16
+f 16 23 24
+f 16 24 19
+f 16 19 18
+f 16 18 17
+f 19 24 20
+f 20 24 21
+f 21 24 23
+f 21 23 22
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_9.obj b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df703c0626e8fbda10ac80eba4b91a534ae9de7c
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_9.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.02531597 -0.02540575 -0.06199402
+v -0.02531597 -0.02540575 -0.05284631
+v -0.02531597 -0.01825217 -0.06130978
+v -0.00308609 -0.01825217 -0.06130978
+v 0.04894094 -0.01825217 -0.06130888
+v 0.05640423 -0.01825217 -0.06130799
+v 0.05640423 -0.02540575 -0.06197880
+v -0.02531597 -0.01859318 -0.05284542
+v -0.01795667 -0.02540575 -0.05284542
+v -0.02531597 -0.01825217 -0.05284542
+v 0.05640423 -0.01825217 -0.05320903
+v 0.05640423 -0.02540575 -0.05645022
+v 0.05638023 -0.01825217 -0.05284452
+v 0.05639623 -0.02540575 -0.05284542
+v 0.05640423 -0.01857007 -0.05284542
+v 0.05639623 -0.01825217 -0.05284452
+v 0.05640423 -0.01859318 -0.05284542
+f 1 2 8
+f 1 8 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 12
+f 1 12 14
+f 1 14 9
+f 1 9 2
+f 2 9 8
+f 3 10 13
+f 3 13 16
+f 3 16 11
+f 3 11 6
+f 3 6 5
+f 3 5 4
+f 6 11 15
+f 6 15 17
+f 6 17 12
+f 6 12 7
+f 8 9 13
+f 8 13 10
+f 9 14 16
+f 9 16 13
+f 11 16 15
+f 12 17 14
+f 14 17 16
+f 15 16 17
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_90.obj b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_90.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6df9fb130e03ab55f6f7fb9d2d30a4b32606039c
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_90.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.04892841 0.03987463 0.07286589
+v 0.04894677 0.03987114 0.07286589
+v 0.04892841 0.04163645 0.06776973
+v 0.04892841 0.03489852 0.07285373
+v 0.04894677 0.03489852 0.07286589
+v 0.05562808 0.03862450 0.07252452
+v 0.05562808 0.03309949 0.07280042
+v 0.04894677 0.04163180 0.06776973
+v 0.05562808 0.03825935 0.06404089
+v 0.05562808 0.03798490 0.06358917
+v 0.04894677 0.03892453 0.06331327
+v 0.04892841 0.03892686 0.06331327
+v 0.04892841 0.03342162 0.06775944
+v 0.04894677 0.03341348 0.06776973
+v 0.05562808 0.02975611 0.06776973
+v 0.05562808 0.03944552 0.06776973
+v 0.05562808 0.03395307 0.06343953
+v 0.04894677 0.03568116 0.06331327
+v 0.04892841 0.03568349 0.06331327
+v 0.05562808 0.03029105 0.06643606
+v 0.05562808 0.03361118 0.06343953
+f 1 2 3
+f 1 3 12
+f 1 12 19
+f 1 19 13
+f 1 13 4
+f 1 4 5
+f 1 5 2
+f 2 6 3
+f 2 5 7
+f 2 7 6
+f 3 6 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 4 13 14
+f 4 14 15
+f 4 15 5
+f 5 15 7
+f 6 16 8
+f 6 7 15
+f 6 15 20
+f 6 20 21
+f 6 21 17
+f 6 17 10
+f 6 10 9
+f 6 9 16
+f 8 16 9
+f 10 17 11
+f 11 17 21
+f 11 21 18
+f 11 18 19
+f 11 19 12
+f 13 20 15
+f 13 15 14
+f 13 19 20
+f 18 21 19
+f 19 21 20
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_91.obj b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_91.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1748803a1fb650e9a9097cc2a9d59df245c15c7
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_91.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v -0.03976651 0.00459851 0.07873058
+v -0.03976651 0.00846549 0.07342630
+v -0.03983842 0.00459851 0.07879530
+v -0.03976651 0.00459851 0.05930759
+v -0.04026592 0.00852106 0.07354011
+v -0.04013786 0.00459851 0.07905638
+v -0.03976651 0.00914526 0.06779176
+v -0.04026592 0.00926230 0.06777168
+v -0.04769986 0.01063720 0.06777168
+v -0.03982955 0.00459851 0.05927858
+v -0.04026592 0.00816817 0.06277981
+v -0.03976651 0.00788976 0.06272625
+v -0.04769986 0.00917481 0.07491248
+v -0.04769986 0.00664136 0.07862793
+v -0.04791361 0.00459851 0.08096655
+v -0.03976651 0.00807891 0.06293378
+v -0.04982849 0.01036647 0.06777168
+v -0.04982849 0.01009634 0.06950332
+v -0.04982849 0.00905305 0.07459784
+v -0.04769986 0.00888931 0.06159265
+v -0.04982849 0.00874036 0.06186713
+v -0.04059787 0.00459851 0.05907998
+v -0.04982849 0.00583746 0.07833561
+v -0.04982849 0.00459851 0.07893588
+v -0.04815199 0.00459851 0.05817399
+v -0.04982849 0.00509859 0.05889254
+v -0.04982849 0.00459851 0.05857120
+v -0.04901782 0.00459851 0.05833466
+f 1 2 3
+f 1 3 6
+f 1 6 15
+f 1 15 24
+f 1 24 27
+f 1 27 28
+f 1 28 25
+f 1 25 22
+f 1 22 10
+f 1 10 4
+f 1 4 12
+f 1 12 16
+f 1 16 7
+f 1 7 2
+f 2 5 6
+f 2 6 3
+f 2 7 8
+f 2 8 9
+f 2 9 5
+f 4 10 11
+f 4 11 12
+f 5 13 14
+f 5 14 6
+f 5 9 13
+f 6 14 15
+f 7 16 11
+f 7 11 8
+f 8 11 9
+f 9 17 18
+f 9 18 19
+f 9 19 13
+f 9 11 20
+f 9 20 21
+f 9 21 17
+f 10 22 11
+f 11 16 12
+f 11 22 20
+f 13 19 14
+f 14 19 15
+f 15 19 23
+f 15 23 24
+f 17 21 26
+f 17 26 27
+f 17 27 24
+f 17 24 23
+f 17 23 19
+f 17 19 18
+f 20 22 25
+f 20 25 26
+f 20 26 21
+f 25 28 26
+f 26 28 27
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_92.obj b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_92.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a00812574cca871b320cdd50c8a41a873e9fe2f3
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_92.obj
@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
+v 0.03407739 0.02375288 0.14954804
+v 0.03407739 0.02286708 0.14532331
+v 0.02955044 0.02259309 0.14556132
+v 0.02879957 0.02288969 0.14954804
+v 0.02908806 0.02278994 0.15374348
+v 0.03407739 0.02317964 0.15410415
+v 0.03443899 0.02317165 0.15409592
+v 0.03443899 0.02373559 0.14954804
+v 0.03443899 0.02370101 0.14934939
+v 0.03443899 0.02285910 0.14532972
+v 0.03443899 0.02261171 0.14532056
+v 0.02690066 0.01867614 0.14514206
+v 0.02133632 0.01626347 0.14516860
+v 0.02508277 0.02091060 0.14954804
+v 0.02100239 0.01657070 0.15416640
+v 0.02662205 0.01885969 0.15434217
+v 0.03407739 0.01857905 0.15449047
+v 0.03443899 0.01857905 0.15449230
+v 0.03443899 0.01803241 0.14529402
+v 0.01904420 0.01016660 0.14514114
+v 0.01899875 0.01119338 0.14514206
+v 0.01716702 0.01016660 0.14524367
+v 0.01425642 0.01016660 0.14954804
+v 0.01657226 0.01346109 0.14954804
+v 0.02029104 0.01719316 0.14954804
+v 0.01481760 0.01016660 0.15295071
+v 0.01622449 0.01016660 0.15412155
+v 0.01761162 0.01016660 0.15442272
+v 0.02481206 0.01016660 0.15421767
+v 0.03443899 0.01441738 0.15366017
+v 0.03443899 0.01796192 0.14530134
+v 0.02592848 0.01173204 0.14528120
+v 0.02489110 0.01016660 0.14546063
+v 0.02521911 0.01016660 0.15397965
+v 0.03443899 0.01434157 0.14942171
+v 0.02647780 0.01016660 0.14997463
+v 0.03443899 0.01436817 0.14934756
+v 0.03227530 0.01460092 0.14561533
+v 0.02646792 0.01016660 0.14954804
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 2
+f 2 10 11
+f 2 11 12
+f 2 12 3
+f 3 12 13
+f 3 13 14
+f 3 14 4
+f 4 14 5
+f 5 14 15
+f 5 15 16
+f 5 16 6
+f 6 16 17
+f 6 17 18
+f 6 18 7
+f 7 18 30
+f 7 30 35
+f 7 35 37
+f 7 37 31
+f 7 31 19
+f 7 19 11
+f 7 11 10
+f 7 10 9
+f 7 9 8
+f 11 19 12
+f 12 20 21
+f 12 21 13
+f 12 19 20
+f 13 21 22
+f 13 22 23
+f 13 23 24
+f 13 24 25
+f 13 25 14
+f 14 25 15
+f 15 25 24
+f 15 24 26
+f 15 26 27
+f 15 27 28
+f 15 28 16
+f 16 28 17
+f 17 28 18
+f 18 28 29
+f 18 29 30
+f 19 31 32
+f 19 32 20
+f 20 22 21
+f 20 32 33
+f 20 33 39
+f 20 39 36
+f 20 36 34
+f 20 34 29
+f 20 29 28
+f 20 28 27
+f 20 27 26
+f 20 26 23
+f 20 23 22
+f 23 26 24
+f 29 34 30
+f 30 34 36
+f 30 36 35
+f 31 37 38
+f 31 38 32
+f 32 38 33
+f 33 38 37
+f 33 37 35
+f 33 35 39
+f 35 36 39
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_93.obj b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_93.obj
new file mode 100644
index 0000000000000000000000000000000000000000..192e962dd188d6b2abbece7db035b6b7e7b76315
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_93.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.01222005 0.01073764 0.10508564
+v 0.01936490 0.01832973 0.10500247
+v 0.01699053 0.01294295 0.10674544
+v 0.01222005 0.01073764 0.11086369
+v 0.01222005 0.01864862 0.10529031
+v 0.01938384 0.01908280 0.10506912
+v 0.01938384 0.01833572 0.10501663
+v 0.01699053 0.01294295 0.10987866
+v 0.01938384 0.01833572 0.11102590
+v 0.01936490 0.01832973 0.11102826
+v 0.01222005 0.01864862 0.11079586
+v 0.01222005 0.02005445 0.10569199
+v 0.01938384 0.02603260 0.10571618
+v 0.01938384 0.01908280 0.11098284
+v 0.01938384 0.02594427 0.11057054
+v 0.01222005 0.01927593 0.11075811
+v 0.01222005 0.02005445 0.11054282
+v 0.01392194 0.02369105 0.10668469
+v 0.01938384 0.02603260 0.11054636
+v 0.01392194 0.02369105 0.10992880
+f 1 2 3
+f 1 3 8
+f 1 8 4
+f 1 4 11
+f 1 11 16
+f 1 16 17
+f 1 17 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 3 7 9
+f 3 9 8
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 5 12 13
+f 5 13 6
+f 6 13 19
+f 6 19 15
+f 6 15 14
+f 6 14 9
+f 6 9 7
+f 9 14 10
+f 10 14 15
+f 10 15 16
+f 10 16 11
+f 12 17 20
+f 12 20 18
+f 12 18 13
+f 13 18 20
+f 13 20 19
+f 15 19 16
+f 16 19 17
+f 17 19 20
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_94.obj b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_94.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a902d8030d58e22812dd421eb95a95d284e461b3
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_94.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.04731505 -0.00325478 0.09213571
+v -0.04852181 -0.00453209 0.09693032
+v -0.04896669 -0.00325478 0.09693032
+v -0.04065446 -0.00325478 0.09235535
+v -0.04814627 -0.00452471 0.09693032
+v -0.03976741 -0.00325478 0.09693032
+v -0.03988088 -0.00325478 0.09589405
+v -0.03976741 -0.00423311 0.09641734
+v -0.03976741 -0.00435803 0.09693032
+v -0.03976741 -0.00325478 0.09644269
+v -0.03976741 -0.00379484 0.09641734
+f 1 2 3
+f 1 3 6
+f 1 6 10
+f 1 10 7
+f 1 7 4
+f 1 4 2
+f 2 4 5
+f 2 5 9
+f 2 9 6
+f 2 6 3
+f 4 7 8
+f 4 8 5
+f 5 8 9
+f 6 9 8
+f 6 8 11
+f 6 11 10
+f 7 10 11
+f 7 11 8
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_95.obj b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_95.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d605363930a51b01a206059a08a7b4bc0aff609
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_95.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.04219268 -0.03418041 0.10561162
+v 0.04894622 -0.03269915 0.10531684
+v 0.04219268 -0.03418041 0.11059315
+v 0.04219268 -0.02819643 0.10545899
+v 0.04894622 -0.03269915 0.11083339
+v 0.04906467 -0.02582477 0.10522096
+v 0.04906669 -0.03266969 0.10534053
+v 0.04219268 -0.02757037 0.11071878
+v 0.04219268 -0.02757037 0.10545073
+v 0.04906669 -0.03266969 0.11081851
+v 0.04906669 -0.03260913 0.11083449
+v 0.04906467 -0.02582477 0.11084936
+v 0.04906669 -0.02582068 0.10522482
+v 0.04906669 -0.02582068 0.11084826
+f 1 2 5
+f 1 5 3
+f 1 3 8
+f 1 8 9
+f 1 9 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
+f 2 7 10
+f 2 10 5
+f 3 5 8
+f 4 9 6
+f 5 10 11
+f 5 11 12
+f 5 12 8
+f 6 9 13
+f 6 13 7
+f 7 13 14
+f 7 14 11
+f 7 11 10
+f 8 12 14
+f 8 14 13
+f 8 13 9
+f 11 14 12
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_96.obj b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_96.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b847ffe51d8ee9a57cecba777d3e0e24472b4c6
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_96.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.01938384 0.01833560 0.10501650
+v 0.02971380 0.02109739 0.10659876
+v 0.01938384 0.01833560 0.11102564
+v 0.01938384 0.01908374 0.10506922
+v 0.02664262 0.02601301 0.10412751
+v 0.02971380 0.02601301 0.10420840
+v 0.02971380 0.02109739 0.10993878
+v 0.01938384 0.01908374 0.11098303
+v 0.02971380 0.02287406 0.11072305
+v 0.02971380 0.02601301 0.11144739
+v 0.02664262 0.02601301 0.11150516
+v 0.01938384 0.02603162 0.10571628
+v 0.01955980 0.02610731 0.10568522
+v 0.02664262 0.03073881 0.10666448
+v 0.02971380 0.03100928 0.10626873
+v 0.01938384 0.02594353 0.11057068
+v 0.02971380 0.02823510 0.11111302
+v 0.02971380 0.03100928 0.11016698
+v 0.02664262 0.03073881 0.10989256
+v 0.01955980 0.02610731 0.11056562
+v 0.01938384 0.02603162 0.11054612
+v 0.02227097 0.03005023 0.10788133
+v 0.02227097 0.03005023 0.10910901
+f 1 2 7
+f 1 7 3
+f 1 3 8
+f 1 8 16
+f 1 16 21
+f 1 21 12
+f 1 12 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 15
+f 2 15 18
+f 2 18 17
+f 2 17 10
+f 2 10 9
+f 2 9 7
+f 3 7 9
+f 3 9 10
+f 3 10 11
+f 3 11 8
+f 4 12 5
+f 5 12 13
+f 5 13 14
+f 5 14 15
+f 5 15 6
+f 8 11 16
+f 10 17 11
+f 11 17 18
+f 11 18 19
+f 11 19 20
+f 11 20 16
+f 12 21 23
+f 12 23 22
+f 12 22 13
+f 13 22 14
+f 14 22 23
+f 14 23 19
+f 14 19 18
+f 14 18 15
+f 16 20 21
+f 19 23 20
+f 20 23 21
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_97.obj b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_97.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ed1770399f0326170fe530b175d0848c375bfbb
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_97.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.05648837 -0.01883689 0.10545022
+v 0.06381491 -0.01115780 0.10435874
+v 0.06401013 -0.01883689 0.10526201
+v 0.05648837 -0.01883689 0.11070430
+v 0.06003334 -0.00602438 0.10848219
+v 0.06311807 -0.00164811 0.10572704
+v 0.06916729 -0.01113256 0.10581633
+v 0.06426482 -0.01883689 0.10525583
+v 0.06768827 -0.00164811 0.10532795
+v 0.06962107 -0.00164811 0.10536229
+v 0.06969477 -0.00372436 0.10529429
+v 0.06426482 -0.01883689 0.11083000
+v 0.06381491 -0.01115780 0.11137609
+v 0.06311807 -0.00164811 0.11057379
+v 0.06003334 -0.00602438 0.10875900
+v 0.06916470 -0.01115780 0.10581908
+v 0.06916729 -0.01113256 0.11047350
+v 0.06831142 -0.01651836 0.10708435
+v 0.06962107 -0.00164811 0.11083824
+v 0.06969477 -0.00372436 0.11089320
+v 0.06831142 -0.01651836 0.10961282
+v 0.06916470 -0.01115780 0.11047213
+f 1 2 3
+f 1 3 8
+f 1 8 12
+f 1 12 4
+f 1 4 15
+f 1 15 5
+f 1 5 6
+f 1 6 2
+f 2 7 8
+f 2 8 3
+f 2 6 9
+f 2 9 10
+f 2 10 11
+f 2 11 7
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 5 15 14
+f 5 14 6
+f 6 14 19
+f 6 19 10
+f 6 10 9
+f 7 16 8
+f 7 11 20
+f 7 20 17
+f 7 17 22
+f 7 22 16
+f 8 16 18
+f 8 18 21
+f 8 21 12
+f 10 19 20
+f 10 20 11
+f 12 21 22
+f 12 22 17
+f 12 17 20
+f 12 20 13
+f 13 20 19
+f 13 19 14
+f 16 22 21
+f 16 21 18
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_98.obj b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_98.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21265c3575122acfa94e9842dede93b27919ecc0
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_98.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.05566542 0.01790274 0.10509641
+v 0.05566542 0.01790274 0.11099817
+v 0.05566542 0.01793835 0.10509444
+v 0.06260393 0.01215318 0.10449469
+v 0.06260393 0.00387339 0.10545363
+v 0.05784852 0.01114570 0.10592753
+v 0.05947736 0.00514898 0.10739642
+v 0.05566542 0.02477498 0.11042923
+v 0.05947736 0.00514898 0.10940409
+v 0.05784852 0.01114570 0.11041808
+v 0.06260393 0.00337698 0.11054852
+v 0.06260393 0.01114570 0.11119022
+v 0.05569734 0.01789227 0.11100013
+v 0.05566542 0.02477498 0.10591377
+v 0.05638135 0.02455086 0.10598718
+v 0.06260393 0.01870496 0.10637914
+v 0.06260393 0.00337698 0.10568435
+v 0.05638135 0.02455086 0.11038531
+v 0.06260393 0.01789436 0.11018802
+v 0.06075773 0.02294644 0.10748818
+v 0.06260393 0.01950508 0.10676980
+v 0.06260393 0.01950508 0.10985045
+v 0.06075773 0.02294644 0.10934641
+f 1 2 8
+f 1 8 14
+f 1 14 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 9
+f 1 9 2
+f 2 9 10
+f 2 10 11
+f 2 11 12
+f 2 12 13
+f 2 13 8
+f 3 14 4
+f 4 14 15
+f 4 15 16
+f 4 16 21
+f 4 21 22
+f 4 22 19
+f 4 19 12
+f 4 12 11
+f 4 11 17
+f 4 17 5
+f 5 17 6
+f 6 17 7
+f 7 17 11
+f 7 11 9
+f 8 18 15
+f 8 15 14
+f 8 13 12
+f 8 12 18
+f 9 11 10
+f 12 19 18
+f 15 18 23
+f 15 23 20
+f 15 20 21
+f 15 21 16
+f 18 19 22
+f 18 22 23
+f 20 23 22
+f 20 22 21
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_99.obj b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_99.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aad27362361dd068679978189a3e9961f9dc4f0a
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_0/collision/model_normalized_collision_99.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.00353474 -0.00437051 0.10548785
+v -0.00132824 -0.00823453 0.10801205
+v -0.00353474 -0.00437051 0.11067315
+v -0.00353474 0.00260082 0.10517686
+v 0.00434022 -0.00372322 0.10304345
+v 0.00457232 -0.01135856 0.10544705
+v 0.00425130 -0.01135856 0.10556311
+v -0.00132824 -0.00823453 0.10908827
+v -0.00352118 -0.00437355 0.11068403
+v -0.00353474 0.00225590 0.11087262
+v -0.00353474 0.00260082 0.11087262
+v 0.00391821 0.00416283 0.10450501
+v 0.01157313 -0.01135856 0.10561842
+v 0.01073213 0.00416435 0.10518684
+v 0.00425130 -0.01135856 0.11063960
+v 0.00434022 -0.00372322 0.11230517
+v 0.00391821 0.00416283 0.11129150
+v 0.01034026 0.00416435 0.10522038
+v 0.01186250 -0.01135856 0.10572540
+v 0.01073213 0.00416435 0.11083998
+v 0.00838094 -0.01135856 0.11057886
+v 0.01186250 -0.01135856 0.11052083
+f 1 2 8
+f 1 8 3
+f 1 3 10
+f 1 10 11
+f 1 11 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 15
+f 2 15 8
+f 3 8 9
+f 3 9 10
+f 4 11 17
+f 4 17 12
+f 4 12 5
+f 5 13 6
+f 5 12 14
+f 5 14 13
+f 6 13 19
+f 6 19 22
+f 6 22 21
+f 6 21 15
+f 6 15 7
+f 8 15 9
+f 9 15 16
+f 9 16 10
+f 10 16 11
+f 11 16 17
+f 12 17 18
+f 12 18 14
+f 13 14 19
+f 14 18 20
+f 14 20 22
+f 14 22 19
+f 15 21 16
+f 16 20 17
+f 16 21 22
+f 16 22 20
+f 17 20 18
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_0/model.xml b/new_flask_clamp/new_flask_clamp_0/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..c6bb20673f84ee22ac9462b65ce051e436291fcf
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_0/model.xml
@@ -0,0 +1,226 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="new_flask_clamp_0">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <texture file="visual/image0.png" name="image0" type="2d" />
+    <material name="defaultMat.011" reflectance="0.5" texture="image0" specular="0.5" shininess="0.25" />
+    <mesh file="collision/model_normalized_collision_54.obj" name="model_normalized_collision_54._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_101.obj" name="model_normalized_collision_101._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_47.obj" name="model_normalized_collision_47._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_83.obj" name="model_normalized_collision_83._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_39.obj" name="model_normalized_collision_39._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_59.obj" name="model_normalized_collision_59._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_53.obj" name="model_normalized_collision_53._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_74.obj" name="model_normalized_collision_74._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_76.obj" name="model_normalized_collision_76._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_75.obj" name="model_normalized_collision_75._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_73.obj" name="model_normalized_collision_73._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_40.obj" name="model_normalized_collision_40._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_67.obj" name="model_normalized_collision_67._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_87.obj" name="model_normalized_collision_87._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_56.obj" name="model_normalized_collision_56._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_50.obj" name="model_normalized_collision_50._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_63.obj" name="model_normalized_collision_63._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_35.obj" name="model_normalized_collision_35._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_98.obj" name="model_normalized_collision_98._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_66.obj" name="model_normalized_collision_66._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_33.obj" name="model_normalized_collision_33._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_77.obj" name="model_normalized_collision_77._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_94.obj" name="model_normalized_collision_94._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_57.obj" name="model_normalized_collision_57._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_84.obj" name="model_normalized_collision_84._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_104.obj" name="model_normalized_collision_104._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_34.obj" name="model_normalized_collision_34._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_60.obj" name="model_normalized_collision_60._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_97.obj" name="model_normalized_collision_97._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_69.obj" name="model_normalized_collision_69._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_92.obj" name="model_normalized_collision_92._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_82.obj" name="model_normalized_collision_82._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_89.obj" name="model_normalized_collision_89._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_99.obj" name="model_normalized_collision_99._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_102.obj" name="model_normalized_collision_102._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_80.obj" name="model_normalized_collision_80._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_51.obj" name="model_normalized_collision_51._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_52.obj" name="model_normalized_collision_52._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_65.obj" name="model_normalized_collision_65._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_68.obj" name="model_normalized_collision_68._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_62.obj" name="model_normalized_collision_62._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_79.obj" name="model_normalized_collision_79._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
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+  </mujoco>
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_0/visual/model_normalized_0.obj b/new_flask_clamp/new_flask_clamp_0/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f5ef15adde5b21298548589068dadd65787364d
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_0/visual/model_normalized_0.obj
@@ -0,0 +1,40737 @@
+mtllib materials.mtl
+usemtl dyfksq__base_link_vray
+o visuals
+
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diff --git a/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_0.obj b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1aaf2ba4badbe9c0d249aa5c285608112103b22
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_0.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.04345207 -0.01016852 0.04408124
+v -0.04064706 -0.01016852 0.04408124
+v -0.04563562 -0.00691567 0.04408124
+v -0.04343994 -0.01014197 -0.05002225
+v -0.04066161 -0.01014886 -0.05002225
+v -0.03984540 -0.00864141 0.04408124
+v -0.04654395 -0.00514567 0.04408124
+v -0.04572532 -0.00556162 -0.05002225
+v -0.03831966 -0.00556752 -0.05002225
+v -0.03828814 -0.00556063 0.04408124
+v -0.04586432 -0.00242086 0.04408124
+v -0.04435555 -0.00019165 -0.05002225
+v -0.04533258 -0.00031850 0.04408124
+v -0.03972176 -0.00019951 -0.05002225
+v -0.03831724 -0.00556162 -0.04258866
+v -0.03876009 -0.00375130 0.04408124
+v -0.04436767 -0.00023688 0.03917157
+v -0.03971045 -0.00012281 0.04408124
+f 1 2 6
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+f 1 7 3
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+f 9 14 15
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+f 12 13 17
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+f 12 18 14
+f 13 18 17
+f 14 18 16
+f 14 16 15
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_1.obj b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f53cbef5260d0e9f8e4d940f3694aea21a616d8c
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_1.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.04791486 -0.00556102 -0.05523896
+v -0.04784624 -0.00586964 -0.05523896
+v -0.04572497 -0.00556102 -0.05002225
+v -0.04435614 -0.00019103 -0.05002225
+v -0.04572148 0.00152114 -0.05523896
+v -0.04561449 -0.01130538 -0.05523896
+v -0.04518418 -0.01216817 -0.05523896
+v -0.04343970 -0.01014201 -0.05002225
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+v -0.03972397 -0.00019103 -0.05003349
+v -0.03838073 0.00153054 -0.05523896
+v -0.03904014 0.00153054 -0.05523896
+v -0.03892501 -0.01217756 -0.05523896
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+v -0.03831677 -0.00556102 -0.05003349
+v -0.03611524 -0.00508199 -0.05523896
+v -0.03832025 -0.00556772 -0.05002225
+v -0.03603499 -0.00556102 -0.05523896
+f 1 2 3
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+f 13 18 14
+f 13 19 18
+f 16 18 17
+f 17 18 19
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_10.obj b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3e78cc44162b251aad7ff9f51624ad3cd87f293
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_10.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v -0.05245449 -0.00308149 0.07264703
+v -0.05245449 -0.00437248 0.07264703
+v -0.05245449 0.00093434 0.07138913
+v -0.06065607 -0.00556170 0.07078908
+v -0.05245449 -0.00560098 0.07223238
+v -0.06065607 0.00123610 0.06822145
+v -0.06647684 0.00015938 0.06712701
+v -0.05245449 0.00360203 0.06785863
+v -0.06753062 -0.00556170 0.06798223
+v -0.06647863 -0.01079530 0.06698547
+v -0.06065607 -0.01126135 0.06777291
+v -0.05245449 -0.01072388 0.06820749
+v -0.06065607 0.00395915 0.06148739
+v -0.06752884 0.00104504 0.06148739
+v -0.07069730 -0.00556170 0.06148739
+v -0.05245449 0.00519122 0.06227283
+v -0.06754133 -0.01152919 0.06148739
+v -0.06065607 -0.01305052 0.06148739
+v -0.05245449 -0.01126492 0.06772506
+v -0.05245449 0.00519122 0.06143755
+v -0.05245449 0.00498766 0.06059629
+v -0.06065607 0.00087720 0.05539723
+v -0.06647506 0.00000403 0.05625842
+v -0.06753776 -0.00556170 0.05551285
+v -0.06649113 -0.01076316 0.05627437
+v -0.06065607 -0.01106672 0.05576403
+v -0.05245449 -0.01097565 0.05577400
+v -0.05245449 -0.01295232 0.06148739
+v -0.05245449 0.00072542 0.05370075
+v -0.05245449 0.00064507 0.05367484
+v -0.06065607 -0.00556170 0.05338977
+v -0.05245449 -0.00491888 0.05234517
+v -0.05245449 -0.00476710 0.05228537
+f 1 2 5
+f 1 5 12
+f 1 12 19
+f 1 19 28
+f 1 28 27
+f 1 27 32
+f 1 32 33
+f 1 33 30
+f 1 30 29
+f 1 29 21
+f 1 21 20
+f 1 20 16
+f 1 16 8
+f 1 8 3
+f 1 3 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 3 7 4
+f 3 8 6
+f 4 7 9
+f 4 9 10
+f 4 10 5
+f 5 10 11
+f 5 11 12
+f 6 8 7
+f 7 8 13
+f 7 13 14
+f 7 14 15
+f 7 15 9
+f 8 16 13
+f 9 15 10
+f 10 15 17
+f 10 17 18
+f 10 18 11
+f 11 19 12
+f 11 18 19
+f 13 16 20
+f 13 20 21
+f 13 21 22
+f 13 22 23
+f 13 23 14
+f 14 23 15
+f 15 23 24
+f 15 24 25
+f 15 25 17
+f 17 25 18
+f 18 25 26
+f 18 26 27
+f 18 27 28
+f 18 28 19
+f 21 29 22
+f 22 29 23
+f 23 29 30
+f 23 30 31
+f 23 31 24
+f 24 31 25
+f 25 31 26
+f 26 31 32
+f 26 32 27
+f 30 33 31
+f 31 33 32
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_11.obj b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..834c5c534355acda3c58a2f5f239f631bbe0c92a
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_11.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.05826343 0.01673852 -0.05912865
+v 0.05826343 -0.02784145 -0.05911368
+v 0.05826343 0.01673852 -0.06758599
+v -0.02344341 0.01673852 -0.05912865
+v -0.02344341 -0.00556019 -0.05908371
+v 0.05826343 -0.02784145 -0.06757433
+v -0.02344341 -0.02784145 -0.05911368
+v -0.02344341 0.01673852 -0.06758682
+v 0.05823943 -0.02784145 -0.06757433
+v -0.02344341 -0.02784145 -0.06755436
+v -0.02344341 -0.01302655 -0.06756518
+f 1 2 6
+f 1 6 3
+f 1 3 8
+f 1 8 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 10
+f 2 10 9
+f 2 9 6
+f 3 6 8
+f 4 8 11
+f 4 11 10
+f 4 10 7
+f 4 7 5
+f 6 9 8
+f 8 9 11
+f 9 10 11
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_12.obj b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b03eb12d19bedad69a5bc66b5834be3172200d8
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_12.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.05827143 -0.03180110 -0.06787225
+v 0.05827511 -0.03180110 -0.06808990
+v 0.05827143 -0.03180110 -0.05911298
+v 0.05827143 -0.00553082 -0.06757017
+v 0.05827327 0.02125883 -0.06810678
+v 0.07708981 -0.03180110 -0.06856458
+v 0.07638799 0.02125883 -0.06869686
+v 0.07708981 -0.03180110 -0.05911298
+v 0.07708981 -0.02972357 -0.05911298
+v 0.05827143 -0.02786419 -0.05911392
+v 0.05827143 -0.00431547 -0.06617330
+v 0.05827327 0.02125883 -0.05912986
+v 0.07639168 0.02125364 -0.06869404
+v 0.07708981 -0.00431547 -0.06812179
+v 0.07639168 0.02125883 -0.06866684
+v 0.07708981 -0.02394287 -0.05911485
+v 0.06573542 -0.02042666 -0.05911579
+v 0.05827143 -0.02045782 -0.05911579
+v 0.05827143 -0.00431547 -0.05912142
+v 0.07316809 0.02125883 -0.05912986
+v 0.07708981 -0.00431547 -0.05912142
+v 0.07639168 0.02125883 -0.05913080
+v 0.07639168 0.00930269 -0.05912611
+v 0.07639168 0.01996038 -0.05912986
+f 1 2 6
+f 1 6 8
+f 1 8 3
+f 1 3 10
+f 1 10 18
+f 1 18 19
+f 1 19 11
+f 1 11 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 6
+f 3 8 9
+f 3 9 10
+f 4 11 5
+f 5 12 20
+f 5 20 22
+f 5 22 15
+f 5 15 7
+f 5 11 19
+f 5 19 12
+f 6 7 13
+f 6 13 14
+f 6 14 21
+f 6 21 16
+f 6 16 9
+f 6 9 8
+f 7 15 13
+f 9 16 17
+f 9 17 18
+f 9 18 10
+f 12 19 18
+f 12 18 17
+f 12 17 20
+f 13 15 14
+f 14 15 22
+f 14 22 21
+f 16 21 20
+f 16 20 17
+f 20 21 23
+f 20 23 24
+f 20 24 22
+f 21 22 24
+f 21 24 23
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_13.obj b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec52d87217d4a205904e1e2b2e3d21358ad8eb54
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_13.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.00825231 0.02384618 0.13888027
+v -0.00825231 0.02384685 0.13888027
+v -0.00586378 0.02452987 0.13888844
+v -0.00496901 0.02054290 0.13988454
+v -0.00825231 0.01801208 0.14207014
+v -0.00825231 0.02452987 0.13938876
+v -0.00804133 0.02452987 0.13888299
+v -0.00145353 0.02452987 0.14066907
+v -0.00825231 0.01760755 0.14276114
+v -0.00018135 0.02452987 0.14141092
+v 0.00257718 0.02452987 0.14301993
+v -0.00825231 0.02452987 0.14815568
+v -0.00464884 0.02025627 0.14715959
+v -0.00825231 0.01877505 0.14775888
+v 0.00159865 0.02452987 0.14493312
+v -0.00825231 0.01893971 0.14782426
+v -0.00184049 0.02452987 0.14793412
+v -0.00181292 0.02452987 0.14792505
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 14
+f 1 14 16
+f 1 16 12
+f 1 12 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 6
+f 3 6 12
+f 3 12 17
+f 3 17 18
+f 3 18 15
+f 3 15 11
+f 3 11 10
+f 3 10 8
+f 3 8 4
+f 4 9 5
+f 4 8 10
+f 4 10 11
+f 4 11 9
+f 9 13 14
+f 9 11 13
+f 11 15 13
+f 12 16 17
+f 13 15 18
+f 13 18 14
+f 14 18 17
+f 14 17 16
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_14.obj b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0baf32274df2b14d460333183823c4fe9559ca0
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_14.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v -0.00861273 0.03161122 0.17030735
+v -0.01437409 0.03161122 0.17003033
+v -0.01597869 0.02456955 0.16984528
+v -0.00861273 0.02637835 0.16995438
+v -0.00857868 0.02637984 0.16995438
+v -0.00857868 0.03160973 0.17030414
+v -0.00873589 0.03305081 0.17017473
+v -0.01463633 0.03305081 0.16997898
+v -0.01597869 0.02523203 0.16985491
+v -0.01597869 0.02441770 0.16983459
+v -0.01597869 0.01974608 0.16798308
+v -0.01597869 0.01784498 0.16552296
+v -0.00857868 0.02376713 0.16559142
+v -0.00857868 0.03305081 0.17014905
+v -0.00870763 0.03305081 0.17017045
+v -0.01597869 0.03305081 0.16826867
+v -0.01597869 0.03014780 0.16933187
+v -0.01597869 0.02166505 0.16057385
+v -0.00857868 0.02527074 0.16041768
+v -0.00857868 0.02375671 0.16557217
+v -0.00857868 0.03305081 0.15964970
+v -0.01597869 0.03305081 0.16049791
+v -0.00857868 0.03158442 0.15938551
+v -0.01597869 0.02353191 0.16050539
+v -0.00861273 0.03161122 0.15938123
+v -0.00857868 0.03161122 0.15938551
+v -0.00866707 0.03305081 0.15963579
+v -0.01006738 0.03305081 0.15960477
+v -0.01597869 0.03119437 0.16049256
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 8 9
+f 2 9 3
+f 3 10 4
+f 3 9 17
+f 3 17 16
+f 3 16 22
+f 3 22 29
+f 3 29 24
+f 3 24 18
+f 3 18 12
+f 3 12 11
+f 3 11 10
+f 4 10 5
+f 5 10 11
+f 5 11 12
+f 5 12 13
+f 5 13 20
+f 5 20 19
+f 5 19 23
+f 5 23 26
+f 5 26 21
+f 5 21 14
+f 5 14 6
+f 6 14 15
+f 6 15 7
+f 7 15 14
+f 7 14 21
+f 7 21 27
+f 7 27 28
+f 7 28 22
+f 7 22 16
+f 7 16 8
+f 8 16 17
+f 8 17 9
+f 12 18 19
+f 12 19 20
+f 12 20 13
+f 18 23 19
+f 18 24 25
+f 18 25 23
+f 21 26 27
+f 22 28 29
+f 23 25 26
+f 24 29 25
+f 25 28 27
+f 25 27 26
+f 25 29 28
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_15.obj b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04f745bf9812d04eb38fab9b8a2433a246c3045c
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_15.obj
@@ -0,0 +1,165 @@
+# https://github.com/mikedh/trimesh
+v 0.09445951 -0.03530222 -0.07233723
+v 0.09404996 -0.04273515 -0.07233723
+v 0.09369650 -0.04273515 -0.07799713
+v 0.09376618 -0.03530222 -0.07807590
+v 0.09412643 -0.03180379 -0.07503327
+v 0.09444421 -0.03180379 -0.07233723
+v 0.09245089 -0.03530222 -0.06687427
+v 0.09268880 -0.04730647 -0.07233723
+v 0.09299808 -0.04758786 -0.07729408
+v 0.09210933 -0.04273515 -0.06773290
+v 0.09175756 -0.04645408 -0.06861911
+v 0.08803771 -0.04273515 -0.07922995
+v 0.09375768 -0.03180379 -0.07807197
+v 0.09337873 -0.03180379 -0.06944230
+v 0.09244069 -0.03180379 -0.06689396
+v 0.09022306 -0.03530222 -0.06315614
+v 0.08803771 -0.04836950 -0.07233723
+v 0.08803771 -0.04816545 -0.07791836
+v 0.08578439 -0.04027999 -0.06049555
+v 0.08060483 -0.04463740 -0.06386314
+v 0.08803771 -0.04665648 -0.06811102
+v 0.08060483 -0.04818355 -0.07793018
+v 0.07710080 -0.04819177 -0.07793412
+v 0.07710080 -0.04572181 -0.07793412
+v 0.07710080 -0.04246199 -0.07785731
+v 0.08780831 -0.03180379 -0.07797941
+v 0.09119848 -0.03180379 -0.07807197
+v 0.09126136 -0.03180379 -0.06492658
+v 0.09021286 -0.03180379 -0.06317780
+v 0.08649642 -0.03180379 -0.06014895
+v 0.08650662 -0.03530222 -0.06014895
+v 0.08060483 -0.04859658 -0.07233723
+v 0.08060483 -0.04686547 -0.06758127
+v 0.07710080 -0.04861303 -0.07233723
+v 0.08060483 -0.03530222 -0.05911307
+v 0.08060483 -0.04092011 -0.06014895
+v 0.07710080 -0.04569548 -0.06559420
+v 0.07710080 -0.04687370 -0.06755960
+v 0.07710080 -0.04267920 -0.06187804
+v 0.07710080 -0.04464563 -0.06384344
+v 0.07710080 -0.04083948 -0.07696519
+v 0.08615485 -0.03180379 -0.07698687
+v 0.08060483 -0.03180379 -0.05911307
+v 0.07710080 -0.04769811 -0.06982041
+v 0.07710080 -0.03530222 -0.05911307
+v 0.07710080 -0.03795813 -0.05960147
+v 0.07710080 -0.04092834 -0.06014895
+v 0.07710080 -0.03916596 -0.07595296
+v 0.08452009 -0.03180379 -0.07589585
+v 0.07710080 -0.03180379 -0.05911307
+v 0.07710080 -0.03485628 -0.07294970
+v 0.08011032 -0.03180379 -0.07291623
+v 0.07710080 -0.03180379 -0.06856790
+v 0.07710080 -0.03340984 -0.07141361
+v 0.07861490 -0.03180379 -0.07134666
+v 0.07710080 -0.03339010 -0.07139195
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 8 9
+f 2 9 3
+f 2 7 10
+f 2 10 11
+f 2 11 8
+f 3 12 4
+f 3 9 12
+f 4 12 13
+f 4 13 5
+f 5 13 27
+f 5 27 26
+f 5 26 42
+f 5 42 49
+f 5 49 52
+f 5 52 55
+f 5 55 53
+f 5 53 50
+f 5 50 43
+f 5 43 30
+f 5 30 29
+f 5 29 28
+f 5 28 15
+f 5 15 14
+f 5 14 6
+f 6 14 7
+f 7 14 15
+f 7 15 16
+f 7 16 10
+f 8 17 9
+f 8 11 17
+f 9 18 12
+f 9 17 18
+f 10 16 11
+f 11 16 19
+f 11 19 20
+f 11 20 21
+f 11 21 17
+f 12 18 22
+f 12 22 23
+f 12 23 24
+f 12 24 25
+f 12 25 26
+f 12 26 27
+f 12 27 13
+f 15 28 16
+f 16 29 30
+f 16 30 31
+f 16 31 19
+f 16 28 29
+f 17 32 18
+f 17 21 33
+f 17 33 32
+f 18 32 34
+f 18 34 22
+f 19 31 35
+f 19 35 36
+f 19 36 20
+f 20 37 38
+f 20 38 33
+f 20 33 21
+f 20 36 39
+f 20 39 40
+f 20 40 37
+f 22 34 23
+f 23 34 44
+f 23 44 38
+f 23 38 37
+f 23 37 40
+f 23 40 39
+f 23 39 47
+f 23 47 46
+f 23 46 45
+f 23 45 50
+f 23 50 53
+f 23 53 56
+f 23 56 54
+f 23 54 51
+f 23 51 48
+f 23 48 41
+f 23 41 25
+f 23 25 24
+f 25 41 26
+f 26 41 42
+f 30 43 31
+f 31 43 35
+f 32 33 44
+f 32 44 34
+f 33 38 44
+f 35 43 50
+f 35 50 45
+f 35 45 46
+f 35 46 47
+f 35 47 36
+f 36 47 39
+f 41 48 42
+f 42 48 49
+f 48 51 52
+f 48 52 49
+f 51 54 55
+f 51 55 52
+f 53 55 56
+f 54 56 55
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_16.obj b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf89511c299d73e9a264c1e167b89764d7ab12d3
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_16.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v -0.02345439 0.00916565 -0.05912519
+v -0.02345439 0.00916565 -0.06758093
+v -0.02362123 0.00916565 -0.05911003
+v -0.03838026 0.00152862 -0.05523897
+v -0.03611606 -0.00507977 -0.05523897
+v -0.03603562 -0.00556020 -0.05523897
+v -0.02345439 0.00190140 -0.05910120
+v -0.02345439 0.00184160 -0.06757588
+v -0.03835345 -0.00556020 -0.06814043
+v -0.03835345 0.00187150 -0.06791941
+v -0.05388708 0.00916565 -0.06774638
+v -0.03834749 0.00916565 -0.05878798
+v -0.03903867 0.00152862 -0.05523897
+v -0.02346035 -0.01119777 -0.05909993
+v -0.02345439 -0.00556020 -0.05908477
+v -0.02345439 -0.00553030 -0.05908477
+v -0.03854710 -0.01119777 -0.05523897
+v -0.02345439 -0.01119777 -0.06756577
+v -0.02528065 -0.01119777 -0.06762513
+v -0.03835345 -0.01119777 -0.06791562
+v -0.04578361 -0.01119777 -0.06791056
+v -0.04578361 -0.00556020 -0.06813412
+v -0.05388708 -0.00433221 -0.06789668
+v -0.05388708 0.00916565 -0.05910498
+v -0.03849347 0.00916565 -0.05878798
+v -0.04578659 0.00916565 -0.05878923
+v -0.04572105 0.00152065 -0.05523897
+v -0.02345439 -0.01119777 -0.06113461
+v -0.04565253 -0.01119777 -0.05523897
+v -0.05388708 -0.01119777 -0.06780195
+v -0.05388708 -0.01026482 -0.06781837
+v -0.05388708 -0.00556020 -0.06789793
+v -0.05388708 0.00187150 -0.05838508
+v -0.04791375 -0.00556020 -0.05523897
+v -0.04784523 -0.00586919 -0.05523897
+v -0.05388708 -0.01119777 -0.05838508
+v -0.05388708 -0.00556020 -0.05786852
+v -0.05388708 -0.00622802 -0.05786977
+f 1 2 11
+f 1 11 24
+f 1 24 26
+f 1 26 25
+f 1 25 12
+f 1 12 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 16
+f 1 16 15
+f 1 15 28
+f 1 28 18
+f 1 18 8
+f 1 8 2
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 3 12 4
+f 4 12 25
+f 4 25 13
+f 4 13 27
+f 4 27 34
+f 4 34 35
+f 4 35 29
+f 4 29 17
+f 4 17 6
+f 4 6 5
+f 6 14 15
+f 6 15 16
+f 6 16 7
+f 6 17 14
+f 8 18 9
+f 9 18 19
+f 9 19 20
+f 9 20 21
+f 9 21 22
+f 9 22 11
+f 9 11 10
+f 11 22 23
+f 11 23 32
+f 11 32 31
+f 11 31 30
+f 11 30 36
+f 11 36 38
+f 11 38 37
+f 11 37 33
+f 11 33 24
+f 13 25 26
+f 13 26 27
+f 14 28 15
+f 14 17 29
+f 14 29 36
+f 14 36 30
+f 14 30 21
+f 14 21 20
+f 14 20 19
+f 14 19 18
+f 14 18 28
+f 21 30 22
+f 22 30 31
+f 22 31 32
+f 22 32 23
+f 24 33 34
+f 24 34 27
+f 24 27 26
+f 29 35 36
+f 33 37 34
+f 34 37 38
+f 34 38 35
+f 35 38 36
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_17.obj b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..544d173fb25fa0e98e11d5dad10583cdbd9269fd
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_17.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v -0.06744627 0.00916764 -0.07428783
+v -0.06097240 0.00186471 -0.07069013
+v -0.06808783 0.00186471 -0.07181256
+v -0.07310550 0.00916764 -0.07205231
+v -0.06090091 0.00916764 -0.07140002
+v -0.05388709 0.00186471 -0.06780232
+v -0.07240938 0.00186471 -0.06974206
+v -0.07310550 0.00916621 -0.07204919
+v -0.07310173 0.00916764 -0.07200716
+v -0.05388709 0.00916764 -0.06774628
+v -0.05388709 0.00312440 -0.06781166
+v -0.05388709 0.00310081 -0.06781166
+v -0.05388709 0.00186471 -0.05838542
+v -0.07240938 0.00186471 -0.06702394
+v -0.07244137 0.00916764 -0.06698035
+v -0.05388709 0.00916764 -0.05910465
+v -0.05388709 0.00187329 -0.05838542
+v -0.06065633 0.00186471 -0.05910309
+v -0.07020062 0.00186471 -0.06330793
+v -0.07025895 0.00916764 -0.06333440
+v -0.06065633 0.00916764 -0.05912645
+v -0.06065633 0.00187329 -0.05910309
+v -0.06650181 0.00916764 -0.06015703
+v -0.06648300 0.00186471 -0.06015547
+v -0.07021756 0.00916764 -0.06326590
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 15
+f 1 15 20
+f 1 20 25
+f 1 25 23
+f 1 23 21
+f 1 21 16
+f 1 16 10
+f 1 10 5
+f 1 5 6
+f 1 6 2
+f 2 6 13
+f 2 13 18
+f 2 18 24
+f 2 24 19
+f 2 19 14
+f 2 14 7
+f 2 7 3
+f 3 7 4
+f 4 7 8
+f 4 8 9
+f 5 10 11
+f 5 11 12
+f 5 12 6
+f 6 12 11
+f 6 11 10
+f 6 10 16
+f 6 16 17
+f 6 17 13
+f 7 14 8
+f 8 14 9
+f 9 14 15
+f 13 17 22
+f 13 22 18
+f 14 19 15
+f 15 19 20
+f 16 21 17
+f 17 21 22
+f 18 23 24
+f 18 22 23
+f 19 24 25
+f 19 25 20
+f 21 23 22
+f 23 25 24
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_18.obj b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4ba72bfc1ead780ac33af9858ddeb8452ab9b52
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_18.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.04151591 0.04648108 0.14836481
+v 0.04122439 0.05252112 0.14822598
+v 0.03610525 0.05252112 0.14826907
+v 0.03731825 0.04648108 0.14836481
+v 0.03715128 0.04095400 0.14827960
+v 0.04111158 0.04095400 0.14810343
+v 0.04296718 0.04648108 0.14326926
+v 0.04239227 0.05252112 0.14326926
+v 0.03389585 0.05252112 0.14330372
+v 0.03374694 0.04095400 0.14326926
+v 0.03613232 0.04095400 0.14827960
+v 0.04148342 0.04095400 0.14679555
+v 0.04217656 0.04095400 0.14326926
+v 0.04077854 0.04095400 0.13880179
+v 0.04116392 0.04648108 0.13858349
+v 0.04088143 0.05252112 0.13873669
+v 0.04121898 0.05252112 0.13961467
+v 0.03387690 0.05252112 0.14325968
+v 0.03641301 0.04095400 0.13870892
+v 0.03636427 0.05252112 0.13871753
+v 0.03774695 0.04648108 0.13858349
+v 0.03711157 0.05252112 0.13871753
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 8
+f 2 8 17
+f 2 17 16
+f 2 16 22
+f 2 22 20
+f 2 20 18
+f 2 18 9
+f 2 9 3
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 5 11 10
+f 5 10 19
+f 5 19 14
+f 5 14 13
+f 5 13 12
+f 5 12 6
+f 6 12 7
+f 7 12 13
+f 7 13 14
+f 7 14 15
+f 7 15 16
+f 7 16 17
+f 7 17 8
+f 9 18 10
+f 10 18 20
+f 10 20 19
+f 14 19 15
+f 15 21 20
+f 15 20 22
+f 15 22 16
+f 15 19 21
+f 19 20 21
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_19.obj b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..311b57fcf1bc1acc58c589a23b3d5d83efaf4005
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_19.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v 0.06518906 0.02362857 0.06648805
+v 0.07184831 0.02206650 0.06618222
+v 0.06295857 0.03036483 0.06622773
+v 0.06295857 0.02436424 0.06643162
+v 0.07184831 0.01037184 0.06620589
+v 0.07184831 0.01702228 0.06640158
+v 0.07184831 0.02430784 0.06159841
+v 0.07108161 0.02417542 0.06605479
+v 0.06573558 0.02936678 0.06605297
+v 0.06295857 0.03200783 0.06154289
+v 0.06295857 0.02143383 0.06148736
+v 0.06909219 0.01225515 0.06554052
+v 0.06756923 0.01674272 0.06621135
+v 0.07184831 0.00696080 0.06148736
+v 0.06896774 0.02740990 0.05920456
+v 0.07161160 0.02462908 0.06160478
+v 0.06959694 0.02803277 0.06416065
+v 0.06959694 0.02803277 0.06533118
+v 0.07184831 0.02176488 0.05804860
+v 0.06295857 0.03044821 0.05835260
+v 0.06618899 0.02983515 0.06160478
+v 0.06295857 0.02144119 0.06146916
+v 0.06944204 0.01300308 0.05776188
+v 0.07184831 0.01114920 0.05741600
+v 0.06401246 0.02916324 0.05719664
+v 0.07087884 0.02245150 0.05719664
+v 0.07184831 0.02011208 0.05720119
+v 0.06295857 0.02959974 0.05719300
+v 0.06295857 0.02528628 0.05721666
+v 0.06830025 0.01674272 0.05733317
+v 0.07184831 0.01197560 0.05724488
+v 0.06295857 0.02715487 0.05718936
+v 0.07184831 0.01817727 0.05720574
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 7 8
+f 2 8 3
+f 2 6 5
+f 2 5 14
+f 2 14 24
+f 2 24 31
+f 2 31 33
+f 2 33 27
+f 2 27 19
+f 2 19 7
+f 3 9 10
+f 3 10 20
+f 3 20 28
+f 3 28 32
+f 3 32 29
+f 3 29 22
+f 3 22 11
+f 3 11 4
+f 3 8 9
+f 4 11 12
+f 4 12 13
+f 4 13 5
+f 5 12 14
+f 5 13 12
+f 7 15 16
+f 7 16 17
+f 7 17 18
+f 7 18 8
+f 7 19 15
+f 8 18 9
+f 9 18 10
+f 10 18 17
+f 10 17 21
+f 10 21 15
+f 10 15 20
+f 11 22 14
+f 11 14 12
+f 14 23 24
+f 14 22 23
+f 15 25 20
+f 15 21 17
+f 15 17 16
+f 15 19 26
+f 15 26 25
+f 19 27 26
+f 20 25 28
+f 22 29 23
+f 23 29 30
+f 23 30 24
+f 24 30 31
+f 25 26 28
+f 26 32 28
+f 26 27 32
+f 27 33 32
+f 29 32 31
+f 29 31 30
+f 31 32 33
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_2.obj b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..377172733beab2f29877516e370088fd85a2bb78
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_2.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v -0.00924396 0.02452987 0.14819393
+v -0.00825416 0.02452987 0.14815552
+v -0.00957442 0.02452987 0.14816832
+v -0.01627227 0.01538756 0.14819210
+v -0.00825416 0.01893864 0.14782541
+v -0.00825416 0.02452987 0.13938799
+v -0.01380443 0.02452987 0.14559147
+v -0.01604621 0.02213117 0.14779341
+v -0.01627227 0.02193536 0.14779615
+v -0.01627227 0.01537036 0.14819027
+v -0.01627227 0.01422592 0.14805950
+v -0.00861209 0.01862640 0.14781901
+v -0.00825416 0.01877326 0.14775958
+v -0.00825416 0.02384585 0.13887866
+v -0.01456660 0.02219468 0.13885305
+v -0.01456033 0.02452987 0.14324413
+v -0.01627227 0.02203988 0.14775409
+v -0.01627227 0.01194101 0.14659368
+v -0.01627227 0.01101355 0.14326974
+v -0.01301871 0.01368215 0.14326974
+v -0.00825416 0.01760765 0.14276132
+v -0.00825416 0.01801118 0.14207001
+v -0.00992685 0.01861582 0.13885305
+v -0.01627227 0.02272258 0.14244218
+v -0.01627227 0.01689320 0.13887134
+v -0.01627227 0.01692892 0.13887134
+v -0.01627227 0.01694612 0.13887866
+v -0.01627227 0.02314066 0.14323041
+f 1 2 6
+f 1 6 16
+f 1 16 7
+f 1 7 3
+f 1 3 4
+f 1 4 2
+f 2 4 5
+f 2 5 13
+f 2 13 21
+f 2 21 22
+f 2 22 14
+f 2 14 6
+f 3 7 8
+f 3 8 9
+f 3 9 4
+f 4 10 5
+f 4 9 17
+f 4 17 28
+f 4 28 24
+f 4 24 27
+f 4 27 26
+f 4 26 25
+f 4 25 19
+f 4 19 18
+f 4 18 11
+f 4 11 10
+f 5 10 11
+f 5 11 12
+f 5 12 13
+f 6 14 15
+f 6 15 16
+f 7 16 17
+f 7 17 8
+f 8 17 9
+f 11 18 12
+f 12 18 13
+f 13 18 19
+f 13 19 20
+f 13 20 21
+f 14 22 23
+f 14 23 15
+f 15 24 16
+f 15 23 25
+f 15 25 26
+f 15 26 27
+f 15 27 24
+f 16 24 28
+f 16 28 17
+f 19 25 23
+f 19 23 22
+f 19 22 21
+f 19 21 20
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_20.obj b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b90d1e71a2b51cf608adfa3a3842d36aa665219
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_20.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v 0.07756948 0.03998179 -0.07233619
+v 0.07756948 0.03935311 -0.07435574
+v 0.07316810 0.03933845 -0.07435574
+v 0.07316810 0.03996163 -0.07233619
+v 0.07756948 0.03892421 -0.06930163
+v 0.07756948 0.02848774 -0.07435574
+v 0.06616746 0.03762836 -0.07435574
+v 0.05827143 0.03701984 -0.07103056
+v 0.07316810 0.03736626 -0.06490332
+v 0.05827143 0.03724529 -0.06490332
+v 0.07756948 0.03738642 -0.06490332
+v 0.07756948 0.02562477 -0.07332883
+v 0.07263163 0.02982392 -0.07435574
+v 0.06578021 0.03191158 -0.07435574
+v 0.05827143 0.03161099 -0.07188458
+v 0.05827143 0.03163115 -0.07188160
+v 0.05827143 0.03723979 -0.06488841
+v 0.05827143 0.03555536 -0.06093872
+v 0.07756948 0.03666059 -0.06327128
+v 0.07756948 0.02372590 -0.07186967
+v 0.05827143 0.02126066 -0.06810629
+v 0.05827143 0.02498509 -0.06947303
+v 0.05827143 0.03161099 -0.05991180
+v 0.06573677 0.03557186 -0.06092233
+v 0.07756948 0.03559569 -0.06089699
+v 0.07756948 0.02142013 -0.06950583
+v 0.05827143 0.02126066 -0.05913081
+v 0.07756948 0.02126066 -0.06934187
+v 0.05827143 0.02417679 -0.05913081
+v 0.07316810 0.03161099 -0.05987901
+v 0.07756948 0.03397358 -0.06047817
+v 0.07316810 0.03558652 -0.06090593
+v 0.07756948 0.02126066 -0.05913081
+v 0.07756948 0.02417679 -0.05913081
+v 0.07756948 0.02857756 -0.05956453
+v 0.07756948 0.03161099 -0.05987007
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 19
+f 1 19 25
+f 1 25 31
+f 1 31 36
+f 1 36 35
+f 1 35 34
+f 1 34 33
+f 1 33 28
+f 1 28 26
+f 1 26 20
+f 1 20 12
+f 1 12 6
+f 1 6 2
+f 2 6 13
+f 2 13 14
+f 2 14 7
+f 2 7 3
+f 3 7 8
+f 3 8 4
+f 4 9 5
+f 4 8 10
+f 4 10 9
+f 5 9 11
+f 6 12 13
+f 7 14 15
+f 7 15 16
+f 7 16 8
+f 8 16 15
+f 8 15 22
+f 8 22 21
+f 8 21 27
+f 8 27 29
+f 8 29 23
+f 8 23 18
+f 8 18 17
+f 8 17 10
+f 9 10 17
+f 9 17 18
+f 9 18 11
+f 11 18 19
+f 12 20 21
+f 12 21 14
+f 12 14 13
+f 14 21 22
+f 14 22 15
+f 18 23 24
+f 18 24 19
+f 19 24 25
+f 20 26 21
+f 21 26 28
+f 21 28 33
+f 21 33 27
+f 23 29 30
+f 23 30 31
+f 23 31 25
+f 23 25 32
+f 23 32 24
+f 24 32 25
+f 27 33 34
+f 27 34 29
+f 29 34 35
+f 29 35 36
+f 29 36 30
+f 30 36 31
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_21.obj b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d88178fd6bf5161e1825cfd64a9438abfb24b85e
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_21.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v -0.03835832 -0.04711652 -0.07010307
+v -0.02348205 -0.04708164 -0.06977059
+v -0.02345287 -0.04708164 -0.06976048
+v -0.03835832 -0.04711652 -0.06687436
+v -0.03835832 -0.04273449 -0.07202588
+v -0.02348205 -0.04273449 -0.07171489
+v -0.02345287 -0.04275193 -0.07170605
+v -0.02345287 -0.04708164 -0.06695781
+v -0.03834956 -0.04711493 -0.06686804
+v -0.03835832 -0.04492392 -0.06315516
+v -0.02348205 -0.04708164 -0.06695654
+v -0.03835832 -0.03567789 -0.07054300
+v -0.02348205 -0.03567314 -0.07056323
+v -0.02345287 -0.03567314 -0.07056323
+v -0.02345287 -0.04273449 -0.07171363
+v -0.02345287 -0.04488111 -0.06324113
+v -0.03091508 -0.04490172 -0.06319688
+v -0.02345287 -0.04116336 -0.06014770
+v -0.03834956 -0.04120458 -0.06014770
+v -0.03835832 -0.04120775 -0.06015149
+v -0.03835832 -0.03092012 -0.06795018
+v -0.02536439 -0.03092012 -0.06795145
+v -0.02345287 -0.03092012 -0.06795145
+v -0.02345287 -0.04486684 -0.06322849
+v -0.02345287 -0.03530215 -0.05911107
+v -0.02348205 -0.03530215 -0.05911107
+v -0.03835832 -0.03530691 -0.05911234
+v -0.03835832 -0.03092012 -0.05914773
+v -0.02345287 -0.03092012 -0.05911360
+v -0.03834956 -0.03530215 -0.05911234
+v -0.03834956 -0.03092012 -0.05911360
+v -0.03835832 -0.03092488 -0.05911360
+f 1 2 3
+f 1 3 8
+f 1 8 4
+f 1 4 10
+f 1 10 20
+f 1 20 27
+f 1 27 32
+f 1 32 28
+f 1 28 21
+f 1 21 12
+f 1 12 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 15
+f 3 15 14
+f 3 14 23
+f 3 23 29
+f 3 29 25
+f 3 25 18
+f 3 18 24
+f 3 24 16
+f 3 16 8
+f 4 9 10
+f 4 8 11
+f 4 11 9
+f 5 12 13
+f 5 13 14
+f 5 14 6
+f 6 15 7
+f 6 14 15
+f 8 16 11
+f 9 11 10
+f 10 17 18
+f 10 18 19
+f 10 19 20
+f 10 11 16
+f 10 16 17
+f 12 21 13
+f 13 21 22
+f 13 22 23
+f 13 23 14
+f 16 24 17
+f 17 24 18
+f 18 25 19
+f 19 25 26
+f 19 26 27
+f 19 27 20
+f 21 28 31
+f 21 31 29
+f 21 29 23
+f 21 23 22
+f 25 29 31
+f 25 31 26
+f 26 30 27
+f 26 31 30
+f 27 30 31
+f 27 31 32
+f 28 32 31
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_22.obj b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e98e0765041f2ebd7dd8d900baff30fcf8ffaa2
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_22.obj
@@ -0,0 +1,141 @@
+# https://github.com/mikedh/trimesh
+v 0.05754552 -0.04364172 0.06148770
+v 0.05754552 -0.04228385 0.06569603
+v 0.05754552 -0.04086039 0.05716171
+v 0.06290384 -0.03960454 0.05737774
+v 0.05830148 -0.04324577 0.06148770
+v 0.06354812 -0.04008793 0.06603891
+v 0.05754552 -0.04183689 0.06647831
+v 0.05830148 -0.04163285 0.06649302
+v 0.05830148 -0.04062963 0.05714333
+v 0.05754552 -0.03615035 0.05723342
+v 0.05891356 -0.03562323 0.05719848
+v 0.06754484 -0.03720944 0.06148770
+v 0.06382946 -0.04026040 0.06148770
+v 0.06552393 -0.03514227 0.05719205
+v 0.07030238 -0.03255769 0.05731799
+v 0.07084788 -0.03315526 0.06609314
+v 0.06591050 -0.03549935 0.06652887
+v 0.05754552 -0.03652200 0.06650037
+v 0.05858068 -0.03533174 0.06652427
+v 0.07376005 -0.01882594 0.05713965
+v 0.07785342 -0.01882594 0.05718194
+v 0.05754552 -0.03610420 0.05723434
+v 0.07113781 -0.03349290 0.06148770
+v 0.07293751 -0.02734969 0.05725088
+v 0.07236410 -0.02848651 0.05726559
+v 0.07769879 -0.02043401 0.05723893
+v 0.07708672 -0.02452706 0.05760755
+v 0.07747329 -0.02518778 0.06574291
+v 0.07293322 -0.02848651 0.06640385
+v 0.07256168 -0.02848651 0.06645993
+v 0.07414018 -0.01882594 0.06653071
+v 0.07323603 -0.01882594 0.06653071
+v 0.05754552 -0.03566938 0.06647463
+v 0.06908683 -0.02345583 0.05752206
+v 0.07097030 -0.01882594 0.06148770
+v 0.07948561 -0.01882594 0.06148770
+v 0.05754552 -0.03388885 0.06148770
+v 0.07485749 -0.02893104 0.06148770
+v 0.07914414 -0.02043401 0.06148770
+v 0.07747758 -0.02521207 0.06148770
+v 0.07517104 -0.02848651 0.06148770
+v 0.07884777 -0.01882594 0.06529064
+v 0.07833234 -0.02043401 0.06633766
+v 0.07326181 -0.02774806 0.06645257
+v 0.07851703 -0.01882594 0.06640293
+v 0.07097030 -0.01882594 0.06150425
+v 0.06862295 -0.02268337 0.06585598
+v 0.06124158 -0.03093505 0.06568500
+f 1 2 7
+f 1 7 18
+f 1 18 33
+f 1 33 37
+f 1 37 22
+f 1 22 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 8
+f 2 8 7
+f 3 9 4
+f 3 10 11
+f 3 11 9
+f 4 12 13
+f 4 13 5
+f 4 9 14
+f 4 14 15
+f 4 15 12
+f 5 13 6
+f 6 13 12
+f 6 12 16
+f 6 16 17
+f 6 17 8
+f 7 8 18
+f 8 17 19
+f 8 19 18
+f 9 11 20
+f 9 20 21
+f 9 21 14
+f 10 22 11
+f 11 22 20
+f 12 15 23
+f 12 23 16
+f 14 21 24
+f 14 24 25
+f 14 25 15
+f 15 25 26
+f 15 26 27
+f 15 27 23
+f 16 23 28
+f 16 28 29
+f 16 29 17
+f 17 29 30
+f 17 30 31
+f 17 31 32
+f 17 32 19
+f 18 19 33
+f 19 32 33
+f 20 34 35
+f 20 35 46
+f 20 46 32
+f 20 32 31
+f 20 31 45
+f 20 45 42
+f 20 42 36
+f 20 36 21
+f 20 22 34
+f 21 36 26
+f 21 26 24
+f 22 37 35
+f 22 35 34
+f 23 27 38
+f 23 38 28
+f 24 26 25
+f 26 36 27
+f 27 36 39
+f 27 39 40
+f 27 40 41
+f 27 41 38
+f 28 41 40
+f 28 40 39
+f 28 39 36
+f 28 36 42
+f 28 42 43
+f 28 43 44
+f 28 44 29
+f 28 38 41
+f 29 44 30
+f 30 44 31
+f 31 44 45
+f 32 46 47
+f 32 47 33
+f 33 48 37
+f 33 47 48
+f 35 37 46
+f 37 48 47
+f 37 47 46
+f 42 45 43
+f 43 45 44
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_23.obj b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df92516639a3d6f2905b880d5cf4697d8bfbc87a
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_23.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v -0.06740094 -0.02019071 -0.07439887
+v -0.07301650 -0.02019071 -0.07210863
+v -0.06808939 -0.01119777 -0.07187251
+v -0.06096393 -0.01119777 -0.07070115
+v -0.06088570 -0.02019071 -0.07145582
+v -0.07237342 -0.02019071 -0.06715159
+v -0.07237968 -0.01119777 -0.06709911
+v -0.07237968 -0.01119777 -0.06978906
+v -0.06912989 -0.01119777 -0.07136939
+v -0.05703351 -0.01119777 -0.06811922
+v -0.05703351 -0.02019071 -0.06818559
+v -0.07230302 -0.02019071 -0.06703120
+v -0.07184614 -0.01119777 -0.06620091
+v -0.05703351 -0.01119777 -0.05863262
+v -0.05703351 -0.02019071 -0.05909098
+v -0.07015004 -0.02019071 -0.06343534
+v -0.07016726 -0.01299706 -0.06339367
+v -0.07017038 -0.01119777 -0.06338441
+v -0.05885633 -0.01119777 -0.05877769
+v -0.06041473 -0.02019071 -0.05909715
+v -0.05703351 -0.01680779 -0.05882553
+v -0.06643241 -0.02019071 -0.06015122
+v -0.06644963 -0.01299706 -0.06015276
+v -0.06645275 -0.01119777 -0.06015276
+v -0.06065569 -0.01119777 -0.05910178
+v -0.06624622 -0.02019071 -0.06011726
+v -0.06065569 -0.02019071 -0.05911721
+v -0.06504769 -0.01119777 -0.05989503
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 15
+f 1 15 20
+f 1 20 27
+f 1 27 26
+f 1 26 22
+f 1 22 16
+f 1 16 12
+f 1 12 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 3 9 8
+f 3 8 7
+f 3 7 13
+f 3 13 18
+f 3 18 24
+f 3 24 28
+f 3 28 25
+f 3 25 19
+f 3 19 14
+f 3 14 10
+f 3 10 4
+f 4 10 5
+f 5 10 11
+f 6 12 7
+f 7 12 13
+f 10 14 21
+f 10 21 15
+f 10 15 11
+f 12 16 17
+f 12 17 18
+f 12 18 13
+f 14 19 20
+f 14 20 21
+f 15 21 20
+f 16 22 17
+f 17 22 18
+f 18 22 23
+f 18 23 24
+f 19 25 26
+f 19 26 27
+f 19 27 20
+f 22 26 28
+f 22 28 24
+f 22 24 23
+f 25 28 26
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_24.obj b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eca62ca9a3646014c8680c2e35a9fb6699cedff6
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_24.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v -0.03611933 -0.01292042 0.06148899
+v -0.03611933 -0.01149011 0.05641902
+v -0.02500534 -0.00998052 0.05705654
+v -0.03091547 -0.01195091 0.06148899
+v -0.02290594 -0.01006310 0.06611194
+v -0.03611933 -0.01256697 0.06315446
+v -0.03611933 -0.01102269 0.05481579
+v -0.02290594 -0.01035709 0.06116080
+v -0.02290853 -0.01035874 0.06116269
+v -0.03611933 -0.00582833 0.05223365
+v -0.03611933 -0.00556076 0.05212803
+v -0.02290853 -0.00605130 0.05653785
+v -0.02290594 -0.00605460 0.05653973
+v -0.02290594 -0.00556076 0.06752844
+v -0.03611933 -0.00556076 0.07139694
+v -0.03611933 -0.01131999 0.06843002
+v -0.03611933 0.00101106 0.05440461
+v -0.02290594 -0.00069177 0.05679814
+v -0.02290594 -0.00518419 0.06750204
+v -0.03611933 0.00177907 0.06847340
+v -0.02290594 -0.00036309 0.06661932
+v -0.03611933 0.00318626 0.05934255
+v -0.03611933 0.00395096 0.06118343
+v -0.02290594 0.00070221 0.06115514
+v -0.03611933 0.00238522 0.06667968
+v -0.02290594 0.00079140 0.06148899
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 16
+f 1 16 15
+f 1 15 20
+f 1 20 25
+f 1 25 23
+f 1 23 22
+f 1 22 17
+f 1 17 11
+f 1 11 10
+f 1 10 7
+f 1 7 2
+f 2 7 3
+f 3 8 9
+f 3 9 4
+f 3 7 10
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 8
+f 4 9 5
+f 5 14 15
+f 5 15 16
+f 5 16 6
+f 5 9 8
+f 5 8 13
+f 5 13 18
+f 5 18 24
+f 5 24 26
+f 5 26 21
+f 5 21 19
+f 5 19 14
+f 11 17 18
+f 11 18 12
+f 12 18 13
+f 14 19 15
+f 15 19 21
+f 15 21 20
+f 17 22 18
+f 18 22 23
+f 18 23 24
+f 20 21 25
+f 21 26 23
+f 21 23 25
+f 23 26 24
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_25.obj b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c168c694b1c4d2e87ed5e043be3ab6dce932ee79
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_25.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.06550197 -0.03530151 -0.05911091
+v 0.06550197 -0.03180379 -0.05911239
+v 0.05827214 -0.03180379 -0.05911239
+v 0.05827214 -0.03530151 -0.05911239
+v 0.05827214 -0.03532302 -0.05911536
+v 0.05830045 -0.04096763 -0.06014834
+v 0.06550197 -0.04095226 -0.06014834
+v 0.06550197 -0.03180379 -0.06815986
+v 0.05827214 -0.03180379 -0.06787341
+v 0.05827214 -0.04098299 -0.06016170
+v 0.06550197 -0.04106905 -0.06025965
+v 0.05827284 -0.03180379 -0.06809010
+v 0.06550197 -0.03544135 -0.07131667
+v 0.05827214 -0.03190675 -0.06810346
+v 0.05827214 -0.04469432 -0.06374447
+v 0.05830045 -0.04468511 -0.06373111
+v 0.06550197 -0.04466974 -0.06377267
+v 0.06550197 -0.03555661 -0.07139682
+v 0.05827214 -0.03564113 -0.07066661
+v 0.05827214 -0.04689500 -0.06745488
+v 0.05830045 -0.04689500 -0.06744597
+v 0.06550197 -0.04688885 -0.06748901
+v 0.06550197 -0.04206643 -0.07426868
+v 0.06550197 -0.04208948 -0.07427313
+v 0.05827214 -0.04270727 -0.07165803
+v 0.05827214 -0.04689500 -0.06961285
+v 0.06550197 -0.04750356 -0.07203204
+v 0.05827214 -0.04273493 -0.07166100
+v 0.05827214 -0.04687810 -0.06962176
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 11
+f 1 11 17
+f 1 17 22
+f 1 22 27
+f 1 27 24
+f 1 24 23
+f 1 23 18
+f 1 18 13
+f 1 13 8
+f 1 8 2
+f 2 8 12
+f 2 12 9
+f 2 9 3
+f 3 9 14
+f 3 14 19
+f 3 19 25
+f 3 25 28
+f 3 28 29
+f 3 29 26
+f 3 26 20
+f 3 20 15
+f 3 15 10
+f 3 10 5
+f 3 5 4
+f 5 10 6
+f 6 10 7
+f 7 10 11
+f 8 13 12
+f 9 12 14
+f 10 15 16
+f 10 16 11
+f 11 16 17
+f 12 13 18
+f 12 18 19
+f 12 19 14
+f 15 20 21
+f 15 21 22
+f 15 22 17
+f 15 17 16
+f 18 23 19
+f 19 23 24
+f 19 24 25
+f 20 26 27
+f 20 27 21
+f 21 27 22
+f 24 28 25
+f 24 27 28
+f 26 29 27
+f 27 29 28
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_26.obj b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1271b4f0bb774699a8d3d723d9da09e129c4f474
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_26.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v 0.01222719 -0.02792236 0.06148788
+v 0.01063387 -0.02792236 0.05890714
+v 0.00620144 -0.02792236 0.06615993
+v 0.01224086 -0.02922073 0.06618646
+v 0.02124824 -0.03525797 0.06148697
+v 0.02124824 -0.03528740 0.06139915
+v 0.02124824 -0.03756199 0.05714426
+v 0.01155745 -0.02992715 0.05722019
+v 0.00630103 -0.02792236 0.05724581
+v 0.00619559 -0.02792236 0.06615627
+v 0.00733591 -0.03241595 0.06605198
+v 0.01430867 -0.03468564 0.06641242
+v 0.02112523 -0.03669042 0.06648195
+v 0.02124824 -0.03671658 0.06647189
+v 0.02124824 -0.03762740 0.05714335
+v 0.02112523 -0.03753910 0.05713603
+v 0.00620144 -0.02792236 0.05724581
+v 0.00130040 -0.02792236 0.06148788
+v 0.00806814 -0.03530212 0.06598245
+v 0.02124824 -0.04280124 0.06637491
+v 0.02124824 -0.03877859 0.06644993
+v 0.02124824 -0.04137369 0.05714335
+v 0.02112523 -0.04134589 0.05713603
+v 0.00823606 -0.03341343 0.05722111
+v 0.00227084 -0.02792236 0.05898582
+v 0.00310070 -0.03097859 0.06148788
+v 0.00990359 -0.03907784 0.06525974
+v 0.01368970 -0.04017834 0.06597788
+v 0.02124824 -0.04462451 0.06103596
+v 0.02124824 -0.04148815 0.05716896
+v 0.01558373 -0.04000501 0.05722751
+v 0.01063191 -0.03836979 0.05979179
+v 0.00442262 -0.03241595 0.06163243
+v 0.00990359 -0.03907784 0.06474651
+v 0.02124824 -0.04455583 0.06085574
+v 0.01334018 -0.04053809 0.06195536
+v 0.00740620 -0.03565696 0.06195536
+f 1 2 9
+f 1 9 17
+f 1 17 25
+f 1 25 18
+f 1 18 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 4
+f 4 13 14
+f 4 14 5
+f 5 14 21
+f 5 21 20
+f 5 20 29
+f 5 29 35
+f 5 35 30
+f 5 30 22
+f 5 22 15
+f 5 15 7
+f 5 7 6
+f 7 15 16
+f 7 16 8
+f 8 17 9
+f 8 16 17
+f 10 18 11
+f 11 18 19
+f 11 19 12
+f 12 20 21
+f 12 21 13
+f 12 19 20
+f 13 21 14
+f 15 22 23
+f 15 23 16
+f 16 23 24
+f 16 24 17
+f 17 24 25
+f 18 25 26
+f 18 26 19
+f 19 26 27
+f 19 27 28
+f 19 28 20
+f 20 28 27
+f 20 27 29
+f 22 30 23
+f 23 30 31
+f 23 31 24
+f 24 32 25
+f 24 31 32
+f 25 32 26
+f 26 33 34
+f 26 34 27
+f 26 32 33
+f 27 34 29
+f 29 34 36
+f 29 36 32
+f 29 32 35
+f 30 35 31
+f 31 35 32
+f 32 34 37
+f 32 37 33
+f 32 36 34
+f 33 37 34
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_27.obj b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c31af2d4d19eacdfc2bf7053f4a8ad459acc441d
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_27.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.07756948 0.03935421 -0.07435575
+v 0.07756948 0.03819355 -0.07809854
+v 0.07316904 0.03818185 -0.07809854
+v 0.07316904 0.03933825 -0.07435575
+v 0.07756948 0.02848592 -0.07435575
+v 0.07756948 0.03219557 -0.07797469
+v 0.07316904 0.03311154 -0.07809854
+v 0.06759608 0.03722439 -0.07741739
+v 0.06616620 0.03762865 -0.07435575
+v 0.07263241 0.02982425 -0.07435575
+v 0.06759608 0.03385198 -0.07741739
+v 0.06577959 0.03191258 -0.07435575
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 12
+f 1 12 10
+f 1 10 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 11
+f 3 11 8
+f 3 8 4
+f 4 8 9
+f 5 10 11
+f 5 11 7
+f 5 7 6
+f 8 11 12
+f 8 12 9
+f 10 12 11
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_28.obj b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b361aeb95262360f208583bec2603209ec05fed
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_28.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v 0.09416025 0.02125751 -0.07233596
+v 0.09413591 0.01674077 -0.07233596
+v 0.09382635 0.02125751 -0.07578499
+v 0.09344724 0.02125751 -0.07031787
+v 0.09232554 0.00777854 -0.06713840
+v 0.09279509 0.00777854 -0.07103796
+v 0.09279509 0.00777854 -0.07155493
+v 0.09292204 0.01168434 -0.07726949
+v 0.09356898 0.01674077 -0.07794711
+v 0.09360375 0.02125751 -0.07798588
+v 0.09231163 0.02125751 -0.06722149
+v 0.09232207 0.01674077 -0.06719379
+v 0.09232554 0.00930788 -0.06714763
+v 0.09187165 0.00777854 -0.06637400
+v 0.08750662 0.00777854 -0.07378721
+v 0.08941088 0.01168434 -0.07726949
+v 0.08818137 0.01674077 -0.07794711
+v 0.08762139 0.02125751 -0.07785478
+v 0.09143167 0.02125751 -0.06576100
+v 0.09010302 0.00777854 -0.06341979
+v 0.08084602 0.00777854 -0.07130198
+v 0.08446674 0.01674077 -0.07595855
+v 0.08432761 0.02125751 -0.07604718
+v 0.09006651 0.02125751 -0.06350288
+v 0.08635014 0.02125751 -0.06015909
+v 0.08638492 0.00777854 -0.06015539
+v 0.07639402 0.00777854 -0.06810221
+v 0.08162685 0.02125751 -0.07379829
+v 0.08060602 0.02125751 -0.05913065
+v 0.08636057 0.01674077 -0.06015724
+v 0.08060602 0.01674077 -0.05912880
+v 0.08060602 0.00930788 -0.05912696
+v 0.08060602 0.00777854 -0.05912696
+v 0.07639402 0.00777854 -0.05912512
+v 0.07639402 0.02125355 -0.06869305
+v 0.07639402 0.02125751 -0.06866720
+v 0.07639402 0.02125751 -0.05913065
+v 0.07639402 0.01870027 -0.05912880
+f 1 2 3
+f 1 3 10
+f 1 10 18
+f 1 18 23
+f 1 23 28
+f 1 28 36
+f 1 36 37
+f 1 37 29
+f 1 29 25
+f 1 25 24
+f 1 24 19
+f 1 19 11
+f 1 11 4
+f 1 4 5
+f 1 5 2
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 2 5 6
+f 3 9 10
+f 4 11 12
+f 4 12 13
+f 4 13 5
+f 5 13 14
+f 5 14 20
+f 5 20 26
+f 5 26 33
+f 5 33 34
+f 5 34 27
+f 5 27 21
+f 5 21 15
+f 5 15 7
+f 5 7 6
+f 7 15 8
+f 8 15 16
+f 8 16 17
+f 8 17 9
+f 9 17 10
+f 10 17 18
+f 11 19 20
+f 11 20 12
+f 12 20 14
+f 12 14 13
+f 15 21 16
+f 16 21 22
+f 16 22 17
+f 17 22 18
+f 18 22 23
+f 19 24 20
+f 20 24 25
+f 20 25 26
+f 21 27 22
+f 22 28 23
+f 22 27 28
+f 25 29 30
+f 25 30 26
+f 26 30 29
+f 26 29 31
+f 26 31 32
+f 26 32 33
+f 27 34 38
+f 27 38 37
+f 27 37 36
+f 27 36 35
+f 27 35 28
+f 28 35 36
+f 29 37 38
+f 29 38 31
+f 31 38 34
+f 31 34 32
+f 32 34 33
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_29.obj b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07059df36b3f9954dd55fdf44c87e1632e7a422c
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_29.obj
@@ -0,0 +1,120 @@
+# https://github.com/mikedh/trimesh
+v 0.07316929 -0.04863174 -0.07233568
+v 0.06550268 -0.04750328 -0.07203155
+v 0.06786635 -0.04762354 -0.07731409
+v 0.07316929 -0.04820177 -0.07793892
+v 0.07710080 -0.04819189 -0.07793523
+v 0.07710080 -0.04861362 -0.07233568
+v 0.07316929 -0.04688387 -0.06753606
+v 0.06550268 -0.04688881 -0.06748998
+v 0.06550268 -0.04209000 -0.07427285
+v 0.06786635 -0.04413440 -0.07731409
+v 0.07316929 -0.04296147 -0.07793892
+v 0.07710080 -0.04572247 -0.07793523
+v 0.07710080 -0.04687398 -0.06756002
+v 0.07710080 -0.04569611 -0.06559520
+v 0.07710080 -0.04464509 -0.06384234
+v 0.06573541 -0.04466980 -0.06377415
+v 0.06550268 -0.04466980 -0.06377415
+v 0.06550268 -0.04206530 -0.07426917
+v 0.06550268 -0.03555816 -0.07139566
+v 0.07316929 -0.03924499 -0.07589669
+v 0.07710080 -0.04083965 -0.07696573
+v 0.07710080 -0.04246231 -0.07785598
+v 0.07710080 -0.04267977 -0.06187751
+v 0.07316929 -0.04465332 -0.06381838
+v 0.07710080 -0.04092696 -0.06014862
+v 0.06550268 -0.04106863 -0.06026105
+v 0.06550268 -0.03544120 -0.07131641
+v 0.07710080 -0.03485473 -0.07295130
+v 0.07710080 -0.03916591 -0.07595383
+v 0.07710080 -0.03795839 -0.05960120
+v 0.06573541 -0.04095167 -0.06014862
+v 0.06550268 -0.04095167 -0.06014862
+v 0.06550268 -0.03180379 -0.06816090
+v 0.07710080 -0.03340998 -0.07141410
+v 0.07710080 -0.03530117 -0.05911276
+v 0.06573541 -0.03530117 -0.05911092
+v 0.06550268 -0.03530117 -0.05911092
+v 0.07710080 -0.03180379 -0.06856455
+v 0.07710080 -0.03339021 -0.07139197
+v 0.06550268 -0.03180379 -0.05911276
+v 0.07710080 -0.03180379 -0.05911276
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 9 3
+f 2 8 17
+f 2 17 26
+f 2 26 32
+f 2 32 37
+f 2 37 40
+f 2 40 33
+f 2 33 27
+f 2 27 19
+f 2 19 18
+f 2 18 9
+f 3 10 11
+f 3 11 4
+f 3 9 10
+f 4 11 12
+f 4 12 5
+f 5 12 22
+f 5 22 21
+f 5 21 29
+f 5 29 28
+f 5 28 34
+f 5 34 39
+f 5 39 38
+f 5 38 41
+f 5 41 35
+f 5 35 30
+f 5 30 25
+f 5 25 23
+f 5 23 15
+f 5 15 14
+f 5 14 13
+f 5 13 6
+f 6 13 7
+f 7 13 14
+f 7 14 15
+f 7 15 16
+f 7 16 8
+f 8 16 17
+f 9 18 10
+f 10 18 19
+f 10 19 20
+f 10 20 11
+f 11 20 21
+f 11 21 22
+f 11 22 12
+f 15 23 24
+f 15 24 16
+f 16 24 23
+f 16 23 25
+f 16 25 26
+f 16 26 17
+f 19 27 20
+f 20 28 29
+f 20 29 21
+f 20 27 28
+f 25 30 31
+f 25 31 26
+f 26 31 32
+f 27 33 28
+f 28 33 34
+f 30 35 31
+f 31 35 36
+f 31 36 37
+f 31 37 32
+f 33 38 39
+f 33 39 34
+f 33 40 41
+f 33 41 38
+f 35 41 36
+f 36 41 40
+f 36 40 37
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_3.obj b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..216304e64c640f2b5ed33b5cb51b3560c1b0fe08
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_3.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v 0.05826343 0.03724688 -0.06490334
+v 0.02112177 0.03547428 -0.06102471
+v 0.04342437 0.03552246 -0.06097226
+v 0.05826343 0.03555458 -0.06093979
+v 0.05826343 0.03702003 -0.07100849
+v -0.02344341 0.03682531 -0.07071003
+v 0.00625871 0.03701000 -0.06490334
+v -0.02344341 0.03538194 -0.06114708
+v -0.02344341 0.03537591 -0.06113210
+v 0.01369824 0.03545822 -0.06104219
+v -0.02344341 0.03162595 -0.06010937
+v 0.05826343 0.03554053 -0.06093480
+v 0.05826343 0.03701803 -0.07103096
+v -0.02344341 0.03160989 -0.07186763
+v -0.02344341 0.03687349 -0.06492706
+v -0.01604388 0.03690762 -0.06490334
+v -0.02344341 0.03687349 -0.06490334
+v -0.00117282 0.03542409 -0.06107715
+v -0.02344341 0.03160989 -0.06010562
+v -0.01604388 0.03160989 -0.06008690
+v -0.00117282 0.03160989 -0.06005068
+v 0.02112177 0.03160989 -0.05999823
+v 0.04342437 0.03160989 -0.05994578
+v 0.05826343 0.03160989 -0.05991207
+v 0.05826343 0.03160989 -0.07188511
+v -0.02344341 0.01673852 -0.06758565
+v -0.02344341 0.02420833 -0.05913535
+v 0.05826343 0.02417822 -0.05913035
+v -0.02344341 0.02417822 -0.05913160
+v 0.02112177 0.02417822 -0.05913035
+v 0.05826343 0.01673852 -0.06758565
+v -0.02344341 0.01673852 -0.05912910
+v 0.05826343 0.01674254 -0.05912910
+v -0.02344341 0.01677265 -0.05912910
+v 0.05826343 0.01673852 -0.05912910
+f 1 2 3
+f 1 3 4
+f 1 4 12
+f 1 12 24
+f 1 24 28
+f 1 28 33
+f 1 33 35
+f 1 35 31
+f 1 31 25
+f 1 25 13
+f 1 13 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 2
+f 2 10 11
+f 2 11 3
+f 3 12 4
+f 3 11 12
+f 5 13 6
+f 6 14 26
+f 6 26 32
+f 6 32 34
+f 6 34 29
+f 6 29 27
+f 6 27 19
+f 6 19 11
+f 6 11 9
+f 6 9 8
+f 6 8 17
+f 6 17 15
+f 6 15 7
+f 6 13 14
+f 7 15 16
+f 7 16 8
+f 8 16 17
+f 9 11 18
+f 9 18 10
+f 10 18 11
+f 11 19 20
+f 11 20 12
+f 12 20 21
+f 12 21 22
+f 12 22 23
+f 12 23 24
+f 13 25 14
+f 14 25 26
+f 15 17 16
+f 19 27 20
+f 20 27 21
+f 21 27 22
+f 22 27 23
+f 23 27 24
+f 24 27 29
+f 24 29 30
+f 24 30 28
+f 25 31 26
+f 26 31 35
+f 26 35 32
+f 28 30 34
+f 28 34 33
+f 29 34 30
+f 32 35 33
+f 32 33 34
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_30.obj b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa9671bf13b24ede9bf86487621d98ad480743ca
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_30.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.00504532 -0.01562323 0.06148821
+v 0.00433105 -0.01562323 0.05882374
+v 0.00414164 -0.01562323 0.06632103
+v 0.01222819 -0.02791909 0.06148821
+v 0.00344342 -0.01562323 0.05727254
+v 0.00505495 -0.02043324 0.06653260
+v -0.00145056 -0.01562323 0.06640695
+v 0.00619458 -0.02791909 0.06615658
+v 0.01063111 -0.02791909 0.05890781
+v 0.00585911 -0.02569705 0.06627021
+v 0.00064411 -0.01562323 0.05725037
+v 0.00414646 -0.02043324 0.05709423
+v -0.00029809 -0.02043324 0.06653260
+v -0.00416962 -0.01562323 0.06148821
+v 0.00585751 -0.02569705 0.06627021
+v 0.00121232 -0.02662149 0.06613348
+v 0.00130220 -0.02791909 0.06148821
+v 0.01004364 -0.02791909 0.05868238
+v -0.00058701 -0.01562323 0.05725037
+v 0.00629731 -0.02791909 0.05724575
+v 0.00075807 -0.02043324 0.05709423
+v -0.00208297 -0.02043324 0.06148821
+v 0.00170027 -0.02582464 0.05727254
+v 0.00161038 -0.02569705 0.05737232
+v 0.00091377 -0.02726066 0.06148821
+v 0.00227009 -0.02791909 0.05898634
+v 0.00167780 -0.02569705 0.05726792
+v 0.00619940 -0.02791909 0.05724575
+f 1 2 5
+f 1 5 11
+f 1 11 19
+f 1 19 14
+f 1 14 7
+f 1 7 3
+f 1 3 4
+f 1 4 2
+f 2 4 5
+f 3 6 4
+f 3 7 6
+f 4 8 17
+f 4 17 26
+f 4 26 28
+f 4 28 20
+f 4 20 18
+f 4 18 9
+f 4 9 5
+f 4 6 10
+f 4 10 8
+f 5 9 12
+f 5 12 11
+f 6 7 13
+f 6 13 15
+f 6 15 10
+f 7 14 13
+f 8 10 15
+f 8 15 13
+f 8 13 16
+f 8 16 17
+f 9 18 12
+f 11 12 21
+f 11 21 19
+f 12 18 20
+f 12 20 28
+f 12 28 21
+f 13 14 16
+f 14 22 16
+f 14 19 23
+f 14 23 24
+f 14 24 22
+f 16 22 25
+f 16 25 17
+f 17 25 26
+f 19 21 27
+f 19 27 23
+f 21 28 27
+f 22 24 25
+f 23 26 25
+f 23 25 24
+f 23 27 28
+f 23 28 26
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_31.obj b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c98bddfb5eda2a33c750965c3d5f6457db7dc9dd
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_31.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v 0.09444457 -0.03180379 -0.07233636
+v 0.09412520 -0.03180379 -0.07503314
+v 0.09374807 -0.02786505 -0.07806773
+v 0.09442419 -0.02786505 -0.07233636
+v 0.09243152 -0.02786505 -0.06691865
+v 0.09244171 -0.03180379 -0.06689452
+v 0.09375826 -0.03180379 -0.07807146
+v 0.08830857 -0.02786505 -0.07806773
+v 0.09307875 -0.02218809 -0.07739400
+v 0.09306346 -0.01999797 -0.07239018
+v 0.09239584 -0.01999682 -0.06696690
+v 0.09017893 -0.01999682 -0.06324931
+v 0.09126276 -0.03180379 -0.06492529
+v 0.09119990 -0.03180379 -0.07807146
+v 0.08945015 -0.02218809 -0.07739400
+v 0.08780913 -0.03180379 -0.07798050
+v 0.08459333 -0.02786505 -0.07583866
+v 0.08739633 -0.01999682 -0.07461926
+v 0.09306176 -0.01999682 -0.07239018
+v 0.08646200 -0.01999682 -0.06015161
+v 0.09021291 -0.03180379 -0.06317692
+v 0.08086281 -0.01999682 -0.07136381
+v 0.08615452 -0.03180379 -0.07698753
+v 0.08452029 -0.03180379 -0.07589620
+v 0.08011025 -0.03180379 -0.07291729
+v 0.08064537 -0.01999682 -0.07121347
+v 0.08094605 -0.01999682 -0.05917721
+v 0.08648408 -0.02786505 -0.06014976
+v 0.08646369 -0.02043253 -0.06015161
+v 0.08649597 -0.03180379 -0.06014976
+v 0.07861362 -0.03180379 -0.07134710
+v 0.07709661 -0.01999682 -0.06815661
+v 0.08060459 -0.01999682 -0.05911782
+v 0.08060459 -0.02786505 -0.05911410
+v 0.08337191 -0.03180379 -0.05960038
+v 0.07710510 -0.03180379 -0.06856679
+v 0.07709151 -0.03180263 -0.06856679
+v 0.07709151 -0.02033776 -0.06815661
+v 0.07709151 -0.01999682 -0.06735296
+v 0.07709151 -0.01999682 -0.05911782
+v 0.07709151 -0.02043253 -0.05911595
+v 0.07709151 -0.03180379 -0.05911225
+v 0.08060459 -0.03180379 -0.05911410
+v 0.07709151 -0.03180379 -0.06824756
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 13
+f 1 13 21
+f 1 21 30
+f 1 30 35
+f 1 35 43
+f 1 43 42
+f 1 42 44
+f 1 44 36
+f 1 36 31
+f 1 31 25
+f 1 25 24
+f 1 24 23
+f 1 23 16
+f 1 16 14
+f 1 14 7
+f 1 7 2
+f 2 7 3
+f 3 7 14
+f 3 14 8
+f 3 8 15
+f 3 15 9
+f 3 9 4
+f 4 9 10
+f 4 10 11
+f 4 11 5
+f 5 11 12
+f 5 12 13
+f 5 13 6
+f 8 14 16
+f 8 16 17
+f 8 17 15
+f 9 15 18
+f 9 18 19
+f 9 19 10
+f 10 19 11
+f 11 19 18
+f 11 18 22
+f 11 22 26
+f 11 26 32
+f 11 32 39
+f 11 39 40
+f 11 40 33
+f 11 33 27
+f 11 27 20
+f 11 20 12
+f 12 20 21
+f 12 21 13
+f 15 17 22
+f 15 22 18
+f 16 23 17
+f 17 23 24
+f 17 24 25
+f 17 25 26
+f 17 26 22
+f 20 27 28
+f 20 28 29
+f 20 29 21
+f 21 29 28
+f 21 28 30
+f 25 31 32
+f 25 32 26
+f 27 33 34
+f 27 34 30
+f 27 30 28
+f 30 34 35
+f 31 36 37
+f 31 37 32
+f 32 38 39
+f 32 37 38
+f 33 40 41
+f 33 41 34
+f 34 42 43
+f 34 43 35
+f 34 41 42
+f 36 44 37
+f 37 44 42
+f 37 42 41
+f 37 41 40
+f 37 40 39
+f 37 39 38
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_32.obj b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..befe7292056d634ce71ddac5aab86a8eefb3db1c
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_32.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.02345141 0.02093012 -0.05913012
+v -0.02362209 0.00916765 -0.05911003
+v -0.02345141 0.01677134 -0.05912829
+v -0.02345141 0.02093012 -0.06808803
+v -0.03416482 0.02093012 -0.05912920
+v -0.03834519 0.00916765 -0.05878783
+v -0.02345141 0.00916765 -0.05912555
+v -0.02345141 0.00916765 -0.06758053
+v -0.03834951 0.00916765 -0.06763804
+v -0.04551987 0.02093012 -0.06811177
+v -0.04551987 0.02093012 -0.05912920
+v -0.03849210 0.00916765 -0.05878783
+v -0.04551987 0.00916765 -0.06763804
+v -0.04551987 0.00917340 -0.05879148
+v -0.04551987 0.00916765 -0.06748470
+f 1 2 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 10
+f 1 10 11
+f 1 11 5
+f 1 5 6
+f 1 6 2
+f 2 7 3
+f 2 6 12
+f 2 12 15
+f 2 15 13
+f 2 13 9
+f 2 9 8
+f 2 8 7
+f 4 8 9
+f 4 9 10
+f 5 11 12
+f 5 12 6
+f 9 13 10
+f 10 13 15
+f 10 15 14
+f 10 14 11
+f 11 14 12
+f 12 14 15
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_33.obj b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..184c677050d5cae6eefadfe2de1d31373fb789be
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_33.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v 0.09234407 -0.00431399 -0.06706229
+v 0.09234407 -0.00431399 -0.06971355
+v 0.09050686 -0.00431399 -0.06396940
+v 0.09239567 -0.01999528 -0.06696516
+v 0.09306332 -0.01999528 -0.07239061
+v 0.09162326 -0.00431399 -0.07006412
+v 0.09013474 -0.00431399 -0.06334566
+v 0.09013942 -0.00556358 -0.06333808
+v 0.09015976 -0.01299665 -0.06329255
+v 0.09030829 -0.01999528 -0.06346707
+v 0.08739691 -0.01999528 -0.07461998
+v 0.08803798 -0.00431399 -0.07178964
+v 0.08641812 -0.00431399 -0.06015413
+v 0.09017851 -0.01999528 -0.06325006
+v 0.08684184 -0.00431399 -0.07160905
+v 0.08086272 -0.01999528 -0.07136471
+v 0.08091745 -0.00431399 -0.07069545
+v 0.08646189 -0.01999528 -0.06015110
+v 0.08060473 -0.00431399 -0.05912216
+v 0.08064539 -0.01999528 -0.07121447
+v 0.07709137 -0.00431399 -0.06812158
+v 0.08094715 -0.01999528 -0.05917679
+v 0.07709137 -0.00431399 -0.05912216
+v 0.07709137 -0.01999528 -0.05911609
+v 0.08060473 -0.01299665 -0.05911913
+v 0.07709607 -0.01999528 -0.06815497
+v 0.07709137 -0.00556358 -0.06812006
+v 0.08060473 -0.01999528 -0.05911760
+v 0.07709137 -0.01999528 -0.06735064
+v 0.07709137 -0.01299665 -0.06810792
+f 1 2 6
+f 1 6 12
+f 1 12 15
+f 1 15 17
+f 1 17 21
+f 1 21 23
+f 1 23 19
+f 1 19 13
+f 1 13 7
+f 1 7 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 3 8 4
+f 4 8 9
+f 4 9 10
+f 4 10 14
+f 4 14 18
+f 4 18 22
+f 4 22 28
+f 4 28 24
+f 4 24 29
+f 4 29 26
+f 4 26 20
+f 4 20 16
+f 4 16 11
+f 4 11 5
+f 5 11 12
+f 5 12 6
+f 7 13 8
+f 8 13 9
+f 9 14 10
+f 9 13 14
+f 11 15 12
+f 11 16 17
+f 11 17 15
+f 13 18 14
+f 13 19 18
+f 16 20 21
+f 16 21 17
+f 18 19 22
+f 19 23 24
+f 19 24 25
+f 19 25 22
+f 20 26 21
+f 21 26 27
+f 21 27 30
+f 21 30 29
+f 21 29 24
+f 21 24 23
+f 22 25 28
+f 24 28 25
+f 26 29 30
+f 26 30 27
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_34.obj b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d22c674a0e1f1ca446df423cdffb35fea7f3fdf9
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_34.obj
@@ -0,0 +1,183 @@
+# https://github.com/mikedh/trimesh
+v 0.09360199 0.02125883 -0.07798449
+v 0.09382467 0.02125883 -0.07578354
+v 0.08762068 0.02125883 -0.07785446
+v 0.08803677 0.03161011 -0.07925936
+v 0.09362475 0.02417729 -0.07801209
+v 0.09415949 0.02125883 -0.07233530
+v 0.07757111 0.03219527 -0.07797267
+v 0.08432771 0.02125883 -0.07604757
+v 0.07757111 0.03819178 -0.07809682
+v 0.08060565 0.03819912 -0.07809682
+v 0.08803677 0.03818077 -0.07804754
+v 0.09298273 0.03721040 -0.07735002
+v 0.09360687 0.03161011 -0.07800420
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+v 0.07757111 0.03559616 -0.06089897
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+v 0.08634966 0.02125883 -0.06016006
+v 0.08409204 0.02125883 -0.05975416
+v 0.08060727 0.02125883 -0.05913150
+v 0.07757111 0.02417729 -0.05913150
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+f 1 16 28
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+f 1 47 59
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+f 1 8 3
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+f 20 32 21
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+f 21 35 22
+f 22 35 23
+f 23 35 36
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+f 23 26 24
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+f 27 38 28
+f 29 39 30
+f 31 40 32
+f 32 40 41
+f 32 41 42
+f 32 42 33
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+f 33 35 34
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+f 33 44 45
+f 33 45 43
+f 35 43 36
+f 36 43 46
+f 36 46 37
+f 37 47 38
+f 37 46 48
+f 37 48 47
+f 41 50 42
+f 42 50 51
+f 42 51 44
+f 43 45 52
+f 43 52 53
+f 43 53 46
+f 44 51 54
+f 44 54 55
+f 44 55 56
+f 44 56 57
+f 44 57 58
+f 44 58 45
+f 45 58 52
+f 46 53 48
+f 47 48 59
+f 48 52 56
+f 48 56 60
+f 48 60 59
+f 48 53 52
+f 49 61 56
+f 49 56 62
+f 52 58 56
+f 55 62 56
+f 56 61 60
+f 56 58 57
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_35.obj b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eef1364b72ec8b360cd06b122ada65c3049c3ddc
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_35.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.02345470 -0.01119777 -0.06113523
+v -0.02345470 -0.01119777 -0.06756598
+v -0.02346127 -0.01119777 -0.05909964
+v -0.02345470 -0.01296807 -0.05910447
+v -0.02345470 -0.03091819 -0.06795086
+v -0.02528230 -0.01119777 -0.06762593
+v -0.02345470 -0.03091819 -0.05911317
+v -0.02345470 -0.01299703 -0.05910447
+v -0.02986445 -0.01119777 -0.05848847
+v -0.03835162 -0.01119777 -0.06791508
+v -0.05703194 -0.03091819 -0.06836765
+v -0.03087358 -0.01299703 -0.05848847
+v -0.03091631 -0.01304143 -0.05848847
+v -0.03839107 -0.01881373 -0.05848847
+v -0.05703194 -0.03091819 -0.05911317
+v -0.05520434 -0.01119777 -0.05848847
+v -0.05703194 -0.01119777 -0.06811913
+v -0.04427489 -0.01880987 -0.05848847
+v -0.04574420 -0.01879443 -0.05848847
+v -0.05145381 -0.01863226 -0.05848847
+v -0.05703194 -0.01119777 -0.05863353
+f 1 2 6
+f 1 6 10
+f 1 10 17
+f 1 17 21
+f 1 21 16
+f 1 16 9
+f 1 9 3
+f 1 3 4
+f 1 4 8
+f 1 8 7
+f 1 7 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 3 8 4
+f 3 9 7
+f 5 10 6
+f 5 7 15
+f 5 15 11
+f 5 11 10
+f 7 9 12
+f 7 12 13
+f 7 13 14
+f 7 14 15
+f 9 16 20
+f 9 20 19
+f 9 19 18
+f 9 18 14
+f 9 14 13
+f 9 13 12
+f 10 11 17
+f 11 15 21
+f 11 21 17
+f 14 18 15
+f 15 18 19
+f 15 19 20
+f 15 20 16
+f 15 16 21
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_36.obj b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8eafdc78e1be3712ad5051cb0ff122d2ff969d70
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_36.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.02986343 -0.01119777 -0.05848847
+v -0.03854785 -0.01119777 -0.05523896
+v -0.03892737 -0.01217793 -0.05523896
+v -0.03087302 -0.01299709 -0.05848847
+v -0.05520228 -0.01119777 -0.05848847
+v -0.04565215 -0.01119777 -0.05523896
+v -0.04427545 -0.01880947 -0.05848847
+v -0.03838910 -0.01881245 -0.05848847
+v -0.03091767 -0.01304181 -0.05848847
+v -0.04518333 -0.01216973 -0.05523896
+v -0.05145664 -0.01862984 -0.05848847
+v -0.04561495 -0.01130659 -0.05523896
+v -0.04574393 -0.01879307 -0.05848847
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 8
+f 1 8 7
+f 1 7 13
+f 1 13 11
+f 1 11 5
+f 1 5 6
+f 1 6 2
+f 2 6 12
+f 2 12 10
+f 2 10 3
+f 3 7 8
+f 3 8 9
+f 3 9 4
+f 3 10 7
+f 5 11 10
+f 5 10 12
+f 5 12 6
+f 7 10 13
+f 10 11 13
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_37.obj b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..158b9c500ce51094b3a049490cbe36d683d5d9fe
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_37.obj
@@ -0,0 +1,171 @@
+# https://github.com/mikedh/trimesh
+v -0.04578303 -0.01390509 0.06148832
+v -0.05245270 -0.01294951 0.06148832
+v -0.04472790 -0.01098593 0.05096572
+v -0.03939152 -0.01083832 0.05096572
+v -0.03835238 -0.01333213 0.06148832
+v -0.04048182 -0.01039355 0.07642733
+v -0.04369196 -0.01039355 0.07642733
+v -0.05245270 -0.01097428 0.05577591
+v -0.05245270 -0.01126367 0.06772413
+v -0.05245270 -0.00491843 0.05234398
+v -0.05245270 -0.00476500 0.05228665
+v -0.05066059 -0.00296844 0.05096572
+v -0.03840034 -0.00888056 0.05096572
+v -0.03612063 -0.01102089 0.05481636
+v -0.03612063 -0.01148896 0.05642142
+v -0.03612063 -0.01291844 0.06148832
+v -0.03612063 -0.01256496 0.06315569
+v -0.03612063 -0.01131805 0.06842946
+v -0.03796870 -0.00556131 0.07642733
+v -0.04725861 -0.00560015 0.07642733
+v -0.05245270 -0.00560015 0.07223275
+v -0.05245270 -0.01072179 0.06820515
+v -0.05245270 0.00064409 0.05367737
+v -0.05024973 -0.00123792 0.05096572
+v -0.03677608 -0.00555937 0.05096572
+v -0.03612063 -0.00582739 0.05223431
+v -0.03612063 -0.00556131 0.07139532
+v -0.03955618 0.00010804 0.07642733
+v -0.03612063 0.00177835 0.06847183
+v -0.04595888 0.00047900 0.07642733
+v -0.05133523 -0.00057562 0.07395993
+v -0.05133523 -0.00315101 0.07395993
+v -0.05245270 -0.00437073 0.07264897
+v -0.05245270 0.00072372 0.05370229
+v -0.04968380 0.00025564 0.05096572
+v -0.03705265 -0.00450862 0.05096572
+v -0.03612063 0.00100923 0.05440762
+v -0.03612063 -0.00555937 0.05212963
+v -0.04132272 0.00580069 0.06573525
+v -0.04578303 0.00593470 0.06605427
+v -0.03612063 0.00238432 0.06667735
+v -0.05066059 0.00583759 0.06580504
+v -0.05245270 0.00360015 0.06785622
+v -0.05245270 0.00093348 0.07139034
+v -0.05245270 -0.00308303 0.07264897
+v -0.05245270 0.00498495 0.06059856
+v -0.04586616 0.00137631 0.05096572
+v -0.03877123 0.00077228 0.05096572
+v -0.03612063 0.00318451 0.05934492
+v -0.03612063 0.00394975 0.06118426
+v -0.04132272 0.00580069 0.06321052
+v -0.04578303 0.00593470 0.06198181
+v -0.05066059 0.00583759 0.06290147
+v -0.05245270 0.00518889 0.06227341
+v -0.05245270 0.00518889 0.06143599
+v -0.04578303 0.00552295 0.05826575
+v -0.04326351 0.00163462 0.05096572
+v -0.03864814 0.00463730 0.06103472
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 8 3
+f 2 7 9
+f 2 9 22
+f 2 22 21
+f 2 21 33
+f 2 33 45
+f 2 45 44
+f 2 44 43
+f 2 43 54
+f 2 54 55
+f 2 55 46
+f 2 46 34
+f 2 34 23
+f 2 23 11
+f 2 11 10
+f 2 10 8
+f 3 10 11
+f 3 11 12
+f 3 12 24
+f 3 24 35
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+f 3 57 48
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+f 3 36 25
+f 3 25 13
+f 3 13 4
+f 3 8 10
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+f 5 17 6
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+f 31 45 33
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+f 39 52 40
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+f 46 56 47
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+f 51 58 56
+f 51 56 52
+f 52 56 53
+f 53 56 55
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_38.obj b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e365a9281b20871d664703844d37503c87512c8
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_38.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v -0.04551987 0.03753428 -0.07247140
+v -0.04551987 0.03753265 -0.07247428
+v -0.04551987 0.03651033 -0.06417754
+v -0.03834951 0.03680614 -0.06490401
+v -0.02345141 0.03687440 -0.06490401
+v -0.02345141 0.03682564 -0.07070999
+v -0.04551987 0.03139386 -0.07385371
+v -0.04551987 0.03531898 -0.06119239
+v -0.04298356 0.03533198 -0.06118086
+v -0.03091774 0.03535961 -0.06115059
+v -0.02345141 0.03538237 -0.06114771
+v -0.02345141 0.03161003 -0.07186745
+v -0.04551987 0.02450580 -0.07026460
+v -0.02345141 0.02478210 -0.06977741
+v -0.02345141 0.02093175 -0.06808808
+v -0.04551987 0.03233329 -0.06035925
+v -0.02348166 0.03537587 -0.06113185
+v -0.02345141 0.03537587 -0.06113185
+v -0.04551987 0.02093175 -0.06811114
+v -0.02345141 0.02093175 -0.05912974
+v -0.04551987 0.02444079 -0.05916722
+v -0.03834951 0.03161003 -0.06014304
+v -0.02345141 0.03162628 -0.06010990
+v -0.04551987 0.02093175 -0.05912974
+v -0.02345141 0.02417749 -0.05913118
+v -0.04551987 0.02417749 -0.05913118
+v -0.02348166 0.03161003 -0.06010557
+v -0.03091774 0.03161003 -0.06012431
+v -0.02345141 0.03161003 -0.06010557
+f 1 2 7
+f 1 7 13
+f 1 13 19
+f 1 19 24
+f 1 24 26
+f 1 26 21
+f 1 21 16
+f 1 16 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 3 8 9
+f 3 9 5
+f 3 5 4
+f 5 10 11
+f 5 11 18
+f 5 18 23
+f 5 23 29
+f 5 29 25
+f 5 25 20
+f 5 20 15
+f 5 15 14
+f 5 14 12
+f 5 12 6
+f 5 9 10
+f 6 12 7
+f 7 12 14
+f 7 14 15
+f 7 15 13
+f 8 16 9
+f 9 16 10
+f 10 17 11
+f 10 16 17
+f 11 17 18
+f 13 15 19
+f 15 20 24
+f 15 24 19
+f 16 21 22
+f 16 22 17
+f 17 23 18
+f 17 22 23
+f 20 25 26
+f 20 26 24
+f 21 26 27
+f 21 27 28
+f 21 28 22
+f 22 28 23
+f 23 28 27
+f 23 27 29
+f 25 29 27
+f 25 27 26
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_39.obj b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8830a4c6aafaa70b58fb62bbea6e1ed234923825
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_39.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v 0.02600927 0.02473609 0.14326934
+v 0.02856200 0.02519171 0.14326934
+v 0.02600927 0.02550444 0.14644738
+v 0.02600927 0.02650616 0.13872072
+v 0.02856200 0.02672523 0.13880241
+v 0.03285085 0.02748247 0.13922507
+v 0.03335412 0.02710941 0.14326934
+v 0.03314047 0.02726022 0.14752446
+v 0.02856200 0.02636170 0.14810860
+v 0.02600927 0.02612675 0.14820452
+v 0.02600927 0.03085591 0.13864664
+v 0.02875983 0.03160045 0.13869413
+v 0.04077811 0.04095400 0.13880241
+v 0.03559508 0.03206876 0.13893918
+v 0.04064517 0.03904583 0.13887744
+v 0.04002320 0.03484847 0.13928776
+v 0.03707007 0.03067335 0.14326934
+v 0.04022578 0.03455479 0.14745038
+v 0.03576917 0.03189255 0.14803261
+v 0.02855409 0.03176396 0.14832894
+v 0.02600927 0.02967957 0.14834984
+v 0.02600927 0.03331019 0.14326934
+v 0.03136954 0.03640740 0.13912059
+v 0.03641171 0.04095400 0.13870838
+v 0.04217712 0.04095400 0.14326934
+v 0.04190334 0.03904583 0.14326934
+v 0.04033181 0.03438969 0.14326934
+v 0.04097118 0.03904583 0.14801266
+v 0.04111045 0.04095400 0.14810290
+v 0.03715078 0.04095400 0.14827956
+v 0.02600927 0.03113214 0.14834984
+v 0.02600927 0.03304825 0.14408712
+v 0.03374819 0.04095400 0.14326934
+v 0.04148395 0.04095400 0.14679501
+v 0.03613159 0.04095400 0.14827956
+v 0.03102611 0.03679316 0.14772772
+f 1 2 3
+f 1 3 10
+f 1 10 21
+f 1 21 31
+f 1 31 32
+f 1 32 22
+f 1 22 11
+f 1 11 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 3 9 10
+f 4 11 12
+f 4 12 13
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+f 5 14 6
+f 5 13 15
+f 5 15 14
+f 6 14 16
+f 6 16 17
+f 6 17 7
+f 7 17 8
+f 8 17 18
+f 8 18 19
+f 8 19 9
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+f 11 22 23
+f 11 23 24
+f 11 24 13
+f 11 13 12
+f 13 24 33
+f 13 33 35
+f 13 35 30
+f 13 30 29
+f 13 29 34
+f 13 34 25
+f 13 25 15
+f 14 15 16
+f 15 25 26
+f 15 26 16
+f 16 26 27
+f 16 27 17
+f 17 27 18
+f 18 27 26
+f 18 26 28
+f 18 28 19
+f 19 28 29
+f 19 29 30
+f 19 30 20
+f 20 30 21
+f 21 30 31
+f 22 32 33
+f 22 33 23
+f 23 33 24
+f 25 34 28
+f 25 28 26
+f 28 34 29
+f 30 35 31
+f 31 35 36
+f 31 36 32
+f 32 36 33
+f 33 36 35
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_4.obj b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..126d855422fef3087879075d1c1359b641a7c75e
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_4.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.04925954 -0.00567099 0.13081812
+v -0.04570765 -0.00556110 0.12092440
+v -0.04911294 -0.00742686 0.13081812
+v -0.04505430 0.00047924 0.13081812
+v -0.04437901 -0.00022685 0.12092440
+v -0.04569495 -0.00558682 0.12092440
+v -0.04835570 -0.00987597 0.13081812
+v -0.03911177 0.00056107 0.13081812
+v -0.03970048 -0.00022685 0.12092440
+v -0.04339551 -0.01003261 0.12092440
+v -0.04564185 -0.01138167 0.13081812
+v -0.03746685 -0.00556110 0.13081812
+v -0.03833490 -0.00556110 0.12092440
+v -0.04070360 -0.01003261 0.12092440
+v -0.04015183 -0.01072351 0.13081812
+v -0.04068975 -0.01000690 0.12092440
+f 1 2 3
+f 1 3 7
+f 1 7 11
+f 1 11 15
+f 1 15 12
+f 1 12 8
+f 1 8 4
+f 1 4 5
+f 1 5 2
+f 2 6 7
+f 2 7 3
+f 2 5 9
+f 2 9 13
+f 2 13 16
+f 2 16 14
+f 2 14 10
+f 2 10 6
+f 4 8 5
+f 5 8 9
+f 6 10 7
+f 7 10 11
+f 8 12 9
+f 9 12 13
+f 10 14 11
+f 11 14 15
+f 12 15 13
+f 13 15 16
+f 14 16 15
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_40.obj b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a705cc7b444b4c49d954b64d52d1d1d628d0f982
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_40.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.03599667 0.03383287 0.05691226
+v 0.03472301 0.03374560 0.05693526
+v 0.03599667 0.03680089 0.05691226
+v 0.04343024 0.03371464 0.05693047
+v 0.04961056 0.03209503 0.05713658
+v 0.03472301 0.03673521 0.05693526
+v 0.04961056 0.02939632 0.06148690
+v 0.03472301 0.03133966 0.06156839
+v 0.03599667 0.03898257 0.06148786
+v 0.04343024 0.03674553 0.05693047
+v 0.04961056 0.03632139 0.05710782
+v 0.03472301 0.03884276 0.06148786
+v 0.04961056 0.03157894 0.06651499
+v 0.03472301 0.03285323 0.06664440
+v 0.03472301 0.03260081 0.06596473
+v 0.03472301 0.03865696 0.06235639
+v 0.03472301 0.03743616 0.06668083
+v 0.03599667 0.03750935 0.06670480
+v 0.04343024 0.03744179 0.06667796
+v 0.04343024 0.03885871 0.06148786
+v 0.04961056 0.03667797 0.05787665
+v 0.04961056 0.03695854 0.06648527
+v 0.04343024 0.03295551 0.06667796
+v 0.03599667 0.03311784 0.06670480
+v 0.04961056 0.03795132 0.06148786
+f 1 2 6
+f 1 6 3
+f 1 3 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 8
+f 2 8 15
+f 2 15 14
+f 2 14 17
+f 2 17 16
+f 2 16 12
+f 2 12 6
+f 3 9 10
+f 3 6 9
+f 4 10 11
+f 4 11 5
+f 5 11 21
+f 5 21 25
+f 5 25 22
+f 5 22 13
+f 5 13 7
+f 6 12 9
+f 7 13 14
+f 7 14 15
+f 7 15 8
+f 9 12 16
+f 9 16 17
+f 9 17 18
+f 9 18 19
+f 9 19 20
+f 9 20 10
+f 10 20 21
+f 10 21 11
+f 13 22 19
+f 13 19 23
+f 13 23 24
+f 13 24 14
+f 14 24 17
+f 17 24 18
+f 18 24 23
+f 18 23 19
+f 19 22 20
+f 20 22 25
+f 20 25 21
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_41.obj b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f745c29d6b209393b2c539695a7630798c724e8
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_41.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.08750733 0.00777854 -0.07378884
+v 0.09279426 0.00777854 -0.07155479
+v 0.08803875 -0.00431280 -0.07179026
+v 0.08684105 -0.00431280 -0.07160935
+v 0.08091834 -0.00431280 -0.07069621
+v 0.08084609 0.00777854 -0.07130354
+v 0.09279426 0.00777854 -0.07103793
+v 0.09234472 -0.00431280 -0.06971416
+v 0.09162385 -0.00431280 -0.07006305
+v 0.07639403 -0.00431280 -0.06803145
+v 0.07639403 0.00777854 -0.06810037
+v 0.09232546 0.00777854 -0.06713554
+v 0.09234472 -0.00431280 -0.06706233
+v 0.07639403 -0.00431280 -0.05912260
+v 0.07639403 0.00777854 -0.05912547
+v 0.09187109 0.00777854 -0.06637316
+v 0.09013554 -0.00431280 -0.06334659
+v 0.09050642 -0.00431280 -0.06396971
+v 0.08060527 -0.00431280 -0.05912260
+v 0.07639403 -0.00163057 -0.05912260
+v 0.08060527 0.00777854 -0.05912547
+v 0.09010183 0.00777854 -0.06341982
+v 0.08641719 -0.00431280 -0.06015348
+v 0.08638508 0.00777854 -0.06015635
+v 0.08640114 0.00187195 -0.06015491
+v 0.08060527 0.00187195 -0.05912404
+v 0.08157820 -0.00431280 -0.05929489
+v 0.08519380 0.00777854 -0.05994386
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 11
+f 1 11 15
+f 1 15 21
+f 1 21 28
+f 1 28 24
+f 1 24 22
+f 1 22 16
+f 1 16 12
+f 1 12 7
+f 1 7 2
+f 2 7 13
+f 2 13 8
+f 2 8 9
+f 2 9 3
+f 3 9 8
+f 3 8 13
+f 3 13 18
+f 3 18 17
+f 3 17 23
+f 3 23 27
+f 3 27 19
+f 3 19 14
+f 3 14 10
+f 3 10 5
+f 3 5 4
+f 5 10 6
+f 6 10 11
+f 7 12 13
+f 10 14 20
+f 10 20 15
+f 10 15 11
+f 12 16 17
+f 12 17 18
+f 12 18 13
+f 14 19 20
+f 15 20 21
+f 16 22 17
+f 17 22 24
+f 17 24 25
+f 17 25 23
+f 19 26 20
+f 19 27 26
+f 20 26 21
+f 21 26 27
+f 21 27 23
+f 21 23 25
+f 21 25 28
+f 24 28 25
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_42.obj b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b65ff598824eb556699f99dfbd50347e5358cd1f
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_42.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.07097013 -0.01882594 0.06148778
+v 0.07376137 -0.01882594 0.05713975
+v 0.07097114 -0.01882594 0.06150387
+v 0.07388709 -0.00249914 0.06148778
+v 0.07490200 -0.00249914 0.05885909
+v 0.07572122 -0.00249914 0.05699970
+v 0.07543936 -0.01299585 0.05697510
+v 0.07841513 -0.01299585 0.05697510
+v 0.07785343 -0.01882594 0.05718138
+v 0.07323820 -0.01882594 0.06653132
+v 0.07505307 -0.00249914 0.06661837
+v 0.07862703 -0.00249914 0.05699970
+v 0.07865441 -0.00556281 0.05701674
+v 0.08132804 -0.00556281 0.06148778
+v 0.08072376 -0.01299585 0.06148778
+v 0.07948681 -0.01882594 0.06148778
+v 0.07414462 -0.01882594 0.06653132
+v 0.07469618 -0.01299585 0.06664014
+v 0.07950912 -0.00249914 0.06661837
+v 0.08019857 -0.00249914 0.05962840
+v 0.07955981 -0.00556281 0.06659755
+v 0.07919481 -0.01299585 0.06664014
+v 0.08124896 -0.00249914 0.06148778
+v 0.07885009 -0.01882594 0.06529078
+v 0.07851956 -0.01882594 0.06640357
+f 1 2 9
+f 1 9 16
+f 1 16 24
+f 1 24 25
+f 1 25 17
+f 1 17 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 3 10 11
+f 3 11 4
+f 4 11 19
+f 4 19 23
+f 4 23 20
+f 4 20 12
+f 4 12 6
+f 4 6 5
+f 6 12 8
+f 6 8 7
+f 8 12 13
+f 8 13 14
+f 8 14 15
+f 8 15 9
+f 9 15 16
+f 10 17 22
+f 10 22 18
+f 10 18 11
+f 11 18 22
+f 11 22 19
+f 12 20 14
+f 12 14 13
+f 14 21 22
+f 14 22 15
+f 14 20 23
+f 14 23 19
+f 14 19 21
+f 15 22 24
+f 15 24 16
+f 17 25 22
+f 19 22 21
+f 22 25 24
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_43.obj b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a499ecf3324653f8129d78291bac750307218c16
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_43.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.07943664 0.00187511 0.06664846
+v 0.07489944 0.00187511 0.06664846
+v 0.07950841 -0.00249651 0.06661815
+v 0.08124931 -0.00249651 0.06148736
+v 0.08113613 0.00187511 0.06148736
+v 0.07874930 0.00930897 0.06654997
+v 0.07364345 0.01713643 0.06648179
+v 0.07505310 -0.00249651 0.06661815
+v 0.07184918 0.01701835 0.06640224
+v 0.07299475 0.00958974 0.06648273
+v 0.08019851 -0.00249651 0.05962842
+v 0.07858643 0.00187511 0.05697401
+v 0.07803987 0.00930897 0.05707533
+v 0.07990223 0.00930897 0.06148736
+v 0.07779787 0.01492176 0.06598935
+v 0.07184918 0.02206698 0.06618254
+v 0.07388729 -0.00249651 0.06148736
+v 0.07184918 0.01037170 0.06620621
+v 0.07862692 -0.00249651 0.05699958
+v 0.07559506 0.00187511 0.05697401
+v 0.07184918 0.02011208 0.05720128
+v 0.07735805 0.01411881 0.05741530
+v 0.07792301 0.01526813 0.06148736
+v 0.07576161 0.01898375 0.06148736
+v 0.07184918 0.02430527 0.06159816
+v 0.07490220 -0.00249651 0.05885852
+v 0.07184918 0.00696047 0.06148736
+v 0.07184918 0.01114579 0.05741625
+v 0.07572112 -0.00249651 0.05699958
+v 0.07184918 0.01197236 0.05724485
+v 0.07184918 0.01817292 0.05720602
+v 0.07184918 0.02176259 0.05804884
+f 1 2 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 9
+f 2 9 10
+f 2 10 8
+f 3 8 17
+f 3 17 26
+f 3 26 29
+f 3 29 19
+f 3 19 11
+f 3 11 4
+f 4 11 12
+f 4 12 5
+f 5 12 13
+f 5 13 14
+f 5 14 6
+f 6 14 15
+f 6 15 16
+f 6 16 7
+f 7 16 9
+f 8 10 18
+f 8 18 17
+f 9 16 25
+f 9 25 32
+f 9 32 21
+f 9 21 31
+f 9 31 30
+f 9 30 28
+f 9 28 27
+f 9 27 18
+f 9 18 10
+f 11 19 12
+f 12 19 29
+f 12 29 20
+f 12 20 21
+f 12 21 13
+f 13 21 22
+f 13 22 14
+f 14 22 23
+f 14 23 15
+f 15 23 24
+f 15 24 25
+f 15 25 16
+f 17 18 27
+f 17 27 28
+f 17 28 26
+f 20 29 30
+f 20 30 31
+f 20 31 21
+f 21 32 22
+f 22 32 25
+f 22 25 24
+f 22 24 23
+f 26 28 29
+f 28 30 29
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_44.obj b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38899da6f26ad272fba44a9ca48057bf05f52228
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_44.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v 0.02124976 -0.03525693 0.06148704
+v 0.02124976 -0.03528752 0.06139883
+v 0.02124976 -0.03671648 0.06647131
+v 0.03470922 -0.03886820 0.06537381
+v 0.03470922 -0.03886820 0.06386868
+v 0.03472284 -0.03887585 0.06385383
+v 0.03670658 -0.04006516 0.06142762
+v 0.02659571 -0.03862218 0.05746936
+v 0.02124976 -0.03756417 0.05714345
+v 0.02124976 -0.03878152 0.06644996
+v 0.02856129 -0.04273441 0.06662730
+v 0.03472284 -0.04217736 0.06632646
+v 0.03670658 -0.04199763 0.06622897
+v 0.03472284 -0.03888732 0.06537938
+v 0.03670658 -0.04390715 0.05728087
+v 0.03472284 -0.03994151 0.06046103
+v 0.03154976 -0.03974520 0.05891413
+v 0.02124976 -0.03762918 0.05714159
+v 0.02124976 -0.04280069 0.06637475
+v 0.02148732 -0.04288483 0.06638774
+v 0.03599539 -0.04767648 0.06635617
+v 0.03670658 -0.04767011 0.06635153
+v 0.03670658 -0.04707482 0.06635153
+v 0.03670658 -0.04431888 0.05727530
+v 0.02124976 -0.04137557 0.05714159
+v 0.02124976 -0.04462481 0.06103671
+v 0.02420645 -0.04670005 0.06547223
+v 0.02856129 -0.04720484 0.06595320
+v 0.03472284 -0.04759617 0.06628747
+v 0.03599539 -0.04827815 0.06148797
+v 0.03670658 -0.04821569 0.06194666
+v 0.03670658 -0.04769433 0.06615840
+v 0.03670658 -0.04704932 0.05727530
+v 0.03015767 -0.04680585 0.05746843
+v 0.02124976 -0.04149029 0.05716945
+v 0.03599539 -0.04705442 0.05727158
+v 0.02124976 -0.04455598 0.06085565
+v 0.02520361 -0.04609201 0.05821031
+v 0.02148732 -0.04474719 0.06100886
+v 0.02420645 -0.04670005 0.06316487
+v 0.02803320 -0.04726730 0.06100886
+v 0.03472284 -0.04811753 0.06141183
+v 0.03670658 -0.04826795 0.06148797
+v 0.03472284 -0.04795819 0.06061145
+f 1 2 9
+f 1 9 18
+f 1 18 25
+f 1 25 35
+f 1 35 37
+f 1 37 26
+f 1 26 19
+f 1 19 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 8 9
+f 2 7 8
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 14
+f 3 14 4
+f 4 14 7
+f 4 7 6
+f 4 6 5
+f 7 14 13
+f 7 13 23
+f 7 23 22
+f 7 22 32
+f 7 32 31
+f 7 31 43
+f 7 43 33
+f 7 33 24
+f 7 24 15
+f 7 15 16
+f 7 16 8
+f 8 16 17
+f 8 17 15
+f 8 15 9
+f 9 15 18
+f 10 19 20
+f 10 20 11
+f 11 20 21
+f 11 21 22
+f 11 22 23
+f 11 23 12
+f 12 23 13
+f 15 24 18
+f 15 17 16
+f 18 24 33
+f 18 33 25
+f 19 26 27
+f 19 27 20
+f 20 27 28
+f 20 28 29
+f 20 29 21
+f 21 30 31
+f 21 31 32
+f 21 32 22
+f 21 29 30
+f 25 34 35
+f 25 33 36
+f 25 36 34
+f 26 37 38
+f 26 38 39
+f 26 39 40
+f 26 40 27
+f 27 41 42
+f 27 42 30
+f 27 30 28
+f 27 40 41
+f 28 30 29
+f 30 36 33
+f 30 33 43
+f 30 43 31
+f 30 42 44
+f 30 44 36
+f 34 44 41
+f 34 41 38
+f 34 38 35
+f 34 36 44
+f 35 38 37
+f 38 40 39
+f 38 41 40
+f 41 44 42
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_45.obj b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b88978bbc1c7a2ebf7d508aaf1845db425c50c90
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_45.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v -0.06808932 -0.01119777 -0.07187254
+v -0.06913004 -0.01119777 -0.07136943
+v -0.07240818 0.00186272 -0.06974218
+v -0.06808932 0.00186272 -0.07181222
+v -0.06097279 0.00186272 -0.07068946
+v -0.06096372 -0.01119777 -0.07070180
+v -0.07237917 -0.01119777 -0.06979015
+v -0.07239186 -0.00556188 -0.06971065
+v -0.07240818 0.00186272 -0.06702369
+v -0.05388709 0.00186272 -0.06780373
+v -0.05388709 -0.00433318 -0.06789695
+v -0.05388709 -0.00556188 -0.06789832
+v -0.05388709 -0.01026442 -0.06781882
+v -0.05388709 -0.01119777 -0.06780236
+v -0.07237917 -0.01119777 -0.06709909
+v -0.07239186 -0.00556188 -0.06706757
+v -0.07184611 -0.01119777 -0.06619979
+v -0.07020161 0.00186272 -0.06330720
+v -0.05388709 0.00186272 -0.05838433
+v -0.05388709 -0.01119777 -0.05838569
+v -0.07017078 -0.01119777 -0.06338397
+v -0.06645387 -0.01119777 -0.06015277
+v -0.06648288 0.00186272 -0.06015551
+v -0.05388709 -0.00556188 -0.05786750
+v -0.06065549 0.00186272 -0.05910267
+v -0.05388709 -0.00622801 -0.05787024
+v -0.05885687 -0.01119777 -0.05877777
+v -0.06504688 -0.01119777 -0.05989505
+v -0.06065549 -0.00556188 -0.05908759
+v -0.05388709 -0.00606691 -0.05786887
+v -0.06065549 -0.01119777 -0.05910130
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 14
+f 1 14 20
+f 1 20 27
+f 1 27 31
+f 1 31 28
+f 1 28 22
+f 1 22 21
+f 1 21 17
+f 1 17 15
+f 1 15 7
+f 1 7 2
+f 2 7 3
+f 3 7 8
+f 3 8 16
+f 3 16 9
+f 3 9 18
+f 3 18 23
+f 3 23 25
+f 3 25 19
+f 3 19 10
+f 3 10 5
+f 3 5 4
+f 5 10 11
+f 5 11 6
+f 6 11 12
+f 6 12 13
+f 6 13 14
+f 7 15 16
+f 7 16 8
+f 9 16 15
+f 9 15 17
+f 9 17 18
+f 10 19 24
+f 10 24 30
+f 10 30 26
+f 10 26 20
+f 10 20 14
+f 10 14 13
+f 10 13 12
+f 10 12 11
+f 17 21 18
+f 18 21 22
+f 18 22 23
+f 19 25 24
+f 20 26 27
+f 22 28 29
+f 22 29 23
+f 23 29 25
+f 24 25 29
+f 24 29 31
+f 24 31 30
+f 26 30 27
+f 27 30 31
+f 28 31 29
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_46.obj b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1af28c8d41dd2f607f5dcccca4ae331289adb25
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_46.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v -0.05703195 -0.02019191 -0.05909062
+v -0.06041550 -0.02019191 -0.05909803
+v -0.06065658 -0.03249396 -0.05911285
+v -0.05703195 -0.03249396 -0.05911285
+v -0.05703195 -0.02019191 -0.06818801
+v -0.06065658 -0.02019191 -0.05911656
+v -0.06643239 -0.02019191 -0.06015207
+v -0.06643239 -0.02043157 -0.06015207
+v -0.06641553 -0.02786579 -0.06015022
+v -0.06640542 -0.03249396 -0.06015022
+v -0.05703195 -0.03249396 -0.06951066
+v -0.06023174 -0.03249396 -0.07307663
+v -0.06122472 -0.03249396 -0.07408251
+v -0.06447171 -0.02786579 -0.07598313
+v -0.06088586 -0.02019191 -0.07145573
+v -0.07014974 -0.02019191 -0.06343647
+v -0.07014974 -0.02043157 -0.06343832
+v -0.07013289 -0.02786579 -0.06348093
+v -0.07012277 -0.03249396 -0.06350872
+v -0.06422389 -0.03249396 -0.07608501
+v -0.06818738 -0.02786579 -0.07801342
+v -0.06940290 -0.02253189 -0.07736321
+v -0.06738997 -0.02020516 -0.07440669
+v -0.06740008 -0.02019191 -0.07439743
+v -0.07230261 -0.02019191 -0.06703393
+v -0.07237173 -0.02786579 -0.06719880
+v -0.07236161 -0.03249396 -0.06722474
+v -0.06763779 -0.03249396 -0.07792449
+v -0.07368840 -0.02786579 -0.07801342
+v -0.07367828 -0.03249396 -0.07800786
+v -0.07306630 -0.02253189 -0.07736321
+v -0.07301573 -0.02019191 -0.07210780
+v -0.07237342 -0.02019191 -0.06715434
+v -0.07237342 -0.02043157 -0.06715434
+v -0.07425316 -0.02786579 -0.07233565
+v -0.07423293 -0.03249396 -0.07233565
+v -0.07389070 -0.03249396 -0.07586457
+v -0.07301742 -0.02020516 -0.07211706
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 5
+f 1 5 15
+f 1 15 24
+f 1 24 32
+f 1 32 33
+f 1 33 25
+f 1 25 16
+f 1 16 7
+f 1 7 6
+f 1 6 2
+f 2 6 3
+f 3 6 7
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 19
+f 3 19 27
+f 3 27 36
+f 3 36 37
+f 3 37 30
+f 3 30 28
+f 3 28 20
+f 3 20 13
+f 3 13 12
+f 3 12 11
+f 3 11 4
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 5 14 15
+f 7 16 8
+f 8 16 9
+f 9 16 10
+f 10 16 17
+f 10 17 18
+f 10 18 19
+f 13 20 14
+f 14 20 21
+f 14 21 22
+f 14 22 15
+f 15 22 23
+f 15 23 24
+f 16 25 26
+f 16 26 17
+f 17 26 27
+f 17 27 18
+f 18 27 19
+f 20 28 21
+f 21 29 31
+f 21 31 22
+f 21 28 30
+f 21 30 29
+f 22 31 24
+f 22 24 23
+f 24 31 32
+f 25 33 34
+f 25 34 26
+f 26 34 35
+f 26 35 27
+f 27 35 36
+f 29 30 35
+f 29 35 31
+f 30 37 35
+f 31 35 38
+f 31 38 32
+f 32 38 35
+f 32 35 33
+f 33 35 34
+f 35 37 36
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_47.obj b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eed599516f154e27a3a2b3d40fd4fd2eda1a28c1
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_47.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.04961056 0.02939725 0.06148629
+v 0.05418228 0.02774819 0.05764770
+v 0.04961186 0.02939564 0.06148721
+v 0.04961056 0.03157822 0.06651568
+v 0.04961056 0.03209395 0.05713656
+v 0.05829931 0.02664074 0.05724800
+v 0.06295857 0.02144458 0.06146971
+v 0.06295857 0.02143488 0.06148721
+v 0.05331210 0.02738605 0.06567944
+v 0.05850444 0.03196300 0.06650831
+v 0.04961056 0.03695707 0.06648529
+v 0.05829931 0.02590189 0.06631399
+v 0.06295857 0.02436600 0.06643095
+v 0.04961056 0.03632008 0.05710801
+v 0.06295857 0.02715647 0.05718998
+v 0.06295857 0.02528754 0.05721669
+v 0.05616436 0.03606787 0.06589771
+v 0.05086618 0.03686007 0.06644661
+v 0.06295857 0.03036406 0.06622742
+v 0.04961056 0.03795136 0.06148721
+v 0.04961056 0.03667738 0.05787702
+v 0.05086618 0.03623439 0.05714393
+v 0.06295857 0.02960096 0.05719366
+v 0.05638256 0.03614385 0.06148721
+v 0.05086618 0.03776543 0.06148721
+v 0.06295857 0.03200988 0.06154246
+v 0.06009978 0.03393217 0.06148721
+v 0.05540393 0.03567662 0.05748100
+v 0.06295857 0.03044813 0.05835224
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 20
+f 1 20 21
+f 1 21 14
+f 1 14 5
+f 1 5 2
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 2 5 6
+f 3 8 9
+f 3 9 4
+f 4 10 11
+f 4 9 12
+f 4 12 13
+f 4 13 10
+f 5 14 15
+f 5 15 16
+f 5 16 6
+f 6 16 7
+f 7 16 15
+f 7 15 23
+f 7 23 29
+f 7 29 26
+f 7 26 19
+f 7 19 13
+f 7 13 8
+f 8 13 12
+f 8 12 9
+f 10 17 18
+f 10 18 11
+f 10 13 19
+f 10 19 17
+f 11 18 20
+f 14 21 22
+f 14 22 23
+f 14 23 15
+f 17 24 25
+f 17 25 18
+f 17 19 26
+f 17 26 27
+f 17 27 24
+f 18 25 20
+f 20 25 22
+f 20 22 21
+f 22 25 28
+f 22 28 23
+f 23 28 29
+f 24 27 28
+f 24 28 25
+f 26 29 28
+f 26 28 27
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_48.obj b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98e1d38ddab83aa4626aa609253105a72f4a6b51
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_48.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.02112609 0.02608489 0.13856338
+v 0.02112609 0.02953264 0.13856338
+v 0.02113192 0.02953067 0.13856437
+v 0.02113192 0.02608489 0.13856734
+v 0.02113192 0.02386708 0.14326941
+v 0.02112609 0.02386708 0.14326941
+v 0.01369188 0.02633875 0.13864651
+v 0.00625184 0.03211058 0.13869699
+v 0.02113192 0.03155661 0.14326446
+v 0.00625184 0.03389053 0.13870986
+v 0.00625184 0.03391907 0.13871580
+v 0.01056467 0.03391907 0.14066353
+v 0.02113192 0.02567754 0.14838716
+v 0.02112609 0.02567655 0.14838716
+v 0.01369188 0.02594320 0.14828720
+v 0.01369188 0.02438562 0.14326941
+v 0.00625184 0.02705900 0.13896817
+v 0.02112609 0.03155760 0.14326941
+v 0.02113192 0.02992031 0.14838221
+v 0.01249459 0.03391907 0.14353960
+v 0.01230816 0.03391907 0.14417499
+v 0.01122157 0.03391907 0.14743309
+v 0.00625184 0.03391907 0.14839309
+v 0.02112609 0.02991736 0.14838716
+v 0.00625912 0.03160975 0.14867417
+v 0.01301313 0.02601011 0.14825949
+v 0.00625184 0.02668411 0.14797544
+v 0.01301313 0.02451943 0.14326941
+v 0.00625184 0.02585268 0.14326644
+v 0.00625184 0.03174455 0.14865933
+v 0.00625184 0.03160483 0.14867219
+v 0.00625912 0.02668805 0.14798237
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 9 3
+f 2 8 10
+f 2 10 11
+f 2 11 12
+f 2 12 9
+f 3 9 19
+f 3 19 13
+f 3 13 5
+f 3 5 4
+f 5 13 14
+f 5 14 6
+f 6 14 15
+f 6 15 16
+f 6 16 7
+f 7 16 17
+f 7 17 8
+f 8 17 29
+f 8 29 27
+f 8 27 31
+f 8 31 30
+f 8 30 23
+f 8 23 11
+f 8 11 10
+f 9 18 19
+f 9 12 20
+f 9 20 21
+f 9 21 22
+f 9 22 18
+f 11 23 22
+f 11 22 21
+f 11 21 20
+f 11 20 12
+f 13 19 24
+f 13 24 25
+f 13 25 14
+f 14 25 15
+f 15 26 16
+f 15 25 26
+f 16 26 27
+f 16 27 28
+f 16 28 29
+f 16 29 17
+f 18 22 19
+f 19 22 24
+f 22 23 24
+f 23 30 24
+f 24 30 25
+f 25 30 31
+f 25 31 32
+f 25 32 26
+f 26 32 27
+f 27 32 31
+f 27 29 28
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_49.obj b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a5d82c6b8800eba12381f36cd75f65813bebb26
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_49.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v 0.05754393 -0.03389108 0.06148728
+v 0.04469192 -0.03865656 0.06558497
+v 0.05754393 -0.03567286 0.06647545
+v 0.05754393 -0.03610916 0.05723417
+v 0.04684990 -0.03898167 0.05773426
+v 0.03670658 -0.04006396 0.06142785
+v 0.03670658 -0.04199774 0.06622861
+v 0.05754393 -0.03652715 0.06650105
+v 0.05754393 -0.04086478 0.05716103
+v 0.03670658 -0.04431855 0.05727440
+v 0.03670658 -0.04390759 0.05728079
+v 0.03670658 -0.04707425 0.06635294
+v 0.05754393 -0.04183588 0.06647911
+v 0.03670658 -0.04767099 0.06635203
+v 0.05754393 -0.04364018 0.06148728
+v 0.04834498 -0.04673788 0.05751850
+v 0.04343344 -0.04700388 0.05730914
+v 0.03670658 -0.04704891 0.05727440
+v 0.04125302 -0.04763017 0.06632003
+v 0.04343344 -0.04761047 0.06630449
+v 0.04954023 -0.04711788 0.06586290
+v 0.05754393 -0.04228344 0.06569651
+v 0.03670658 -0.04821565 0.06194624
+v 0.05125764 -0.04652114 0.06399142
+v 0.05355840 -0.04571891 0.06148728
+v 0.04343344 -0.04816217 0.06148911
+v 0.04983803 -0.04716714 0.06148911
+v 0.04125302 -0.04819735 0.06148911
+v 0.03670658 -0.04826913 0.06148819
+v 0.04125302 -0.04701936 0.05729908
+f 1 2 3
+f 1 3 8
+f 1 8 13
+f 1 13 22
+f 1 22 15
+f 1 15 9
+f 1 9 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 4 9 10
+f 4 10 11
+f 4 11 5
+f 5 11 6
+f 6 11 10
+f 6 10 18
+f 6 18 29
+f 6 29 23
+f 6 23 14
+f 6 14 12
+f 6 12 7
+f 7 12 8
+f 8 12 14
+f 8 14 13
+f 9 15 16
+f 9 16 17
+f 9 17 18
+f 9 18 10
+f 13 14 19
+f 13 19 20
+f 13 20 21
+f 13 21 22
+f 14 23 19
+f 15 22 21
+f 15 21 24
+f 15 24 25
+f 15 25 16
+f 16 26 17
+f 16 25 27
+f 16 27 26
+f 17 26 28
+f 17 28 29
+f 17 29 30
+f 17 30 18
+f 18 30 29
+f 19 23 20
+f 20 26 21
+f 20 23 29
+f 20 29 28
+f 20 28 26
+f 21 27 24
+f 21 26 27
+f 24 27 25
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_5.obj b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1dbbeea7b0882cf604b1db28ba40d058f344679
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_5.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.04368840 -0.01039314 0.07643169
+v -0.04725900 -0.00560068 0.07643169
+v -0.04048341 -0.01039314 0.07643169
+v -0.04339555 -0.01003227 0.12091723
+v -0.04595936 0.00048090 0.07643169
+v -0.04570743 -0.00556023 0.12091723
+v -0.03796780 -0.00556130 0.07643169
+v -0.03833522 -0.00556023 0.12091723
+v -0.04070350 -0.01003227 0.12091723
+v -0.03955574 0.00010725 0.07643169
+v -0.04438688 -0.00025575 0.12091723
+v -0.04437869 -0.00022700 0.12091723
+v -0.03970035 -0.00022700 0.12091723
+f 1 2 5
+f 1 5 10
+f 1 10 7
+f 1 7 3
+f 1 3 9
+f 1 9 4
+f 1 4 2
+f 2 4 6
+f 2 6 5
+f 3 7 8
+f 3 8 9
+f 4 9 8
+f 4 8 13
+f 4 13 12
+f 4 12 11
+f 4 11 6
+f 5 6 11
+f 5 11 12
+f 5 12 13
+f 5 13 10
+f 7 10 13
+f 7 13 8
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_50.obj b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03e5b4225b68fabf0fce0b7be4113eecd3b7bfe0
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_50.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v -0.00857868 0.03161127 0.17030377
+v -0.00857868 0.03789330 0.16963785
+v -0.00857868 0.02638063 0.16995424
+v -0.00088206 0.02663073 0.16991683
+v -0.00088206 0.02674097 0.16991683
+v -0.00088206 0.03101729 0.16981102
+v -0.00857868 0.04056539 0.16557284
+v -0.00486938 0.03534462 0.16930115
+v -0.00857868 0.02376613 0.16559208
+v -0.00857868 0.02375626 0.16557284
+v -0.00088206 0.02441112 0.16557284
+v -0.00088206 0.03338005 0.16557284
+v -0.00857868 0.04054236 0.16466428
+v -0.00088206 0.03339815 0.16525218
+v -0.00857868 0.02527000 0.16041757
+v -0.00088206 0.02560072 0.16066662
+v -0.00415811 0.03585962 0.16144050
+v -0.00857868 0.03844450 0.16067410
+v -0.00088206 0.03150432 0.16049132
+v -0.00857868 0.03158659 0.15938502
+v -0.00088206 0.02567476 0.16046353
+v -0.00857868 0.03833920 0.16061745
+v -0.00857868 0.03161292 0.15938608
+f 1 2 7
+f 1 7 13
+f 1 13 18
+f 1 18 22
+f 1 22 23
+f 1 23 20
+f 1 20 15
+f 1 15 10
+f 1 10 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 8
+f 2 8 7
+f 3 9 4
+f 4 9 10
+f 4 10 11
+f 4 11 16
+f 4 16 21
+f 4 21 19
+f 4 19 14
+f 4 14 12
+f 4 12 6
+f 4 6 5
+f 6 12 8
+f 7 8 12
+f 7 12 14
+f 7 14 13
+f 10 15 16
+f 10 16 11
+f 13 14 17
+f 13 17 18
+f 14 19 17
+f 15 20 21
+f 15 21 16
+f 17 19 18
+f 18 19 22
+f 19 21 20
+f 19 20 23
+f 19 23 22
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_51.obj b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c0cca06a59a011414bc8d0a419c0f1fe0282063a
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_51.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v 0.04130261 0.06135117 0.17000314
+v 0.03847242 0.06135117 0.17000314
+v 0.04140339 0.05479896 0.16997577
+v 0.04421664 0.05479896 0.16557255
+v 0.04395243 0.06135117 0.16557255
+v 0.04060226 0.06878417 0.16980677
+v 0.03556686 0.07568489 0.16972180
+v 0.03867651 0.05479896 0.16997577
+v 0.03610800 0.06917564 0.16984548
+v 0.03556686 0.06952413 0.16980488
+v 0.04402864 0.05479896 0.16495606
+v 0.04236288 0.06135117 0.16035931
+v 0.04142202 0.06878417 0.16059627
+v 0.04231122 0.06878417 0.16557255
+v 0.03992817 0.07284201 0.16945463
+v 0.03556686 0.07575172 0.16971897
+v 0.03560835 0.07568011 0.16972086
+v 0.03683968 0.05479896 0.16557255
+v 0.03556686 0.06328939 0.16557255
+v 0.04252717 0.05479896 0.16039990
+v 0.03556686 0.06883908 0.16040934
+v 0.03556686 0.07611692 0.16052546
+v 0.03601569 0.07610976 0.16053396
+v 0.03760185 0.06135117 0.16035931
+v 0.04041765 0.07355810 0.16122786
+v 0.04040325 0.07354855 0.16557255
+v 0.03739353 0.07726744 0.16557255
+v 0.03556686 0.07918178 0.16557255
+v 0.03556686 0.06464041 0.16325388
+v 0.03773057 0.05479896 0.16101734
+v 0.03787708 0.05479896 0.16039990
+v 0.03556686 0.06875315 0.16043483
+v 0.03556686 0.07652748 0.16054435
+v 0.03556686 0.07700965 0.16062177
+v 0.03556686 0.07906960 0.16340493
+f 1 2 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 9
+f 2 9 10
+f 2 10 8
+f 3 8 18
+f 3 18 30
+f 3 30 31
+f 3 31 20
+f 3 20 11
+f 3 11 4
+f 4 11 12
+f 4 12 5
+f 5 12 13
+f 5 13 14
+f 5 14 15
+f 5 15 6
+f 6 15 16
+f 6 16 17
+f 6 17 7
+f 7 17 16
+f 7 16 28
+f 7 28 35
+f 7 35 34
+f 7 34 33
+f 7 33 22
+f 7 22 21
+f 7 21 32
+f 7 32 29
+f 7 29 19
+f 7 19 10
+f 7 10 9
+f 8 10 18
+f 10 19 18
+f 11 20 12
+f 12 21 22
+f 12 22 23
+f 12 23 13
+f 12 20 31
+f 12 31 24
+f 12 24 21
+f 13 23 25
+f 13 25 14
+f 14 25 26
+f 14 26 15
+f 15 26 27
+f 15 27 28
+f 15 28 16
+f 18 19 29
+f 18 29 30
+f 21 24 31
+f 21 31 32
+f 22 33 23
+f 23 33 34
+f 23 34 25
+f 25 34 35
+f 25 35 27
+f 25 27 26
+f 27 35 28
+f 29 31 30
+f 29 32 31
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_52.obj b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..679c09905d31c268a33d3869c978c69261c3c7e2
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_52.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.02112852 0.07016130 0.14326934
+v 0.02112852 0.06733192 0.13872259
+v 0.02015373 0.06730540 0.13871517
+v 0.02015373 0.07010068 0.14326934
+v 0.02015373 0.06982977 0.14391609
+v 0.02015373 0.06786238 0.14815942
+v 0.02112852 0.06789648 0.14815199
+v 0.02856155 0.06710080 0.14812786
+v 0.02856155 0.06869783 0.14326934
+v 0.02856155 0.06666318 0.13874671
+v 0.02900447 0.06156518 0.13873465
+v 0.02015373 0.06384138 0.13871517
+v 0.02015373 0.06348712 0.14815942
+v 0.02883790 0.06142310 0.14819375
+v 0.03353773 0.06602191 0.14769360
+v 0.03598701 0.06048439 0.14812601
+v 0.03600783 0.06129333 0.14811024
+v 0.03393332 0.06630892 0.14326934
+v 0.03322542 0.06576900 0.13907148
+v 0.03582045 0.06109441 0.13885992
+v 0.03624443 0.06048439 0.13885250
+v 0.03002847 0.06048439 0.13873743
+v 0.02015373 0.06225950 0.14326934
+v 0.02964613 0.06048439 0.13885621
+v 0.02015373 0.06325978 0.14751174
+v 0.02934517 0.06048439 0.14805642
+v 0.03741986 0.06048439 0.14796641
+v 0.03948870 0.06048439 0.14326934
+v 0.03765078 0.06281743 0.14326934
+v 0.03900035 0.06048439 0.14108133
+v 0.03682363 0.06048439 0.13893044
+v 0.02600248 0.06048439 0.14326934
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 2
+f 2 10 3
+f 3 10 11
+f 3 11 12
+f 3 12 23
+f 3 23 25
+f 3 25 13
+f 3 13 6
+f 3 6 5
+f 3 5 4
+f 6 13 14
+f 6 14 8
+f 6 8 7
+f 8 15 9
+f 8 14 16
+f 8 16 17
+f 8 17 15
+f 9 15 18
+f 9 18 19
+f 9 19 10
+f 10 19 20
+f 10 20 21
+f 10 21 22
+f 10 22 11
+f 11 22 12
+f 12 22 24
+f 12 24 23
+f 13 25 26
+f 13 26 14
+f 14 26 16
+f 15 17 27
+f 15 27 28
+f 15 28 29
+f 15 29 18
+f 16 27 17
+f 16 26 32
+f 16 32 24
+f 16 24 22
+f 16 22 21
+f 16 21 31
+f 16 31 30
+f 16 30 28
+f 16 28 27
+f 18 29 19
+f 19 29 30
+f 19 30 31
+f 19 31 20
+f 20 31 21
+f 23 32 26
+f 23 26 25
+f 23 24 32
+f 28 30 29
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_53.obj b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f7654ff69f3d56723c0942af72a4bee62df9217
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_53.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.03472301 0.03884268 0.06148795
+v 0.03472301 0.03865617 0.06235605
+v 0.03472301 0.03673497 0.05693664
+v 0.02856128 0.03641558 0.05704921
+v 0.02856128 0.03816978 0.06148795
+v 0.02856128 0.03708239 0.06656585
+v 0.03472301 0.03743470 0.06668128
+v 0.03472301 0.03374467 0.05693664
+v 0.02856128 0.03332533 0.05704921
+v 0.02790710 0.03317538 0.05707496
+v 0.02119449 0.03168084 0.05734493
+v 0.02790710 0.03634488 0.05708927
+v 0.02790710 0.03634610 0.05709023
+v 0.02322986 0.03584385 0.05737927
+v 0.02119449 0.03630221 0.06200691
+v 0.02790710 0.03800399 0.06153470
+v 0.02119449 0.03608522 0.06580555
+v 0.02790710 0.03699219 0.06650289
+v 0.02119449 0.03166134 0.06654582
+v 0.02119449 0.03607425 0.06585420
+v 0.03472301 0.03285234 0.06664312
+v 0.03472301 0.03134073 0.06156904
+v 0.02119449 0.02658527 0.06154042
+v 0.02409194 0.02874662 0.05986623
+v 0.02119449 0.03164427 0.05735543
+v 0.02119449 0.03617909 0.06144503
+v 0.02119449 0.03161136 0.06654296
+v 0.03472301 0.03260122 0.06596391
+v 0.02119449 0.02687906 0.06590572
+v 0.02119449 0.02685102 0.06588950
+v 0.02498051 0.02785185 0.06524844
+v 0.02119449 0.02639023 0.06198019
+f 1 2 7
+f 1 7 21
+f 1 21 28
+f 1 28 22
+f 1 22 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 3 8 9
+f 3 9 4
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 5
+f 5 13 14
+f 5 14 15
+f 5 15 16
+f 5 16 17
+f 5 17 6
+f 6 18 19
+f 6 19 7
+f 6 17 20
+f 6 20 18
+f 7 19 21
+f 8 22 23
+f 8 23 24
+f 8 24 25
+f 8 25 11
+f 8 11 10
+f 8 10 9
+f 11 26 14
+f 11 14 12
+f 11 25 23
+f 11 23 32
+f 11 32 30
+f 11 30 29
+f 11 29 27
+f 11 27 19
+f 11 19 20
+f 11 20 17
+f 11 17 15
+f 11 15 26
+f 12 14 13
+f 14 26 15
+f 15 17 16
+f 18 20 19
+f 19 27 21
+f 21 27 29
+f 21 29 30
+f 21 30 31
+f 21 31 28
+f 22 28 31
+f 22 31 32
+f 22 32 23
+f 23 25 24
+f 30 32 31
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_54.obj b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0cf35afa0d8cb976c3359aab45985c51ee8b97cf
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_54.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.02113192 0.02386705 0.14326926
+v 0.02113192 0.02608490 0.13856739
+v 0.02600879 0.02650555 0.13872030
+v 0.02600879 0.02473700 0.14326926
+v 0.02600879 0.02550525 0.14644679
+v 0.02600879 0.02612558 0.14820482
+v 0.02113192 0.02567628 0.14838755
+v 0.02113192 0.02953048 0.13856450
+v 0.02600879 0.03085527 0.13864721
+v 0.02600879 0.02967747 0.14834908
+v 0.02600879 0.03113077 0.14834908
+v 0.02113192 0.02992154 0.14838274
+v 0.02113192 0.03155696 0.14326445
+v 0.02600879 0.03331165 0.14326926
+v 0.02600879 0.03304909 0.14408672
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 12
+f 1 12 13
+f 1 13 8
+f 1 8 2
+f 2 8 9
+f 2 9 3
+f 3 9 14
+f 3 14 15
+f 3 15 11
+f 3 11 10
+f 3 10 6
+f 3 6 5
+f 3 5 4
+f 6 10 7
+f 7 10 11
+f 7 11 12
+f 8 13 14
+f 8 14 9
+f 11 15 12
+f 12 15 14
+f 12 14 13
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_55.obj b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85eccc3220e2b5b6ad3a1f453fb531949936855d
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_55.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v 0.01347539 0.08135916 0.16562115
+v 0.01347539 0.08305811 0.16072306
+v 0.01582340 0.07975566 0.16165126
+v 0.01582340 0.07975566 0.16319392
+v 0.02798537 0.07434751 0.16557196
+v 0.01348533 0.08135623 0.16563044
+v 0.01347539 0.08519905 0.16976464
+v 0.02798537 0.07692604 0.16037777
+v 0.02798537 0.07649433 0.16044460
+v 0.01347539 0.08866303 0.16059775
+v 0.02112598 0.08365429 0.16031650
+v 0.02798537 0.07436660 0.16495657
+v 0.02798537 0.07711252 0.16979805
+v 0.02309615 0.07936212 0.16964119
+v 0.01814017 0.08080117 0.16814864
+v 0.01369272 0.08524163 0.16976834
+v 0.01347539 0.08797728 0.16976649
+v 0.02798537 0.08358380 0.16071842
+v 0.01347539 0.08873645 0.16059683
+v 0.01369272 0.08873938 0.16059404
+v 0.02798537 0.08173361 0.16977763
+v 0.01369272 0.08797875 0.16976834
+v 0.01369272 0.08934877 0.16557290
+v 0.01347539 0.08930472 0.16569355
+v 0.02798537 0.08360876 0.16072584
+v 0.02112598 0.08812412 0.16113146
+v 0.01347539 0.08933556 0.16550977
+v 0.02798537 0.08488775 0.16551720
+v 0.02389587 0.08656173 0.16794072
+v 0.01893989 0.08771443 0.16956785
+v 0.02130069 0.08818139 0.16550606
+v 0.02138876 0.08816670 0.16541974
+v 0.02515298 0.08752941 0.16168560
+v 0.02138876 0.08808594 0.16116767
+v 0.01347539 0.08934290 0.16557290
+v 0.02798537 0.08490830 0.16548193
+v 0.02515298 0.08752941 0.16298507
+v 0.02138876 0.08816670 0.16544944
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 17
+f 1 17 24
+f 1 24 35
+f 1 35 27
+f 1 27 19
+f 1 19 10
+f 1 10 2
+f 2 8 9
+f 2 9 3
+f 2 10 11
+f 2 11 8
+f 3 9 12
+f 3 12 5
+f 3 5 4
+f 5 12 9
+f 5 9 8
+f 5 8 18
+f 5 18 25
+f 5 25 36
+f 5 36 28
+f 5 28 21
+f 5 21 13
+f 5 13 6
+f 6 13 14
+f 6 14 15
+f 6 15 7
+f 7 16 17
+f 7 15 14
+f 7 14 13
+f 7 13 16
+f 8 11 18
+f 10 19 11
+f 11 19 20
+f 11 20 18
+f 13 21 22
+f 13 22 16
+f 16 22 17
+f 17 22 23
+f 17 23 24
+f 18 20 26
+f 18 26 25
+f 19 27 23
+f 19 23 20
+f 20 23 26
+f 21 28 29
+f 21 29 30
+f 21 30 22
+f 22 30 23
+f 23 31 32
+f 23 32 33
+f 23 33 34
+f 23 34 26
+f 23 27 35
+f 23 35 24
+f 23 30 31
+f 25 26 34
+f 25 34 33
+f 25 33 36
+f 28 36 29
+f 29 36 37
+f 29 37 38
+f 29 38 31
+f 29 31 30
+f 31 38 32
+f 32 38 37
+f 32 37 33
+f 33 37 36
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_56.obj b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..630cd506473de7196a7220877636943ad20ec7f0
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_56.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.00088130 0.02674027 0.16991724
+v -0.00088130 0.02663100 0.16991724
+v 0.00625672 0.02878937 0.16989780
+v -0.00088130 0.03101539 0.16981173
+v 0.00625672 0.02605342 0.16989780
+v -0.00088130 0.02441019 0.16557233
+v 0.00625672 0.02283564 0.16557233
+v 0.00847488 0.02874254 0.16988207
+v -0.00088130 0.03337982 0.16557233
+v 0.00847488 0.02276799 0.16557233
+v 0.00847488 0.02603677 0.16988207
+v -0.00088130 0.02560073 0.16066661
+v -0.00088130 0.02567357 0.16046302
+v 0.00625672 0.02467764 0.16048245
+v 0.00847488 0.02405948 0.16200109
+v 0.00847488 0.03036913 0.16557233
+v -0.00088130 0.03339855 0.16525305
+v -0.00088130 0.03150243 0.16049171
+v 0.00625672 0.02957196 0.16048245
+v 0.00847488 0.02462457 0.16049725
+v 0.00847488 0.03014850 0.16406943
+v 0.00847488 0.02951993 0.16049725
+f 1 2 5
+f 1 5 3
+f 1 3 4
+f 1 4 9
+f 1 9 17
+f 1 17 18
+f 1 18 13
+f 1 13 12
+f 1 12 6
+f 1 6 2
+f 2 6 7
+f 2 7 5
+f 3 5 11
+f 3 11 8
+f 3 8 4
+f 4 8 9
+f 5 7 10
+f 5 10 11
+f 6 12 7
+f 7 12 13
+f 7 13 14
+f 7 14 15
+f 7 15 10
+f 8 11 10
+f 8 10 15
+f 8 15 20
+f 8 20 22
+f 8 22 21
+f 8 21 16
+f 8 16 9
+f 9 16 17
+f 13 18 19
+f 13 19 14
+f 14 20 15
+f 14 19 22
+f 14 22 20
+f 16 21 17
+f 17 21 22
+f 17 22 18
+f 18 22 19
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_57.obj b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08e4df35d5bb804da8f7ef708937846c5cde946e
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_57.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v -0.01391802 0.06138376 0.16589314
+v -0.01395489 0.06138376 0.16594686
+v -0.01738202 0.05511802 0.16928991
+v -0.01491019 0.05511802 0.16562451
+v -0.01664383 0.05511802 0.16047054
+v -0.01567706 0.06138376 0.16068914
+v -0.01750081 0.06138376 0.16983365
+v -0.01795880 0.05511802 0.16991795
+v -0.01754588 0.05511802 0.16045479
+v -0.01569918 0.06138376 0.16062523
+v -0.01753031 0.06138376 0.16984384
+v -0.02063873 0.05511802 0.16991795
+v -0.01753850 0.06135003 0.16984476
+v -0.02141215 0.05511802 0.16045479
+v -0.02127942 0.06135003 0.16052982
+v -0.01981206 0.06138376 0.16055576
+v -0.02049371 0.06138376 0.16984384
+v -0.02051583 0.06135003 0.16984476
+v -0.02204219 0.05511802 0.16626367
+v -0.02228798 0.05511802 0.16557264
+v -0.02127532 0.06138376 0.16053260
+v -0.02203154 0.06135003 0.16557264
+v -0.02051338 0.06138376 0.16984291
+v -0.02202416 0.06138376 0.16557264
+v -0.02201843 0.06138376 0.16560043
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 10
+f 1 10 16
+f 1 16 21
+f 1 21 24
+f 1 24 25
+f 1 25 23
+f 1 23 17
+f 1 17 11
+f 1 11 7
+f 1 7 2
+f 2 7 3
+f 3 7 8
+f 3 8 12
+f 3 12 19
+f 3 19 20
+f 3 20 14
+f 3 14 9
+f 3 9 5
+f 3 5 4
+f 5 9 10
+f 5 10 6
+f 7 11 8
+f 8 11 13
+f 8 13 18
+f 8 18 12
+f 9 14 15
+f 9 15 10
+f 10 15 16
+f 11 17 18
+f 11 18 13
+f 12 18 19
+f 14 20 15
+f 15 21 16
+f 15 20 22
+f 15 22 21
+f 17 23 18
+f 18 23 22
+f 18 22 20
+f 18 20 19
+f 21 22 24
+f 22 23 25
+f 22 25 24
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_58.obj b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf9e708968a3d0e1e0a9ba1b24827062e5bba9bf
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_58.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.05051382 -0.00872447 0.17478322
+v -0.04649516 -0.00758086 0.17890475
+v -0.04723848 -0.00556247 0.17890475
+v -0.04967445 -0.00569317 0.17478322
+v -0.04698096 -0.01356179 0.17478322
+v -0.04475379 -0.01092852 0.17890475
+v -0.04582422 -0.00196233 0.17890475
+v -0.04471063 0.00021202 0.17890475
+v -0.04529248 0.00126206 0.17478322
+v -0.03926380 -0.01175726 0.17478322
+v -0.04020478 -0.01064336 0.17890475
+v -0.04215217 -0.01092852 0.17890475
+v -0.04294421 0.00030707 0.17890475
+v -0.03878356 0.00160959 0.17478322
+v -0.03767137 -0.00556247 0.17890475
+v -0.03630583 -0.00556247 0.17478322
+v -0.03931252 0.00030707 0.17890475
+v -0.03829915 0.00160959 0.17478322
+v -0.03629470 -0.00552088 0.17478322
+v -0.03816831 -0.00376240 0.17890475
+v -0.03814604 0.00106601 0.17478322
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 14
+f 1 14 18
+f 1 18 21
+f 1 21 19
+f 1 19 16
+f 1 16 10
+f 1 10 5
+f 1 5 6
+f 1 6 2
+f 2 6 12
+f 2 12 11
+f 2 11 15
+f 2 15 20
+f 2 20 17
+f 2 17 13
+f 2 13 8
+f 2 8 7
+f 2 7 3
+f 3 7 4
+f 4 7 8
+f 4 8 9
+f 5 10 11
+f 5 11 12
+f 5 12 6
+f 8 13 9
+f 9 13 14
+f 10 15 11
+f 10 16 15
+f 13 17 18
+f 13 18 14
+f 15 16 19
+f 15 19 20
+f 17 21 18
+f 17 20 21
+f 19 21 20
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_59.obj b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b97422f7ee93f3e10b02d8a744ccb30e73454bdf
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_59.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v -0.05577225 0.00930825 -0.05911209
+v -0.05577225 0.00916765 -0.05911209
+v -0.05577225 0.02065902 -0.05913066
+v -0.06065492 0.02065902 -0.05913066
+v -0.06065492 0.01674120 -0.05912880
+v -0.06065492 0.00930825 -0.05912694
+v -0.06065492 0.00916765 -0.05912694
+v -0.05577225 0.00916765 -0.06799554
+v -0.05577225 0.02065902 -0.06828701
+v -0.06652841 0.02065902 -0.06015916
+v -0.06076480 0.00916765 -0.05914550
+v -0.06090033 0.00916765 -0.07140040
+v -0.06463285 0.01674120 -0.07584862
+v -0.06063477 0.02065902 -0.07264427
+v -0.06651925 0.01674120 -0.06015731
+v -0.07024627 0.02065902 -0.06319829
+v -0.06650093 0.00916765 -0.06015731
+v -0.06744597 0.00916765 -0.07428729
+v -0.06949354 0.01155118 -0.07739511
+v -0.06834887 0.01674120 -0.07807089
+v -0.06786720 0.02065902 -0.07793163
+v -0.06614930 0.02065902 -0.07690314
+v -0.06456692 0.02065902 -0.07590061
+v -0.07248431 0.02065902 -0.06691504
+v -0.07023711 0.01674120 -0.06322057
+v -0.07021879 0.00916765 -0.06326513
+v -0.07312532 0.01155118 -0.07739511
+v -0.07310700 0.00916765 -0.07205204
+v -0.07379380 0.01674120 -0.07807089
+v -0.07122793 0.02065902 -0.07807645
+v -0.07247515 0.01674120 -0.06693918
+v -0.07448060 0.02065902 -0.07233609
+v -0.07244218 0.00930825 -0.06698188
+v -0.07244036 0.00916765 -0.06698374
+v -0.07446228 0.01674120 -0.07233609
+v -0.07310151 0.00916765 -0.07200748
+v -0.07380479 0.02065902 -0.07807645
+v -0.07416559 0.02065902 -0.07505032
+f 1 2 8
+f 1 8 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 11
+f 2 11 17
+f 2 17 26
+f 2 26 34
+f 2 34 36
+f 2 36 28
+f 2 28 18
+f 2 18 12
+f 2 12 8
+f 3 9 14
+f 3 14 23
+f 3 23 22
+f 3 22 21
+f 3 21 30
+f 3 30 37
+f 3 37 38
+f 3 38 32
+f 3 32 24
+f 3 24 16
+f 3 16 10
+f 3 10 4
+f 4 10 5
+f 5 10 11
+f 5 11 6
+f 6 11 7
+f 8 12 13
+f 8 13 14
+f 8 14 9
+f 10 15 11
+f 10 16 15
+f 11 15 17
+f 12 18 19
+f 12 19 13
+f 13 19 20
+f 13 20 21
+f 13 21 22
+f 13 22 23
+f 13 23 14
+f 15 16 17
+f 16 24 25
+f 16 25 17
+f 17 25 26
+f 18 27 19
+f 18 28 27
+f 19 27 29
+f 19 29 20
+f 20 29 37
+f 20 37 30
+f 20 30 21
+f 24 31 26
+f 24 26 25
+f 24 32 31
+f 26 31 33
+f 26 33 34
+f 27 28 35
+f 27 35 29
+f 28 36 35
+f 29 35 38
+f 29 38 37
+f 31 32 35
+f 31 35 33
+f 32 38 35
+f 33 35 34
+f 34 35 36
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_6.obj b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..201c77fd24c6bed925e54812d5a63b2263d3ba44
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_6.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v 0.05826343 -0.02784145 -0.05911427
+v 0.05826343 -0.03530136 -0.05911304
+v 0.05826343 -0.02784145 -0.06757325
+v -0.02344341 -0.02784145 -0.05911427
+v -0.02344341 -0.03527123 -0.05911304
+v 0.05826343 -0.03532396 -0.05911551
+v -0.02344341 -0.03530136 -0.05911304
+v 0.05826343 -0.03564036 -0.07066719
+v 0.05823144 -0.02784145 -0.06757325
+v -0.02344341 -0.02784145 -0.06755352
+v 0.05826343 -0.04097963 -0.06016285
+v -0.02344341 -0.04116420 -0.06014805
+v 0.05085735 -0.04098151 -0.06014805
+v 0.05826343 -0.04270666 -0.07165779
+v -0.02344341 -0.04273491 -0.07171331
+v 0.00626090 -0.03566673 -0.07060304
+v -0.00116918 -0.03566861 -0.07059317
+v -0.02344341 -0.03567426 -0.07056233
+v 0.05826343 -0.04469358 -0.06374407
+v -0.02344341 -0.04488003 -0.06324198
+v 0.05085735 -0.04470111 -0.06368486
+v 0.05826343 -0.04273491 -0.07166149
+v -0.02344341 -0.04708165 -0.06976047
+v 0.05826343 -0.04689143 -0.06745359
+v 0.05085735 -0.04690838 -0.06740177
+v -0.02344341 -0.04708165 -0.06695644
+v -0.01603733 -0.04706470 -0.06700085
+v 0.05826343 -0.04689332 -0.06961367
+v 0.05592004 -0.04689897 -0.06810248
+v 0.05826343 -0.04689332 -0.06810248
+f 1 2 6
+f 1 6 11
+f 1 11 19
+f 1 19 24
+f 1 24 30
+f 1 30 28
+f 1 28 22
+f 1 22 14
+f 1 14 8
+f 1 8 3
+f 1 3 9
+f 1 9 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 6
+f 3 8 9
+f 4 10 18
+f 4 18 15
+f 4 15 23
+f 4 23 26
+f 4 26 20
+f 4 20 12
+f 4 12 7
+f 4 7 5
+f 6 7 12
+f 6 12 13
+f 6 13 11
+f 8 14 15
+f 8 15 16
+f 8 16 17
+f 8 17 10
+f 8 10 9
+f 10 17 18
+f 11 13 20
+f 11 20 21
+f 11 21 19
+f 12 20 13
+f 14 22 15
+f 15 18 17
+f 15 17 16
+f 15 22 23
+f 19 21 20
+f 19 20 25
+f 19 25 24
+f 20 26 27
+f 20 27 25
+f 22 28 23
+f 23 27 26
+f 23 28 29
+f 23 29 27
+f 24 25 27
+f 24 27 29
+f 24 29 30
+f 28 30 29
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_60.obj b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d541f9e3c2eec91eeef0a3fb850dacb7ecfe8d9
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_60.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.02577812 0.03438524 0.16557171
+v 0.02578151 0.03060568 0.16985616
+v 0.02578151 0.03438178 0.16556517
+v 0.02578151 0.03164338 0.16050325
+v 0.00847488 0.02951954 0.16049764
+v 0.00847488 0.03014793 0.16407005
+v 0.00847488 0.03036931 0.16557171
+v 0.00847488 0.02874241 0.16988140
+v 0.02578151 0.02941808 0.16985616
+v 0.02112620 0.02940539 0.16996549
+v 0.02578151 0.02620118 0.16076303
+v 0.02112620 0.02531222 0.16041915
+v 0.02112620 0.03040505 0.16041915
+v 0.02107538 0.03039929 0.16041915
+v 0.00847488 0.02462502 0.16049764
+v 0.00847488 0.02603746 0.16988140
+v 0.02578151 0.02695871 0.16981318
+v 0.02112620 0.02637760 0.16996549
+v 0.02578151 0.02538831 0.16556330
+v 0.02112620 0.02379486 0.16557171
+v 0.02107538 0.02378563 0.16557171
+v 0.01369262 0.02260610 0.16557171
+v 0.02107538 0.02530645 0.16041915
+v 0.00847488 0.02406120 0.16200117
+v 0.01369262 0.02450165 0.16053129
+v 0.00847488 0.02276753 0.16557171
+v 0.01369262 0.02600056 0.16984402
+v 0.02578151 0.02651711 0.16906281
+v 0.02107538 0.02635108 0.16993466
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 9 17
+f 2 17 28
+f 2 28 19
+f 2 19 11
+f 2 11 4
+f 2 4 3
+f 2 8 10
+f 2 10 18
+f 2 18 9
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 5
+f 5 15 24
+f 5 24 26
+f 5 26 16
+f 5 16 8
+f 5 8 7
+f 5 7 6
+f 5 14 23
+f 5 23 15
+f 8 16 18
+f 8 18 10
+f 9 18 17
+f 11 19 20
+f 11 20 12
+f 12 20 21
+f 12 21 22
+f 12 22 23
+f 12 23 14
+f 12 14 13
+f 15 23 25
+f 15 25 22
+f 15 22 24
+f 16 26 22
+f 16 22 27
+f 16 27 18
+f 17 18 29
+f 17 29 22
+f 17 22 28
+f 18 27 29
+f 19 28 20
+f 20 28 21
+f 21 28 22
+f 22 25 23
+f 22 29 27
+f 22 26 24
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_61.obj b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96de9bc30a0db1ae05ac5ab2759051bce8bb7165
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_61.obj
@@ -0,0 +1,159 @@
+# https://github.com/mikedh/trimesh
+v -0.05577408 0.02065902 -0.05912951
+v -0.05577408 0.02417719 -0.05913149
+v -0.06065720 0.02417719 -0.05913149
+v -0.06065720 0.02065902 -0.05913149
+v -0.05577408 0.02065902 -0.06828950
+v -0.05577408 0.02902062 -0.05980803
+v -0.05577408 0.03153202 -0.06016110
+v -0.06065537 0.03149725 -0.06016110
+v -0.06582260 0.03027815 -0.06050430
+v -0.06646414 0.02480687 -0.06019463
+v -0.06653746 0.02417719 -0.06015912
+v -0.06652830 0.02065902 -0.06015912
+v -0.06063520 0.02065902 -0.07264266
+v -0.05577408 0.02172435 -0.06986349
+v -0.05577408 0.03397204 -0.06086525
+v -0.06065537 0.03521310 -0.06127552
+v -0.06821466 0.03229533 -0.06303099
+v -0.07009715 0.02480687 -0.06316708
+v -0.07025479 0.02417719 -0.06317892
+v -0.07024563 0.02065902 -0.06319865
+v -0.06456882 0.02065902 -0.07589913
+v -0.05577408 0.03242346 -0.07800766
+v -0.05577408 0.03524605 -0.06124790
+v -0.06065537 0.03678731 -0.06499356
+v -0.06808818 0.03643220 -0.06622435
+v -0.07221977 0.03583180 -0.06783386
+v -0.07246539 0.03161073 -0.06715534
+v -0.07248923 0.02480687 -0.06691865
+v -0.07249105 0.02417719 -0.06689696
+v -0.07248372 0.02065902 -0.06691668
+v -0.06614887 0.02065902 -0.07690310
+v -0.06786639 0.02065902 -0.07793075
+v -0.06808818 0.03161073 -0.07927989
+v -0.05577408 0.03462003 -0.07809643
+v -0.05577408 0.03680012 -0.06496594
+v -0.05577408 0.03848416 -0.06981221
+v -0.06065537 0.03933716 -0.07233692
+v -0.06808818 0.03896557 -0.07233692
+v -0.07313444 0.03696853 -0.07233692
+v -0.07448902 0.03161073 -0.07233692
+v -0.07449819 0.02480687 -0.07233692
+v -0.07449636 0.02417719 -0.07233495
+v -0.07342405 0.02065902 -0.06946703
+v -0.07122629 0.02065902 -0.07807473
+v -0.06065537 0.03787644 -0.07809643
+v -0.05577408 0.03788743 -0.07809643
+v -0.07380348 0.02065902 -0.07807473
+v -0.07381265 0.02480687 -0.07808065
+v -0.07382915 0.03161073 -0.07808656
+v -0.07316193 0.03700880 -0.07741397
+v -0.06808818 0.03785997 -0.07809446
+v -0.05577408 0.03935912 -0.07233692
+v -0.07416459 0.02065902 -0.07504902
+v -0.07447986 0.02065902 -0.07233495
+f 1 2 3
+f 1 3 4
+f 1 4 12
+f 1 12 20
+f 1 20 30
+f 1 30 43
+f 1 43 54
+f 1 54 53
+f 1 53 47
+f 1 47 44
+f 1 44 32
+f 1 32 31
+f 1 31 21
+f 1 21 13
+f 1 13 5
+f 1 5 14
+f 1 14 22
+f 1 22 34
+f 1 34 46
+f 1 46 52
+f 1 52 36
+f 1 36 35
+f 1 35 23
+f 1 23 15
+f 1 15 7
+f 1 7 6
+f 1 6 2
+f 2 6 3
+f 3 6 7
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 4 11 12
+f 5 13 14
+f 7 15 8
+f 8 15 16
+f 8 16 9
+f 9 16 17
+f 9 17 18
+f 9 18 19
+f 9 19 10
+f 10 19 11
+f 11 19 12
+f 12 19 20
+f 13 21 14
+f 14 21 22
+f 15 23 16
+f 16 23 24
+f 16 24 25
+f 16 25 26
+f 16 26 17
+f 17 26 18
+f 18 26 19
+f 19 26 27
+f 19 27 28
+f 19 28 29
+f 19 29 30
+f 19 30 20
+f 21 31 22
+f 22 31 32
+f 22 32 33
+f 22 33 34
+f 23 35 24
+f 24 35 36
+f 24 36 37
+f 24 37 38
+f 24 38 25
+f 25 38 26
+f 26 38 39
+f 26 39 40
+f 26 40 27
+f 27 40 28
+f 28 40 29
+f 29 40 41
+f 29 41 42
+f 29 42 30
+f 30 42 43
+f 32 44 33
+f 33 45 46
+f 33 46 34
+f 33 44 47
+f 33 47 48
+f 33 48 49
+f 33 49 50
+f 33 50 51
+f 33 51 45
+f 36 52 37
+f 37 52 51
+f 37 51 38
+f 38 51 50
+f 38 50 39
+f 39 50 40
+f 40 50 49
+f 40 49 41
+f 41 49 53
+f 41 53 42
+f 42 53 54
+f 42 54 43
+f 45 51 52
+f 45 52 46
+f 47 49 48
+f 47 53 49
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_62.obj b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b150913a08ea78b5798553ed4f87b2187b6ac72
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_62.obj
@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
+v -0.00096230 0.01489120 0.06138952
+v -0.00018475 0.01489120 0.06507735
+v 0.00197847 0.02123231 0.06571026
+v -0.00018791 0.01674250 0.06148804
+v 0.00235853 0.02071655 0.05762549
+v 0.00151922 0.01674250 0.05723142
+v 0.00116766 0.01489120 0.05720075
+v 0.00028242 0.01489120 0.06635340
+v 0.00083193 0.01674250 0.06633946
+v 0.00198322 0.02123231 0.06148804
+v 0.00645375 0.02389796 0.06637571
+v 0.00906037 0.02872075 0.06583852
+v 0.00526446 0.02494758 0.06148804
+v 0.00956396 0.02825928 0.05752604
+v 0.00675622 0.02358851 0.05730764
+v 0.01369085 0.02945367 0.05724072
+v 0.00622413 0.01694518 0.05711060
+v 0.00554792 0.01489120 0.05710874
+v 0.00477987 0.01489120 0.06655508
+v 0.00654401 0.01655067 0.06659969
+v 0.01373361 0.02409703 0.06660341
+v 0.01521587 0.02560268 0.06659133
+v 0.01521587 0.03139365 0.06618983
+v 0.01439556 0.03136288 0.06613964
+v 0.01521587 0.03247583 0.06589056
+v 0.01521587 0.03337886 0.06292302
+v 0.00898119 0.02878771 0.06148804
+v 0.01521587 0.03337886 0.06281800
+v 0.01521587 0.03302416 0.06158098
+v 0.01521587 0.02990247 0.05726209
+v 0.01338996 0.02440829 0.05711804
+v 0.01521587 0.02524617 0.05717845
+v 0.01071208 0.01955836 0.05738942
+v 0.00842693 0.01489120 0.06148804
+v 0.00605943 0.01489120 0.06657831
+v 0.01521587 0.02464355 0.06646214
+v 0.01521587 0.03193655 0.06610433
+v 0.01521587 0.02249908 0.06148804
+v 0.01128218 0.01890144 0.06601510
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 18
+f 1 18 34
+f 1 34 35
+f 1 35 19
+f 1 19 8
+f 1 8 2
+f 2 8 9
+f 2 9 3
+f 3 10 4
+f 3 9 11
+f 3 11 12
+f 3 12 13
+f 3 13 10
+f 4 10 5
+f 5 10 13
+f 5 13 14
+f 5 14 15
+f 5 15 6
+f 6 15 16
+f 6 16 17
+f 6 17 7
+f 7 17 18
+f 8 19 20
+f 8 20 9
+f 9 20 11
+f 11 21 22
+f 11 22 23
+f 11 23 24
+f 11 24 12
+f 11 20 21
+f 12 24 25
+f 12 25 26
+f 12 26 27
+f 12 27 13
+f 13 27 14
+f 14 27 28
+f 14 28 29
+f 14 29 16
+f 14 16 15
+f 16 29 30
+f 16 30 31
+f 16 31 17
+f 17 31 18
+f 18 31 32
+f 18 32 33
+f 18 33 34
+f 19 35 20
+f 20 35 21
+f 21 35 22
+f 22 35 36
+f 22 36 38
+f 22 38 32
+f 22 32 30
+f 22 30 29
+f 22 29 28
+f 22 28 26
+f 22 26 25
+f 22 25 37
+f 22 37 23
+f 23 37 24
+f 24 37 25
+f 26 28 27
+f 30 32 31
+f 32 38 33
+f 33 38 34
+f 34 38 39
+f 34 39 35
+f 35 39 36
+f 36 39 38
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_63.obj b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d4b9c8d8b9a66289a188c8cf9c7c587a782e46d
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_63.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.00847488 0.08109319 0.16557912
+v 0.00847488 0.08305887 0.16065795
+v 0.01347397 0.08305887 0.16072259
+v 0.01347397 0.08135808 0.16562221
+v 0.00847488 0.08422262 0.16969221
+v 0.00847488 0.08866763 0.16064447
+v 0.01347397 0.08873709 0.16059599
+v 0.01347397 0.08866440 0.16059689
+v 0.01347397 0.08520062 0.16976583
+v 0.00847488 0.08792868 0.16973440
+v 0.00847488 0.08922407 0.16557282
+v 0.01347397 0.08934359 0.16557282
+v 0.01347397 0.08797714 0.16976762
+v 0.01347397 0.08930644 0.16569404
+v 0.00847488 0.08833652 0.16848279
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 15
+f 1 15 11
+f 1 11 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 3 8 7
+f 3 7 12
+f 3 12 14
+f 3 14 13
+f 3 13 9
+f 3 9 4
+f 4 9 5
+f 5 9 10
+f 6 11 12
+f 6 12 7
+f 9 13 10
+f 10 13 14
+f 10 14 15
+f 11 15 12
+f 12 15 14
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_64.obj b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf488a6d7a287ffe0925ae23cd11636ceb574622
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_64.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v -0.05577224 0.00916765 -0.06799360
+v -0.04552303 0.00916765 -0.06763757
+v -0.05577224 0.00916765 -0.05911052
+v -0.05577224 0.02064896 -0.06828549
+v -0.04627253 0.02114790 -0.06828549
+v -0.04552303 0.02122120 -0.06828549
+v -0.04552303 0.00916765 -0.06748512
+v -0.04578892 0.00916765 -0.05878889
+v -0.05577224 0.02417539 -0.05913098
+v -0.05577224 0.03795409 -0.06828549
+v -0.04552303 0.03701259 -0.06828549
+v -0.04552303 0.00917328 -0.05879075
+v -0.04552303 0.02417539 -0.05913098
+v -0.04552303 0.02443754 -0.05916723
+v -0.05577224 0.02901823 -0.05980585
+v -0.05577224 0.03680117 -0.06496317
+v -0.05321972 0.03796537 -0.06828549
+v -0.04552303 0.03650801 -0.06417581
+v -0.04552303 0.03233324 -0.06035988
+v -0.05321972 0.03154959 -0.06015909
+v -0.05577224 0.03152986 -0.06015909
+v -0.05321972 0.03680681 -0.06494830
+v -0.05577224 0.03524796 -0.06124670
+v -0.04794211 0.03530434 -0.06120301
+v -0.04552303 0.03531844 -0.06119279
+v -0.04552303 0.03647418 -0.06408843
+v -0.04552303 0.03236988 -0.06036918
+v -0.05577224 0.03397101 -0.06086371
+v -0.05321972 0.03526488 -0.06123183
+f 1 2 7
+f 1 7 8
+f 1 8 3
+f 1 3 9
+f 1 9 15
+f 1 15 21
+f 1 21 28
+f 1 28 23
+f 1 23 16
+f 1 16 10
+f 1 10 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 11
+f 2 11 18
+f 2 18 26
+f 2 26 25
+f 2 25 27
+f 2 27 19
+f 2 19 14
+f 2 14 13
+f 2 13 12
+f 2 12 7
+f 3 8 9
+f 4 10 17
+f 4 17 11
+f 4 11 6
+f 4 6 5
+f 7 12 8
+f 8 12 13
+f 8 13 9
+f 9 13 14
+f 9 14 15
+f 10 16 17
+f 11 17 18
+f 14 19 20
+f 14 20 15
+f 15 20 21
+f 16 22 17
+f 16 23 24
+f 16 24 25
+f 16 25 22
+f 17 22 18
+f 18 22 26
+f 19 27 20
+f 20 27 21
+f 21 27 25
+f 21 25 28
+f 22 25 26
+f 23 28 29
+f 23 29 24
+f 24 29 28
+f 24 28 25
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_65.obj b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ffd0284fd27880ec9213ad2fda4ff501ba7340b
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_65.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.01369184 0.06333684 0.13866503
+v 0.01369184 0.06713053 0.13866503
+v 0.02015183 0.06384066 0.13871456
+v 0.00588247 0.06133271 0.13887435
+v 0.00564100 0.06133271 0.13887621
+v 0.00564100 0.06153956 0.13887995
+v 0.00771052 0.06622588 0.13888369
+v 0.01369184 0.06970199 0.14326908
+v 0.02015183 0.07010110 0.14326908
+v 0.02015183 0.06730562 0.13871456
+v 0.02015183 0.06225967 0.14326908
+v 0.01453414 0.06133271 0.14326908
+v 0.00564100 0.06133271 0.14801422
+v 0.00564100 0.06197214 0.13906497
+v 0.00564100 0.06666447 0.14324759
+v 0.00564242 0.06666533 0.14324852
+v 0.00564100 0.06602847 0.14761241
+v 0.00625745 0.06619584 0.14771707
+v 0.01369184 0.06763864 0.14821140
+v 0.02015183 0.06982988 0.14391665
+v 0.02015183 0.06325959 0.14751149
+v 0.01195327 0.06133271 0.14638080
+v 0.00714947 0.06133271 0.14811982
+v 0.00564100 0.06559846 0.14771800
+v 0.00818352 0.06133271 0.14813477
+v 0.01369184 0.06292571 0.14821140
+v 0.02015183 0.06786265 0.14816000
+v 0.02015183 0.06348704 0.14816000
+f 1 2 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 3 10 9
+f 3 9 20
+f 3 20 27
+f 3 27 28
+f 3 28 21
+f 3 21 11
+f 3 11 4
+f 4 11 12
+f 4 12 22
+f 4 22 25
+f 4 25 23
+f 4 23 13
+f 4 13 5
+f 5 13 24
+f 5 24 17
+f 5 17 15
+f 5 15 14
+f 5 14 6
+f 6 14 7
+f 7 14 15
+f 7 15 16
+f 7 16 8
+f 8 16 17
+f 8 17 18
+f 8 18 19
+f 8 19 9
+f 9 19 20
+f 11 21 22
+f 11 22 12
+f 13 23 19
+f 13 19 24
+f 15 17 16
+f 17 24 18
+f 18 24 19
+f 19 25 26
+f 19 26 28
+f 19 28 27
+f 19 27 20
+f 19 23 25
+f 21 28 22
+f 22 28 25
+f 25 28 26
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_66.obj b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..200ff10598b40bff08e908467c95686ba7325afa
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_66.obj
@@ -0,0 +1,120 @@
+# https://github.com/mikedh/trimesh
+v -0.00806648 0.00316472 0.06107829
+v -0.00788059 0.00188295 0.06619853
+v -0.00779797 0.00188295 0.06625205
+v -0.00118035 0.00188295 0.06683880
+v 0.00343794 0.00188295 0.06606570
+v 0.00378493 0.00188295 0.06148061
+v 0.00288441 0.00188295 0.05747558
+v -0.00164300 0.00188295 0.05727777
+v -0.00294009 0.00188295 0.05726344
+v -0.00329741 0.00188295 0.05725961
+v -0.01605347 -0.00116607 0.05719750
+v -0.01605347 -0.00001855 0.06148825
+v -0.01605347 -0.00069897 0.06627498
+v -0.00118035 0.00187192 0.06683975
+v 0.00343381 0.00187192 0.06607430
+v 0.00414019 -0.01562224 0.06632085
+v 0.00504691 -0.01562224 0.06148825
+v 0.00288854 0.00187192 0.05747654
+v 0.00344207 -0.01562224 0.05727204
+v -0.00117828 -0.00556305 0.05716501
+v -0.00806648 0.00029960 0.05718030
+v -0.01605347 -0.00489918 0.05719750
+v -0.00861175 0.00011938 0.05717169
+v -0.01605347 -0.00556673 0.06661423
+v -0.00118035 -0.00391717 0.06689996
+v -0.00806648 -0.00501688 0.06692194
+v -0.00806648 -0.00556121 0.06692767
+v -0.00117828 -0.00556305 0.06691620
+v -0.00145505 -0.01562224 0.06640686
+v 0.00433020 -0.01562224 0.05882397
+v 0.00064136 -0.01562224 0.05725101
+v -0.00058964 -0.01562224 0.05725101
+v -0.00806648 -0.00598050 0.05718030
+v -0.00333046 -0.00391717 0.05716692
+v -0.01605347 -0.00861207 0.05888704
+v -0.00886579 -0.00602831 0.05718221
+v -0.01605347 -0.00959224 0.06553915
+v -0.01604521 -0.00959040 0.06554297
+v -0.00861175 -0.00556121 0.06692767
+v -0.00417108 -0.01562224 0.06148825
+v -0.01605347 -0.00959224 0.06260347
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 11
+f 1 11 12
+f 1 12 13
+f 1 13 2
+f 2 13 3
+f 3 13 4
+f 4 14 15
+f 4 15 5
+f 4 13 14
+f 5 15 16
+f 5 16 17
+f 5 17 6
+f 6 17 18
+f 6 18 7
+f 7 18 19
+f 7 19 20
+f 7 20 8
+f 8 20 21
+f 8 21 9
+f 9 21 10
+f 10 21 11
+f 11 22 35
+f 11 35 41
+f 11 41 37
+f 11 37 24
+f 11 24 13
+f 11 13 12
+f 11 21 23
+f 11 23 22
+f 13 24 14
+f 14 25 16
+f 14 16 15
+f 14 24 26
+f 14 26 27
+f 14 27 25
+f 16 25 28
+f 16 28 29
+f 16 29 40
+f 16 40 32
+f 16 32 31
+f 16 31 19
+f 16 19 30
+f 16 30 17
+f 17 30 18
+f 18 30 19
+f 19 31 20
+f 20 31 32
+f 20 32 33
+f 20 33 34
+f 20 34 21
+f 21 34 23
+f 22 23 36
+f 22 36 32
+f 22 32 35
+f 23 33 36
+f 23 34 33
+f 24 37 38
+f 24 38 29
+f 24 29 39
+f 24 39 26
+f 25 27 28
+f 26 39 27
+f 27 39 29
+f 27 29 28
+f 29 38 37
+f 29 37 40
+f 32 40 35
+f 32 36 33
+f 35 40 41
+f 37 41 40
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_67.obj b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..637507cafc06ae92608e108272bfce1993d6f46e
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_67.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.02578151 0.03060765 0.16985715
+v 0.02578151 0.02941934 0.16985715
+v 0.03396426 0.03342625 0.16979029
+v 0.03468501 0.03530080 0.16977839
+v 0.03468501 0.03844314 0.16976558
+v 0.03082502 0.03687682 0.16979029
+v 0.02578151 0.03438388 0.16556596
+v 0.02578151 0.02695936 0.16981411
+v 0.03468501 0.03383141 0.16941301
+v 0.02674106 0.02707761 0.16978297
+v 0.03169655 0.02846946 0.16802657
+v 0.03468501 0.04342126 0.16696613
+v 0.03468501 0.04518919 0.16557236
+v 0.03002235 0.03772395 0.16084985
+v 0.02578151 0.03164476 0.16050187
+v 0.02578151 0.02651737 0.16906411
+v 0.03468501 0.03099341 0.16587365
+v 0.02578151 0.02538722 0.16556412
+v 0.02895647 0.02647473 0.16555771
+v 0.03250707 0.02771344 0.16307146
+v 0.03468501 0.03053011 0.16447072
+v 0.03468501 0.03950157 0.16067403
+v 0.02795073 0.03222243 0.16054125
+v 0.02578151 0.02620140 0.16076194
+v 0.02856167 0.02673255 0.16096707
+v 0.03250707 0.02771344 0.16166853
+v 0.03468501 0.03118727 0.16124271
+v 0.03468501 0.03230385 0.16105224
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 15
+f 1 15 24
+f 1 24 18
+f 1 18 16
+f 1 16 8
+f 1 8 2
+f 2 8 3
+f 3 9 4
+f 3 8 10
+f 3 10 11
+f 3 11 9
+f 4 9 17
+f 4 17 21
+f 4 21 27
+f 4 27 28
+f 4 28 22
+f 4 22 13
+f 4 13 12
+f 4 12 5
+f 5 12 6
+f 6 12 13
+f 6 13 7
+f 7 13 14
+f 7 14 15
+f 8 16 10
+f 9 11 17
+f 10 16 18
+f 10 18 19
+f 10 19 11
+f 11 19 20
+f 11 20 21
+f 11 21 17
+f 13 22 14
+f 14 22 15
+f 15 22 23
+f 15 23 24
+f 18 24 25
+f 18 25 26
+f 18 26 19
+f 19 26 20
+f 20 26 21
+f 21 26 27
+f 22 28 23
+f 23 28 24
+f 24 28 25
+f 25 28 27
+f 25 27 26
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_68.obj b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff1d3f480fc4b87e788b1c25f20d36d447a7f182
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_68.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.04326326 0.00163726 0.05096505
+v -0.03877022 0.00077458 0.05096505
+v -0.03970961 -0.00012395 0.04408882
+v -0.04533237 -0.00031799 0.04408882
+v -0.04586528 0.00137772 0.05096505
+v -0.03705049 -0.00451152 0.05096505
+v -0.03875934 -0.00375142 0.04408882
+v -0.04586528 -0.00242031 0.04408882
+v -0.05025092 -0.00123752 0.05096505
+v -0.04968538 0.00025796 0.05096505
+v -0.03677587 -0.00556083 0.05096505
+v -0.03828760 -0.00556083 0.04408882
+v -0.04654365 -0.00514432 0.04408882
+v -0.05066284 -0.00296660 0.05096505
+v -0.03840044 -0.00888302 0.05096505
+v -0.03939013 -0.01084074 0.05096505
+v -0.03984556 -0.00864202 0.04408882
+v -0.04563553 -0.00691665 0.04408882
+v -0.04472877 -0.01098782 0.05096505
+v -0.04345358 -0.01016840 0.04408882
+v -0.04064628 -0.01016840 0.04408882
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 9
+f 1 9 14
+f 1 14 19
+f 1 19 16
+f 1 16 15
+f 1 15 11
+f 1 11 6
+f 1 6 2
+f 2 6 3
+f 3 6 7
+f 3 7 12
+f 3 12 17
+f 3 17 21
+f 3 21 20
+f 3 20 18
+f 3 18 13
+f 3 13 8
+f 3 8 4
+f 4 8 9
+f 4 9 10
+f 4 10 5
+f 6 11 7
+f 7 11 12
+f 8 13 9
+f 9 13 14
+f 11 15 12
+f 12 15 16
+f 12 16 17
+f 13 18 14
+f 14 18 20
+f 14 20 19
+f 16 21 17
+f 16 19 21
+f 19 20 21
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_69.obj b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..084ee017b267e6729edb9ad21bd048016af75905
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_69.obj
@@ -0,0 +1,117 @@
+# https://github.com/mikedh/trimesh
+v 0.00847238 0.08922359 0.16557231
+v 0.00847238 0.08866601 0.16064392
+v 0.00625722 0.08863479 0.16066622
+v 0.00625722 0.08917006 0.16557231
+v 0.00625722 0.08790622 0.16971832
+v 0.00847238 0.08833593 0.16848251
+v -0.00162724 0.08419797 0.16055472
+v 0.00847238 0.08305606 0.16065786
+v -0.00828522 0.07588787 0.16039397
+v 0.00055037 0.08807721 0.16115776
+v -0.00861061 0.08192307 0.16078144
+v 0.00043774 0.08808762 0.16557231
+v 0.00172678 0.08761777 0.16950183
+v -0.00092139 0.08372961 0.16973690
+v -0.00254083 0.08218475 0.16976850
+v -0.00869822 0.07629379 0.16988558
+v 0.00847238 0.08792853 0.16973412
+v -0.00861061 0.08096701 0.16966908
+v 0.00847238 0.08109488 0.16557789
+v 0.00453265 0.07949204 0.16140864
+v -0.00894101 0.07403375 0.16052685
+v -0.01518850 0.07403375 0.16073498
+v -0.01446764 0.07622093 0.16079537
+v -0.00254083 0.08664685 0.16557231
+v -0.01283568 0.08044066 0.16144302
+v -0.00327922 0.08628851 0.16557231
+v -0.00254083 0.08648478 0.16615212
+v -0.01233258 0.07994256 0.16929276
+v -0.01345142 0.07622093 0.16965793
+v -0.01072565 0.07403375 0.16982704
+v -0.00967189 0.07403375 0.16984376
+v 0.00847238 0.08422028 0.16969231
+v 0.00271046 0.07990539 0.16931784
+v -0.00646053 0.07403375 0.16557231
+v -0.01709579 0.07403375 0.16557231
+v -0.01559149 0.07622093 0.16557231
+v -0.01271303 0.08032022 0.16557231
+v -0.00861061 0.08295346 0.16557231
+v -0.01591938 0.07403375 0.16781443
+v -0.01411722 0.07403375 0.16966350
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 17
+f 1 17 32
+f 1 32 19
+f 1 19 8
+f 1 8 2
+f 2 7 3
+f 2 8 9
+f 2 9 7
+f 3 10 4
+f 3 7 11
+f 3 11 10
+f 4 10 12
+f 4 12 13
+f 4 13 5
+f 5 14 15
+f 5 15 16
+f 5 16 17
+f 5 17 6
+f 5 13 18
+f 5 18 14
+f 7 9 11
+f 8 19 20
+f 8 20 21
+f 8 21 9
+f 9 21 22
+f 9 22 23
+f 9 23 11
+f 10 24 12
+f 10 11 25
+f 10 25 26
+f 10 26 24
+f 11 23 25
+f 12 24 13
+f 13 24 27
+f 13 27 28
+f 13 28 18
+f 14 18 15
+f 15 18 16
+f 16 18 29
+f 16 29 30
+f 16 30 31
+f 16 31 32
+f 16 32 17
+f 18 28 29
+f 19 32 33
+f 19 33 31
+f 19 31 34
+f 19 34 20
+f 20 34 21
+f 21 34 31
+f 21 31 30
+f 21 30 40
+f 21 40 39
+f 21 39 35
+f 21 35 22
+f 22 35 23
+f 23 35 25
+f 24 26 27
+f 25 35 36
+f 25 36 37
+f 25 37 38
+f 25 38 26
+f 26 38 28
+f 26 28 27
+f 28 38 37
+f 28 37 36
+f 28 36 35
+f 28 35 39
+f 28 39 29
+f 29 39 40
+f 29 40 30
+f 31 33 32
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_7.obj b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0d6b58adca8ef8c776a16e46f2679529d9020a9
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_7.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v -0.04475401 -0.01092993 0.17890475
+v -0.04649604 -0.00758058 0.17890475
+v -0.04215127 -0.01092993 0.17890475
+v -0.04337256 -0.01001477 0.21761287
+v -0.04569714 -0.00556107 0.21761287
+v -0.04723874 -0.00556107 0.17890475
+v -0.04020414 -0.01064394 0.17890475
+v -0.04072674 -0.01001477 0.21761287
+v -0.04293706 -0.00976948 0.22202206
+v -0.04388206 -0.00556107 0.22276480
+v -0.04361701 -0.00075538 0.22254585
+v -0.04439156 -0.00021090 0.21761287
+v -0.04582358 -0.00196202 0.17890475
+v -0.03767070 -0.00556107 0.17890475
+v -0.03834597 -0.00556107 0.21761287
+v -0.04117443 -0.00976948 0.22202206
+v -0.04020788 -0.00556107 0.22276480
+v -0.04048136 -0.00075538 0.22254585
+v -0.04294268 0.00030718 0.17890475
+v -0.04471093 0.00021258 0.17890475
+v -0.03968715 -0.00021090 0.21761287
+v -0.03816803 -0.00376155 0.17890475
+v -0.03931158 0.00030718 0.17890475
+f 1 2 6
+f 1 6 13
+f 1 13 20
+f 1 20 19
+f 1 19 23
+f 1 23 22
+f 1 22 14
+f 1 14 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 4 8 16
+f 4 16 9
+f 4 9 5
+f 5 9 10
+f 5 10 11
+f 5 11 12
+f 5 12 6
+f 6 12 13
+f 7 14 15
+f 7 15 8
+f 8 15 16
+f 9 16 17
+f 9 17 10
+f 10 17 18
+f 10 18 11
+f 11 18 21
+f 11 21 12
+f 12 19 20
+f 12 20 13
+f 12 21 23
+f 12 23 19
+f 14 22 21
+f 14 21 15
+f 15 21 18
+f 15 18 17
+f 15 17 16
+f 21 22 23
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_70.obj b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..676f1a07ec09c709bd413ff4914dabe7c451c749
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_70.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.05577224 0.02064780 -0.06828550
+v -0.05577224 0.02172367 -0.06986567
+v -0.04627253 0.02114816 -0.06828550
+v -0.05577224 0.03795324 -0.06828550
+v -0.04552303 0.02121964 -0.06828550
+v -0.05577224 0.03242364 -0.07801059
+v -0.05321972 0.03291666 -0.07809799
+v -0.05496956 0.03795690 -0.06828550
+v -0.05577224 0.03848475 -0.06981572
+v -0.04782271 0.03372493 -0.07741693
+v -0.04552303 0.02450588 -0.07026528
+v -0.04552303 0.03701300 -0.06828550
+v -0.05577224 0.03461935 -0.07809799
+v -0.05321972 0.03789275 -0.07809799
+v -0.05321972 0.03796424 -0.06828550
+v -0.05321972 0.03937184 -0.07233825
+v -0.05577224 0.03935900 -0.07233825
+v -0.04782271 0.03704233 -0.07741693
+v -0.04552303 0.03139360 -0.07385312
+v -0.04552303 0.03753352 -0.07247562
+v -0.05577224 0.03788726 -0.07809799
+f 1 2 3
+f 1 3 5
+f 1 5 12
+f 1 12 15
+f 1 15 8
+f 1 8 4
+f 1 4 9
+f 1 9 17
+f 1 17 21
+f 1 21 13
+f 1 13 6
+f 1 6 2
+f 2 5 3
+f 2 6 7
+f 2 7 5
+f 4 8 9
+f 5 7 10
+f 5 10 11
+f 5 11 19
+f 5 19 20
+f 5 20 12
+f 6 13 7
+f 7 13 21
+f 7 21 14
+f 7 14 18
+f 7 18 10
+f 8 15 16
+f 8 16 9
+f 9 16 17
+f 10 18 19
+f 10 19 11
+f 12 20 16
+f 12 16 15
+f 14 21 16
+f 14 16 18
+f 16 20 18
+f 16 21 17
+f 18 20 19
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_71.obj b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b58dbcef7718a1f857f090dab5eb20cbd423cfba
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_71.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v -0.03288416 -0.00061143 0.17250593
+v -0.03288416 0.00752961 0.17139235
+v -0.03288416 -0.00488353 0.17107774
+v -0.02290744 0.01164544 0.16874435
+v -0.02290744 0.01674257 0.16983308
+v -0.02290744 0.01779888 0.16983446
+v -0.03288416 0.00897030 0.17039745
+v -0.02290744 0.02150844 0.16851943
+v -0.02849108 0.01454246 0.16982066
+v -0.03288416 -0.00528980 0.17085557
+v -0.02290744 0.00982035 0.16557199
+v -0.03288416 -0.00778992 0.16797437
+v -0.03288416 0.01249548 0.16605357
+v -0.02290744 0.02382106 0.16552783
+v -0.02290744 0.00979535 0.16550299
+v -0.03288416 -0.00810244 0.16557199
+v -0.03133027 -0.00556168 0.16557199
+v -0.03288416 0.01280175 0.16557199
+v -0.02290744 0.02098341 0.16068305
+v -0.02927828 0.01543938 0.16080724
+v -0.02290744 0.01057351 0.16098110
+v -0.03288416 -0.00557419 0.15935421
+v -0.03288416 0.00936407 0.16000690
+v -0.02290744 0.01730510 0.16053402
+v -0.03288416 0.00187932 0.15841037
+v -0.03287829 -0.00556168 0.15935007
+v -0.03288416 -0.00556168 0.15934318
+f 1 2 7
+f 1 7 13
+f 1 13 18
+f 1 18 23
+f 1 23 25
+f 1 25 27
+f 1 27 22
+f 1 22 16
+f 1 16 12
+f 1 12 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 8
+f 2 8 9
+f 2 9 7
+f 3 10 4
+f 4 11 15
+f 4 15 21
+f 4 21 24
+f 4 24 19
+f 4 19 14
+f 4 14 8
+f 4 8 6
+f 4 6 5
+f 4 10 12
+f 4 12 11
+f 7 9 13
+f 8 14 9
+f 9 14 13
+f 11 12 15
+f 12 16 17
+f 12 17 15
+f 13 14 18
+f 14 19 20
+f 14 20 18
+f 15 17 21
+f 16 22 17
+f 17 22 21
+f 18 20 23
+f 19 24 25
+f 19 25 23
+f 19 23 20
+f 21 22 26
+f 21 26 27
+f 21 27 25
+f 21 25 24
+f 22 27 26
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_72.obj b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02e80126644497aaec4c0a2a5fd48caf4d64ff98
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_72.obj
@@ -0,0 +1,210 @@
+# https://github.com/mikedh/trimesh
+v -0.06471625 -0.01935254 0.16556955
+v -0.06451059 -0.01825204 0.16945867
+v -0.06471625 -0.01630315 0.16556955
+v -0.06468820 -0.01869224 0.16109733
+v -0.06416161 -0.02306623 0.16556955
+v -0.05926653 -0.02597556 0.17086464
+v -0.06130433 -0.02060511 0.17110623
+v -0.06451059 -0.01655126 0.16945867
+v -0.06468820 -0.01633116 0.16109733
+v -0.05537788 -0.00440572 0.16556955
+v -0.06245410 -0.02090124 0.15622185
+v -0.05900791 -0.02576346 0.15622185
+v -0.06044746 -0.02698002 0.16556955
+v -0.05321544 -0.02808052 0.16556955
+v -0.05321544 -0.02596355 0.17081559
+v -0.05321544 -0.02042503 0.17305353
+v -0.05050772 -0.00872369 0.17477919
+v -0.04966954 -0.00569431 0.17477919
+v -0.04529793 0.00126087 0.17477919
+v -0.05073830 -0.00064000 0.17077926
+v -0.05166060 0.00026041 0.16556955
+v -0.05104054 -0.00043991 0.15622185
+v -0.05199400 -0.00168848 0.15622185
+v -0.06060637 -0.01309368 0.15622185
+v -0.05516911 -0.02588752 0.15622185
+v -0.05415021 -0.02588752 0.15622185
+v -0.04889368 -0.02501112 0.16105737
+v -0.04873477 -0.02523922 0.16556955
+v -0.04907752 -0.02473899 0.16974568
+v -0.03926553 -0.01175707 0.17477919
+v -0.04698675 -0.01356189 0.17477919
+v -0.03902249 0.00159302 0.17477919
+v -0.03288416 0.00752372 0.17139324
+v -0.03288416 0.00897238 0.17039780
+v -0.03835257 0.00711153 0.17044866
+v -0.03288416 0.01249799 0.16605274
+v -0.03288416 0.01280213 0.16557136
+v -0.04247492 0.00583895 0.16955857
+v -0.04766601 0.00299366 0.16668851
+v -0.04811471 0.00299366 0.16557136
+v -0.04682472 0.00398211 0.16557136
+v -0.04304824 0.00615110 0.16125900
+v -0.04558459 0.00297365 0.15622185
+v -0.04632617 -0.01948459 0.15622185
+v -0.03831830 -0.01258145 0.15622185
+v -0.04126283 -0.01751970 0.16084847
+v -0.04102290 -0.01774780 0.16556955
+v -0.04148406 -0.01727959 0.16990916
+v -0.03425516 -0.00976016 0.17008718
+v -0.03308981 -0.00556625 0.17108081
+v -0.03630854 -0.00556625 0.17477919
+v -0.03878880 0.00160502 0.17477919
+v -0.03288416 0.00299366 0.17188007
+v -0.03829960 0.00160502 0.17477919
+v -0.03288728 -0.00061599 0.17250312
+v -0.03288416 0.00936456 0.16000743
+v -0.03793816 0.00184513 0.15622185
+v -0.03507464 -0.00556625 0.15622185
+v -0.03288728 -0.00556625 0.15934441
+v -0.03423958 -0.00977217 0.16051969
+v -0.03730563 -0.01372597 0.16556955
+v -0.03288728 -0.00779526 0.16797278
+v -0.03288728 -0.00529813 0.17085374
+v -0.03640825 -0.01270150 0.16556955
+v -0.03405263 -0.01000827 0.16556955
+v -0.03288728 -0.00488994 0.17107535
+v -0.03629608 -0.00552223 0.17477919
+v -0.03288416 0.00299366 0.15919001
+v -0.03288728 -0.00809940 0.16556955
+v -0.03288728 0.00187315 0.15841254
+v -0.03288728 -0.00558226 0.15935713
+f 1 2 8
+f 1 8 3
+f 1 3 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 3 8 10
+f 3 10 9
+f 4 11 5
+f 4 9 11
+f 5 11 12
+f 5 12 13
+f 5 13 6
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 6 16 7
+f 7 16 17
+f 7 17 8
+f 8 17 18
+f 8 18 19
+f 8 19 20
+f 8 20 21
+f 8 21 10
+f 9 10 21
+f 9 21 22
+f 9 22 23
+f 9 23 24
+f 9 24 11
+f 11 24 23
+f 11 23 22
+f 11 22 43
+f 11 43 57
+f 11 57 58
+f 11 58 45
+f 11 45 44
+f 11 44 26
+f 11 26 25
+f 11 25 12
+f 12 25 14
+f 12 14 13
+f 14 25 26
+f 14 26 27
+f 14 27 28
+f 14 28 29
+f 14 29 15
+f 15 29 30
+f 15 30 16
+f 16 30 31
+f 16 31 17
+f 17 31 30
+f 17 30 51
+f 17 51 67
+f 17 67 54
+f 17 54 52
+f 17 52 32
+f 17 32 19
+f 17 19 18
+f 19 32 33
+f 19 33 34
+f 19 34 35
+f 19 35 36
+f 19 36 37
+f 19 37 38
+f 19 38 20
+f 20 38 39
+f 20 39 40
+f 20 40 21
+f 21 40 22
+f 22 40 41
+f 22 41 42
+f 22 42 43
+f 26 44 27
+f 27 44 45
+f 27 45 46
+f 27 46 47
+f 27 47 28
+f 28 47 29
+f 29 47 48
+f 29 48 30
+f 30 49 50
+f 30 50 51
+f 30 48 49
+f 32 52 33
+f 33 53 68
+f 33 68 56
+f 33 56 37
+f 33 37 36
+f 33 36 34
+f 33 52 54
+f 33 54 55
+f 33 55 53
+f 34 36 35
+f 37 42 41
+f 37 41 38
+f 37 56 43
+f 37 43 42
+f 38 41 39
+f 39 41 40
+f 43 56 57
+f 45 58 59
+f 45 59 60
+f 45 60 46
+f 46 60 61
+f 46 61 47
+f 47 61 49
+f 47 49 48
+f 49 62 63
+f 49 63 50
+f 49 61 64
+f 49 64 65
+f 49 65 62
+f 50 63 66
+f 50 66 51
+f 51 66 55
+f 51 55 67
+f 53 55 66
+f 53 66 63
+f 53 63 62
+f 53 62 69
+f 53 69 68
+f 54 67 55
+f 56 68 70
+f 56 70 57
+f 57 70 58
+f 58 70 59
+f 59 71 60
+f 59 70 68
+f 59 68 71
+f 60 65 64
+f 60 64 61
+f 60 71 69
+f 60 69 65
+f 62 65 69
+f 68 69 71
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_73.obj b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20fd934d01637a7a727270adfc37773b49501467
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_73.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.00842649 0.01489120 0.06148865
+v 0.00378494 0.00188788 0.06148008
+v 0.00288408 0.00188788 0.05747575
+v 0.00554631 0.01489120 0.05710886
+v 0.00605647 0.01489120 0.06657745
+v 0.00343783 0.00188788 0.06606476
+v 0.00371391 0.00930671 0.05710409
+v -0.00163961 0.00188788 0.05727848
+v 0.00010399 0.00930671 0.05710409
+v 0.00116630 0.01489120 0.05720129
+v 0.00477621 0.01489120 0.06655458
+v -0.00117788 0.00188788 0.06683951
+v 0.00442265 0.00930671 0.06650979
+v -0.00294086 0.00188788 0.05726419
+v -0.00329604 0.00188788 0.05726038
+v -0.00805867 0.00188788 0.05933401
+v -0.00095993 0.01489120 0.06139050
+v 0.00028158 0.01489120 0.06635351
+v -0.00779713 0.00188788 0.06625249
+v -0.00806674 0.00188788 0.05962371
+v -0.00806674 0.00310229 0.06098835
+v -0.00806674 0.00316721 0.06107888
+v -0.00805544 0.00188788 0.06529858
+v -0.00787947 0.00188788 0.06619817
+v -0.00019468 0.01489120 0.06503175
+v -0.00018338 0.01489120 0.06507749
+v -0.00806674 0.00188788 0.06490977
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 17
+f 1 17 25
+f 1 25 26
+f 1 26 18
+f 1 18 11
+f 1 11 5
+f 1 5 6
+f 1 6 2
+f 2 6 12
+f 2 12 19
+f 2 19 24
+f 2 24 23
+f 2 23 27
+f 2 27 20
+f 2 20 16
+f 2 16 15
+f 2 15 14
+f 2 14 8
+f 2 8 3
+f 3 7 4
+f 3 8 7
+f 4 7 9
+f 4 9 10
+f 5 11 12
+f 5 12 13
+f 5 13 6
+f 6 13 12
+f 7 8 14
+f 7 14 15
+f 7 15 9
+f 9 15 10
+f 10 15 16
+f 10 16 17
+f 11 18 12
+f 12 18 19
+f 16 20 21
+f 16 21 17
+f 17 21 22
+f 17 22 23
+f 17 23 24
+f 17 24 25
+f 18 26 24
+f 18 24 19
+f 20 27 22
+f 20 22 21
+f 22 27 23
+f 24 26 25
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_74.obj b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fbfb9228ce410632fef5c45d6528274e63ab62b2
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_74.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v -0.00646131 0.07403251 0.16557301
+v -0.00894166 0.07403251 0.16052501
+v -0.00967449 0.07403251 0.16984551
+v -0.01123614 0.07040726 0.16977799
+v -0.01293948 0.06545226 0.16859195
+v -0.01391912 0.06138376 0.16589324
+v -0.01205734 0.06404202 0.16363610
+v -0.01205734 0.06404202 0.16157786
+v -0.01519129 0.07403251 0.16073394
+v -0.01079126 0.06878407 0.16089634
+v -0.01569711 0.06138376 0.16062537
+v -0.01981224 0.06138376 0.16055512
+v -0.02127485 0.06138376 0.16053232
+v -0.01671028 0.06942542 0.16060621
+v -0.01072727 0.07403251 0.16982817
+v -0.02049327 0.06138376 0.16984368
+v -0.01752843 0.06138376 0.16984368
+v -0.01749948 0.06138376 0.16983365
+v -0.01395569 0.06138376 0.16594707
+v -0.02062429 0.06737631 0.16105234
+v -0.01709574 0.07403251 0.16557210
+v -0.02202444 0.06138376 0.16557210
+v -0.01411871 0.07403251 0.16966395
+v -0.02051307 0.06138376 0.16984277
+v -0.02067762 0.06765366 0.16557210
+v -0.01892553 0.07137053 0.16557210
+v -0.01592107 0.07403251 0.16781554
+v -0.02201835 0.06138376 0.16560038
+v -0.02012304 0.06620876 0.16957820
+f 1 2 9
+f 1 9 21
+f 1 21 27
+f 1 27 23
+f 1 23 15
+f 1 15 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 8 10
+f 2 10 11
+f 2 11 12
+f 2 12 13
+f 2 13 14
+f 2 14 9
+f 3 15 16
+f 3 16 17
+f 3 17 4
+f 4 17 18
+f 4 18 5
+f 5 19 6
+f 5 18 19
+f 6 8 7
+f 6 19 18
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+f 6 17 16
+f 6 16 24
+f 6 24 28
+f 6 28 22
+f 6 22 13
+f 6 13 12
+f 6 12 11
+f 6 11 8
+f 8 11 10
+f 9 14 13
+f 9 13 20
+f 9 20 21
+f 13 22 20
+f 15 23 24
+f 15 24 16
+f 20 22 25
+f 20 25 26
+f 20 26 21
+f 21 26 27
+f 22 28 25
+f 23 27 29
+f 23 29 24
+f 24 29 28
+f 25 28 29
+f 25 29 26
+f 26 29 27
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_75.obj b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d47f4a56fa22e6c0e5d9e3dbac5a4f4a95ee02c
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_75.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.00440368 0.04648545 0.14326696
+v 0.00330608 0.04648545 0.13891528
+v 0.00364050 0.04648545 0.14795927
+v 0.01249336 0.03392098 0.14353793
+v 0.01056398 0.03392098 0.14066416
+v 0.00330779 0.04648053 0.13891528
+v 0.00624045 0.03392098 0.13871015
+v 0.00457861 0.03904640 0.13874068
+v -0.00002446 0.03904640 0.13874068
+v -0.00076706 0.04648053 0.13891528
+v -0.00076878 0.04648545 0.13891719
+v 0.00363879 0.04648053 0.14796213
+v 0.01122083 0.03392098 0.14743355
+v 0.01230643 0.03392098 0.14417527
+v -0.00117695 0.04648545 0.14810906
+v -0.00086825 0.03392098 0.13867580
+v -0.00448348 0.04648053 0.14101527
+v -0.00448348 0.04648545 0.14101623
+v 0.00616156 0.03392098 0.14842296
+v -0.00117695 0.04648053 0.14811001
+v -0.00502714 0.04648545 0.14713301
+v -0.00188010 0.03392098 0.14000105
+v -0.00346648 0.03392098 0.14327078
+v -0.00494996 0.04247072 0.14601193
+v -0.00502714 0.04648053 0.14473152
+v -0.00502714 0.04648545 0.14473343
+v -0.00145992 0.03392098 0.14824550
+v -0.00502714 0.04648053 0.14713301
+v -0.00494996 0.04247072 0.14704809
+f 1 2 11
+f 1 11 18
+f 1 18 26
+f 1 26 21
+f 1 21 15
+f 1 15 3
+f 1 3 4
+f 1 4 2
+f 2 4 5
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 3 12 13
+f 3 13 14
+f 3 14 4
+f 3 15 12
+f 4 14 13
+f 4 13 19
+f 4 19 27
+f 4 27 23
+f 4 23 22
+f 4 22 16
+f 4 16 7
+f 4 7 5
+f 5 7 6
+f 7 16 8
+f 8 16 9
+f 9 16 10
+f 10 16 17
+f 10 17 11
+f 11 17 18
+f 12 19 13
+f 12 15 20
+f 12 20 19
+f 15 21 20
+f 16 22 17
+f 17 23 24
+f 17 24 25
+f 17 25 18
+f 17 22 23
+f 18 25 26
+f 19 20 27
+f 20 21 27
+f 21 26 25
+f 21 25 28
+f 21 28 27
+f 23 27 29
+f 23 29 24
+f 24 29 28
+f 24 28 25
+f 27 28 29
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_76.obj b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2d340a04ddb29b8b29ab405dc5ecabf20cbfec9
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_76.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.06245907 -0.02090337 0.15622151
+v -0.06239558 -0.02094449 0.15276973
+v -0.05901348 -0.02576824 0.15622151
+v -0.06061347 -0.01309786 0.15622151
+v -0.06084497 -0.01277058 0.15276973
+v -0.05893460 -0.02561365 0.15276973
+v -0.05767192 -0.02565476 0.15276973
+v -0.05590777 -0.02582087 0.15520879
+v -0.05590777 -0.02586528 0.15622151
+v -0.05590777 -0.00952733 0.15622151
+v -0.05590777 -0.00906518 0.15276973
+v -0.05749750 -0.02565970 0.15276973
+v -0.05590777 -0.02581594 0.15513275
+v -0.05590777 -0.02565970 0.15276973
+v -0.05590777 -0.02575344 0.15417916
+f 1 2 3
+f 1 3 9
+f 1 9 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 6 3
+f 2 5 11
+f 2 11 14
+f 2 14 12
+f 2 12 7
+f 2 7 6
+f 3 6 7
+f 3 7 8
+f 3 8 9
+f 4 10 5
+f 5 10 11
+f 7 12 8
+f 8 12 13
+f 8 13 15
+f 8 15 14
+f 8 14 11
+f 8 11 10
+f 8 10 9
+f 12 15 13
+f 12 14 15
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_77.obj b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..648c34129aa77c36e02473e648988434a613cf44
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_77.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v 0.04106588 0.04648046 0.16997652
+v 0.04336330 0.04648046 0.16557214
+v 0.04425304 0.05391532 0.16557214
+v 0.04141710 0.05391532 0.16997183
+v 0.04140305 0.05479420 0.16997558
+v 0.03806885 0.04648046 0.16997652
+v 0.03468501 0.03530204 0.16977871
+v 0.04039436 0.04117155 0.16972246
+v 0.04200995 0.04648046 0.16040371
+v 0.04089917 0.03883657 0.16505933
+v 0.03976873 0.03525691 0.16223840
+v 0.03976873 0.03525691 0.16179870
+v 0.04068470 0.03904798 0.16110402
+v 0.04254942 0.05391532 0.16040465
+v 0.04252694 0.05479420 0.16039902
+v 0.04402827 0.05479420 0.16495527
+v 0.04421746 0.05479420 0.16557214
+v 0.03867668 0.05479420 0.16997558
+v 0.03468501 0.03844464 0.16976558
+v 0.03468501 0.03383170 0.16941308
+v 0.03892207 0.03621656 0.16719402
+v 0.03696556 0.04648046 0.16040371
+v 0.03539025 0.03231385 0.16110495
+v 0.03468501 0.03230435 0.16105152
+v 0.03530689 0.03974158 0.16065120
+v 0.03468501 0.03099315 0.16587402
+v 0.03468501 0.03052996 0.16447152
+v 0.03468501 0.03118793 0.16124277
+v 0.03787779 0.05479420 0.16039902
+v 0.03684006 0.05479420 0.16557214
+v 0.03468501 0.04342101 0.16696621
+v 0.03468501 0.03950405 0.16067464
+v 0.03773075 0.05479420 0.16101777
+v 0.03468501 0.04519065 0.16557214
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 18
+f 1 18 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 9 3
+f 2 8 10
+f 2 10 11
+f 2 11 12
+f 2 12 13
+f 2 13 9
+f 3 9 14
+f 3 14 15
+f 3 15 16
+f 3 16 17
+f 3 17 5
+f 3 5 4
+f 5 17 16
+f 5 16 15
+f 5 15 29
+f 5 29 33
+f 5 33 30
+f 5 30 18
+f 6 18 19
+f 6 19 7
+f 7 19 31
+f 7 31 34
+f 7 34 32
+f 7 32 24
+f 7 24 28
+f 7 28 27
+f 7 27 26
+f 7 26 20
+f 7 20 8
+f 8 20 21
+f 8 21 10
+f 9 22 29
+f 9 29 15
+f 9 15 14
+f 9 13 23
+f 9 23 24
+f 9 24 25
+f 9 25 22
+f 10 21 11
+f 11 26 27
+f 11 27 12
+f 11 21 26
+f 12 27 28
+f 12 28 23
+f 12 23 13
+f 18 30 31
+f 18 31 19
+f 20 26 21
+f 22 25 32
+f 22 32 29
+f 23 28 24
+f 24 32 25
+f 29 32 33
+f 30 33 34
+f 30 34 31
+f 32 34 33
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_78.obj b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_78.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45c41ad7bc1b7d9d705fc7e133cf002d21847f7d
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_78.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v -0.05703081 -0.04923956 -0.07233712
+v -0.05703081 -0.04849718 -0.07808553
+v -0.05321979 -0.04849180 -0.07808367
+v -0.05321979 -0.04922522 -0.07233712
+v -0.05703081 -0.04719351 -0.06675771
+v -0.05703081 -0.04277145 -0.07801310
+v -0.05321979 -0.04334528 -0.07808367
+v -0.04767319 -0.04780858 -0.07740761
+v -0.04543182 -0.04782472 -0.07230183
+v -0.04542046 -0.04782292 -0.07229440
+v -0.04542046 -0.04714689 -0.06682829
+v -0.04578644 -0.04714868 -0.06682458
+v -0.05321979 -0.04718454 -0.06678000
+v -0.05703081 -0.04497352 -0.06304121
+v -0.05703081 -0.03659205 -0.07432074
+v -0.04767319 -0.04437279 -0.07740761
+v -0.04542046 -0.03092012 -0.06795755
+v -0.04542046 -0.03561833 -0.07114657
+v -0.04542046 -0.04223887 -0.07434302
+v -0.04542046 -0.04703929 -0.06664442
+v -0.04542046 -0.04494124 -0.06310993
+v -0.05321979 -0.04496276 -0.06306350
+v -0.04542046 -0.04475833 -0.06296320
+v -0.04542046 -0.04122391 -0.06014936
+v -0.05703081 -0.04316237 -0.06162036
+v -0.05703081 -0.03477911 -0.07268815
+v -0.04543182 -0.04223170 -0.07435046
+v -0.04542046 -0.03092012 -0.05911298
+v -0.05703081 -0.03092012 -0.06836801
+v -0.04542046 -0.04093341 -0.06009736
+v -0.05703081 -0.04125619 -0.06014936
+v -0.05703081 -0.03092012 -0.05911298
+v -0.04578644 -0.03530093 -0.05911111
+v -0.04542046 -0.03530273 -0.05911298
+v -0.05703081 -0.03836015 -0.05964416
+v -0.05703081 -0.03530093 -0.05911298
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 14
+f 1 14 25
+f 1 25 31
+f 1 31 35
+f 1 35 36
+f 1 36 32
+f 1 32 29
+f 1 29 26
+f 1 26 15
+f 1 15 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 16
+f 3 16 8
+f 3 8 4
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 5
+f 5 13 14
+f 6 15 7
+f 7 15 17
+f 7 17 18
+f 7 18 16
+f 8 16 19
+f 8 19 10
+f 8 10 9
+f 10 19 18
+f 10 18 17
+f 10 17 28
+f 10 28 34
+f 10 34 30
+f 10 30 24
+f 10 24 23
+f 10 23 21
+f 10 21 20
+f 10 20 11
+f 11 20 12
+f 12 20 13
+f 13 20 21
+f 13 21 14
+f 14 21 22
+f 14 22 23
+f 14 23 24
+f 14 24 25
+f 15 26 17
+f 16 27 19
+f 16 18 27
+f 17 26 29
+f 17 29 32
+f 17 32 28
+f 18 19 27
+f 21 23 22
+f 24 30 31
+f 24 31 25
+f 28 32 33
+f 28 33 34
+f 30 34 33
+f 30 33 31
+f 31 33 35
+f 32 36 33
+f 33 36 35
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_79.obj b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_79.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d14b86edf5fad5d046a290e24c53e48b31fea8f0
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_79.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v 0.01521645 0.02560462 0.06659199
+v 0.01521645 0.02464652 0.06646207
+v 0.02119383 0.02687894 0.06590642
+v 0.02119383 0.03160863 0.06654408
+v 0.02119383 0.03165998 0.06654592
+v 0.02112654 0.03161133 0.06654592
+v 0.01521645 0.03139377 0.06618931
+v 0.01521645 0.02249789 0.06148801
+v 0.02119383 0.02685056 0.06589076
+v 0.02112654 0.02683299 0.06590182
+v 0.02119383 0.03607617 0.06585482
+v 0.01521645 0.03193701 0.06610454
+v 0.01521645 0.02524652 0.05717832
+v 0.01913408 0.02704380 0.05730917
+v 0.02119383 0.02638975 0.06198099
+v 0.02119383 0.03608563 0.06580506
+v 0.02112654 0.03606671 0.06584837
+v 0.01734408 0.03536671 0.06524389
+v 0.01521645 0.03247619 0.06589076
+v 0.01521645 0.02990189 0.05726218
+v 0.02119383 0.03167890 0.05734419
+v 0.02119383 0.02658569 0.06154053
+v 0.02119383 0.03164242 0.05735432
+v 0.02119383 0.03630319 0.06200771
+v 0.01734408 0.03536671 0.06486701
+v 0.01521645 0.03337754 0.06292273
+v 0.01521645 0.03302484 0.06158108
+v 0.01827273 0.03456402 0.05991138
+v 0.02119383 0.03618022 0.06144470
+v 0.02090125 0.03622887 0.06202798
+v 0.01521645 0.03337754 0.06281768
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 12
+f 1 12 19
+f 1 19 26
+f 1 26 31
+f 1 31 27
+f 1 27 20
+f 1 20 13
+f 1 13 8
+f 1 8 2
+f 2 8 9
+f 2 9 10
+f 2 10 3
+f 3 10 9
+f 3 9 15
+f 3 15 22
+f 3 22 23
+f 3 23 21
+f 3 21 29
+f 3 29 24
+f 3 24 16
+f 3 16 11
+f 3 11 5
+f 3 5 4
+f 5 11 12
+f 5 12 7
+f 5 7 6
+f 8 13 14
+f 8 14 15
+f 8 15 9
+f 11 16 17
+f 11 17 12
+f 12 17 18
+f 12 18 19
+f 13 20 21
+f 13 21 14
+f 14 22 15
+f 14 21 23
+f 14 23 22
+f 16 18 17
+f 16 24 18
+f 18 24 25
+f 18 25 31
+f 18 31 26
+f 18 26 19
+f 20 27 28
+f 20 28 21
+f 21 28 29
+f 24 29 30
+f 24 30 25
+f 25 28 27
+f 25 27 31
+f 25 30 28
+f 28 30 29
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_8.obj b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9e574389caa0d8732b0d790763606a9084cdecc
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_8.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v -0.01509719 0.03803205 0.16037739
+v -0.00885747 0.03803205 0.16051766
+v -0.01621106 0.03803205 0.16054626
+v -0.02097195 0.04648001 0.16076126
+v -0.02099730 0.04688923 0.16074373
+v -0.01554451 0.04688923 0.16057579
+v -0.00857995 0.03803205 0.16056102
+v -0.01784702 0.03803205 0.16557258
+v -0.02030160 0.04167428 0.16131954
+v -0.02147630 0.04648001 0.16557258
+v -0.02152446 0.04688923 0.16557258
+v -0.02104672 0.04688923 0.16102610
+v -0.01552804 0.04688923 0.16057855
+v -0.00857995 0.03833983 0.16061731
+v -0.00857995 0.03803205 0.16911139
+v -0.01988089 0.04250572 0.16939191
+v -0.02025598 0.04175318 0.16557258
+v -0.01621613 0.03803205 0.16894621
+v -0.02026865 0.04648001 0.16967058
+v -0.02029020 0.04688923 0.16968443
+v -0.01271738 0.04688923 0.16370489
+v -0.01153507 0.04469748 0.16118112
+v -0.00857995 0.03844647 0.16067452
+v -0.00878017 0.03803205 0.16965582
+v -0.00857995 0.04056540 0.16557258
+v -0.01554198 0.03803205 0.16980439
+v -0.01624654 0.04688923 0.16973518
+v -0.01268950 0.04688923 0.16557258
+v -0.00857995 0.04054286 0.16466365
+v -0.01205083 0.04353484 0.16949249
+v -0.00918821 0.03831382 0.16969273
+v -0.00916413 0.03803205 0.16971857
+f 1 2 7
+f 1 7 15
+f 1 15 24
+f 1 24 32
+f 1 32 26
+f 1 26 18
+f 1 18 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 3 8 9
+f 3 9 4
+f 4 10 11
+f 4 11 12
+f 4 12 5
+f 4 9 10
+f 5 12 11
+f 5 11 20
+f 5 20 27
+f 5 27 28
+f 5 28 21
+f 5 21 13
+f 5 13 6
+f 6 13 7
+f 7 14 23
+f 7 23 29
+f 7 29 25
+f 7 25 15
+f 7 13 14
+f 8 16 17
+f 8 17 9
+f 8 18 16
+f 9 17 10
+f 10 17 16
+f 10 16 19
+f 10 19 11
+f 11 19 20
+f 13 21 22
+f 13 22 14
+f 14 22 23
+f 15 25 24
+f 16 18 26
+f 16 26 19
+f 19 26 20
+f 20 26 27
+f 21 28 25
+f 21 25 29
+f 21 29 22
+f 22 29 23
+f 24 30 31
+f 24 31 32
+f 24 25 30
+f 25 28 30
+f 26 32 27
+f 27 32 31
+f 27 31 30
+f 27 30 28
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_80.obj b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_80.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80adf38ab476b52b8e036aa4b11d85f1158922c7
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_80.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v -0.03615149 -0.00353322 0.15292601
+v -0.03615149 0.00185499 0.15194490
+v -0.03615149 -0.00714153 0.15292601
+v -0.03548244 -0.00555844 0.15292601
+v -0.02290678 0.01619979 0.14788289
+v -0.03615149 0.00370906 0.15151046
+v -0.03615149 -0.01080688 0.14882962
+v -0.02696253 -0.00211272 0.14727468
+v -0.02573595 0.00187496 0.14791910
+v -0.02290678 0.00910868 0.14833725
+v -0.02290678 0.00925986 0.14835535
+v -0.02290678 0.01622546 0.14786660
+v -0.03615149 0.00767392 0.14858524
+v -0.03615149 -0.01136025 0.14572338
+v -0.03438682 -0.00955467 0.14791367
+v -0.03429087 -0.00966877 0.14327061
+v -0.03152135 -0.00683632 0.14327061
+v -0.02693400 -0.00214410 0.14327061
+v -0.02290678 0.00434515 0.14327061
+v -0.02290678 0.00498409 0.14505181
+v -0.02290678 0.01766593 0.14329595
+v -0.02792590 0.01347573 0.14742674
+v -0.03615149 0.00847830 0.14676060
+v -0.03615149 -0.01147150 0.14327061
+v -0.03442183 -0.00952044 0.13911086
+v -0.02708311 -0.00197866 0.13941858
+v -0.02290678 0.00940248 0.13864565
+v -0.02290678 0.01766878 0.14322897
+v -0.03615149 0.00921422 0.14327061
+v -0.03615149 -0.01052735 0.13824741
+v -0.03615149 -0.00552706 0.13443521
+v -0.02290678 0.01501603 0.13893346
+v -0.02290678 0.01737498 0.14269679
+v -0.02756155 0.01323613 0.13939686
+v -0.03615149 0.00744287 0.13853522
+v -0.03615149 0.00182361 0.13536020
+v -0.02348247 0.01485059 0.13893889
+f 1 2 6
+f 1 6 13
+f 1 13 23
+f 1 23 29
+f 1 29 35
+f 1 35 36
+f 1 36 31
+f 1 31 30
+f 1 30 24
+f 1 24 14
+f 1 14 7
+f 1 7 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 4 10 11
+f 4 11 5
+f 5 11 10
+f 5 10 20
+f 5 20 19
+f 5 19 27
+f 5 27 32
+f 5 32 33
+f 5 33 28
+f 5 28 21
+f 5 21 12
+f 5 12 6
+f 6 12 13
+f 7 14 15
+f 7 15 8
+f 8 15 16
+f 8 16 17
+f 8 17 18
+f 8 18 19
+f 8 19 20
+f 8 20 10
+f 8 10 9
+f 12 21 22
+f 12 22 13
+f 13 22 23
+f 14 24 15
+f 15 24 16
+f 16 24 25
+f 16 25 17
+f 17 25 18
+f 18 26 19
+f 18 25 26
+f 19 26 27
+f 21 28 29
+f 21 29 23
+f 21 23 22
+f 24 30 25
+f 25 30 26
+f 26 30 31
+f 26 31 27
+f 27 31 32
+f 28 33 34
+f 28 34 35
+f 28 35 29
+f 31 36 32
+f 32 37 33
+f 32 36 37
+f 33 37 34
+f 34 37 35
+f 35 37 36
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_81.obj b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_81.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ca24bc631b55d3eeef5d2d5e0a32b4731ff7ab3
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_81.obj
@@ -0,0 +1,174 @@
+# https://github.com/mikedh/trimesh
+v -0.06639655 -0.01993063 0.14326803
+v -0.06566533 -0.01887688 0.13812240
+v -0.06386838 -0.02365182 0.14326803
+v -0.06577486 -0.01884210 0.14868815
+v -0.06639655 -0.01413323 0.14326803
+v -0.06120699 -0.02098091 0.13679099
+v -0.05909327 -0.02552285 0.13813844
+v -0.06566533 -0.01506527 0.13812240
+v -0.05449579 -0.01255781 0.13456127
+v -0.06015013 -0.02631577 0.14326803
+v -0.05893341 -0.02561327 0.15276972
+v -0.06577486 -0.01492268 0.14868815
+v -0.06239410 -0.02094266 0.15276972
+v -0.05602927 -0.00288968 0.14326803
+v -0.05275212 -0.01443927 0.13456127
+v -0.05530397 -0.02552285 0.13813844
+v -0.05124825 -0.00039962 0.13751640
+v -0.04997528 -0.00217327 0.13456127
+v -0.05229918 -0.00554320 0.13456127
+v -0.05438330 -0.02631577 0.14326803
+v -0.05749466 -0.02565848 0.15276972
+v -0.06084286 -0.01276648 0.15276972
+v -0.05116831 -0.00042048 0.15276972
+v -0.05231398 0.00047678 0.14326803
+v -0.04578337 -0.01373329 0.13456127
+v -0.03945407 -0.01163621 0.13456127
+v -0.04198519 -0.01677632 0.13947342
+v -0.05216596 0.00057415 0.14326803
+v -0.04635472 0.00419796 0.14326803
+v -0.04215393 0.00561340 0.13950907
+v -0.04546957 0.00150967 0.13456127
+v -0.05485992 -0.02565848 0.15276972
+v -0.04185198 -0.01688065 0.14326803
+v -0.04186678 -0.01686674 0.14726405
+v -0.04550510 0.00298771 0.15276972
+v -0.04274601 0.00583250 0.14736209
+v -0.03615323 -0.00569970 0.13456127
+v -0.03615323 -0.01051986 0.13824716
+v -0.03615323 -0.01146928 0.14326803
+v -0.03813373 -0.01338204 0.14326803
+v -0.03615323 0.00921287 0.14326803
+v -0.03835280 0.00668455 0.13862502
+v -0.03615323 0.00743922 0.13853590
+v -0.03821070 0.00172181 0.13456127
+v -0.04621855 -0.01878993 0.15276972
+v -0.03615323 -0.01135799 0.14572233
+v -0.03844457 -0.01253695 0.15276972
+v -0.03793834 0.00184701 0.15276972
+v -0.03615323 0.00370760 0.15151316
+v -0.03615323 0.00430229 0.15107649
+v -0.03615323 0.00767223 0.14858299
+v -0.03615323 0.00847907 0.14675965
+v -0.03615323 -0.00504588 0.13456127
+v -0.03615323 0.00181571 0.13536154
+v -0.03615323 -0.01080851 0.14882895
+v -0.03615323 -0.00713601 0.15276972
+v -0.03764527 0.00096366 0.15276972
+v -0.03615323 0.00185396 0.15194627
+v -0.03615323 -0.00353654 0.15276972
+f 1 2 3
+f 1 3 4
+f 1 4 12
+f 1 12 5
+f 1 5 8
+f 1 8 2
+f 2 6 7
+f 2 7 3
+f 2 8 9
+f 2 9 6
+f 3 7 10
+f 3 10 11
+f 3 11 4
+f 4 11 13
+f 4 13 12
+f 5 12 14
+f 5 14 8
+f 6 9 15
+f 6 15 7
+f 7 15 16
+f 7 16 20
+f 7 20 10
+f 8 14 17
+f 8 17 18
+f 8 18 19
+f 8 19 9
+f 9 19 18
+f 9 18 31
+f 9 31 44
+f 9 44 53
+f 9 53 37
+f 9 37 26
+f 9 26 25
+f 9 25 15
+f 10 20 32
+f 10 32 21
+f 10 21 11
+f 11 21 32
+f 11 32 45
+f 11 45 47
+f 11 47 56
+f 11 56 59
+f 11 59 57
+f 11 57 48
+f 11 48 35
+f 11 35 23
+f 11 23 22
+f 11 22 13
+f 12 13 22
+f 12 22 23
+f 12 23 14
+f 14 23 24
+f 14 24 17
+f 15 25 16
+f 16 25 26
+f 16 26 27
+f 16 27 20
+f 17 24 28
+f 17 28 29
+f 17 29 30
+f 17 30 31
+f 17 31 18
+f 20 27 33
+f 20 33 34
+f 20 34 32
+f 23 35 36
+f 23 36 28
+f 23 28 24
+f 26 37 38
+f 26 38 27
+f 27 38 39
+f 27 39 40
+f 27 40 33
+f 28 36 29
+f 29 36 41
+f 29 41 30
+f 30 41 42
+f 30 42 31
+f 31 42 43
+f 31 43 44
+f 32 34 45
+f 33 40 34
+f 34 40 39
+f 34 39 46
+f 34 46 47
+f 34 47 45
+f 35 48 49
+f 35 49 50
+f 35 50 51
+f 35 51 52
+f 35 52 36
+f 36 52 41
+f 37 53 54
+f 37 54 43
+f 37 43 41
+f 37 41 52
+f 37 52 51
+f 37 51 50
+f 37 50 49
+f 37 49 58
+f 37 58 59
+f 37 59 56
+f 37 56 55
+f 37 55 46
+f 37 46 39
+f 37 39 38
+f 41 43 42
+f 43 54 44
+f 44 54 53
+f 46 55 47
+f 47 55 56
+f 48 57 58
+f 48 58 49
+f 57 59 58
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_82.obj b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_82.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e922d3870f7eaa582cb981e09bee4b23e5a0d774
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_82.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.02290594 -0.00556146 0.06752887
+v -0.01605347 -0.00556583 0.06661441
+v -0.02290594 -0.00518494 0.06750305
+v -0.02290594 -0.01006337 0.06611307
+v -0.01605347 -0.00959299 0.06553965
+v -0.01605347 -0.00069722 0.06627444
+v -0.02290594 -0.00036326 0.06662086
+v -0.02290594 -0.01035695 0.06116100
+v -0.01605347 -0.00959299 0.06260369
+v -0.01605347 -0.00001729 0.06148805
+v -0.02290594 0.00079141 0.06148805
+v -0.02004784 -0.00885741 0.05846818
+v -0.01605347 -0.00861403 0.05888668
+v -0.02290594 -0.00605476 0.05653921
+v -0.01605347 -0.00116542 0.05719762
+v -0.02290594 0.00070192 0.06115562
+v -0.01605347 -0.00490009 0.05719762
+v -0.02290594 -0.00069067 0.05679848
+f 1 2 3
+f 1 3 7
+f 1 7 11
+f 1 11 16
+f 1 16 18
+f 1 18 14
+f 1 14 8
+f 1 8 4
+f 1 4 5
+f 1 5 2
+f 2 5 9
+f 2 9 13
+f 2 13 17
+f 2 17 15
+f 2 15 10
+f 2 10 6
+f 2 6 3
+f 3 6 7
+f 4 8 5
+f 5 8 9
+f 6 10 11
+f 6 11 7
+f 8 12 13
+f 8 13 9
+f 8 14 12
+f 10 15 11
+f 11 15 16
+f 12 14 13
+f 13 14 17
+f 14 18 15
+f 14 15 17
+f 15 18 16
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_83.obj b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_83.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b38957993f7ea9ae7d885baf9aa8c9dd55569a6
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_83.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v -0.04541977 -0.03530159 -0.05911116
+v -0.03835832 -0.03530820 -0.05911265
+v -0.03835832 -0.03092509 -0.05911265
+v -0.04140480 -0.03092012 -0.05911265
+v -0.04541977 -0.03092012 -0.05911265
+v -0.04541977 -0.04093395 -0.06009677
+v -0.03835832 -0.04120696 -0.06015194
+v -0.03835832 -0.03092012 -0.05914844
+v -0.04541977 -0.03092012 -0.06795631
+v -0.04541977 -0.04122351 -0.06014895
+v -0.04541977 -0.04475780 -0.06296265
+v -0.04541977 -0.04494146 -0.06311027
+v -0.03835832 -0.04492326 -0.06315648
+v -0.03835832 -0.03092012 -0.06795034
+v -0.04541977 -0.03561762 -0.07114724
+v -0.04541977 -0.04703953 -0.06664415
+v -0.04541977 -0.04714708 -0.06682606
+v -0.03835832 -0.04711565 -0.06687378
+v -0.03835832 -0.03567718 -0.07054186
+v -0.04541977 -0.04223780 -0.07434414
+v -0.04541977 -0.04782383 -0.07229388
+v -0.03835832 -0.04711565 -0.07010199
+v -0.03835832 -0.04273418 -0.07202549
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 15
+f 1 15 20
+f 1 20 21
+f 1 21 17
+f 1 17 16
+f 1 16 12
+f 1 12 11
+f 1 11 10
+f 1 10 6
+f 1 6 2
+f 2 6 7
+f 2 7 13
+f 2 13 18
+f 2 18 22
+f 2 22 23
+f 2 23 19
+f 2 19 14
+f 2 14 8
+f 2 8 3
+f 3 8 4
+f 4 8 14
+f 4 14 9
+f 4 9 5
+f 6 10 7
+f 7 10 11
+f 7 11 12
+f 7 12 13
+f 9 14 15
+f 12 16 13
+f 13 16 17
+f 13 17 18
+f 14 19 15
+f 15 19 20
+f 17 21 18
+f 18 21 22
+f 19 23 20
+f 20 23 21
+f 21 23 22
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_84.obj b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_84.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1c9f337a09b49124bd714cdeb72c81e1b92f9dc
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_84.obj
@@ -0,0 +1,120 @@
+# https://github.com/mikedh/trimesh
+v -0.00502826 0.04648743 0.14473326
+v -0.00502826 0.04648743 0.14713187
+v -0.00501398 0.05065108 0.14495316
+v -0.00448300 0.04648743 0.14101714
+v -0.00117639 0.04648743 0.14810989
+v -0.00501398 0.05065108 0.14711898
+v 0.00072812 0.06196680 0.14324921
+v -0.00160092 0.05736467 0.14300355
+v -0.00358462 0.05344396 0.14279378
+v -0.00019882 0.05391603 0.13873815
+v -0.00076875 0.04648743 0.13891756
+v 0.00121755 0.05989880 0.13887616
+v 0.00363876 0.04648743 0.14795900
+v 0.00454493 0.05391603 0.14813749
+v 0.00561078 0.05736467 0.14812645
+v 0.00667923 0.06081923 0.14811357
+v 0.00667923 0.06088046 0.14811265
+v 0.00286242 0.05736467 0.14805376
+v -0.00139320 0.05344396 0.14798660
+v 0.00126818 0.06135055 0.14772530
+v 0.00244309 0.06515670 0.14706562
+v 0.00244309 0.06515670 0.14571129
+v 0.00275207 0.06485450 0.14075768
+v 0.00414377 0.05391603 0.13873815
+v 0.00330382 0.04648743 0.13891480
+v 0.00563934 0.06153819 0.13888076
+v 0.00587952 0.06133277 0.13887432
+v 0.00563934 0.06197075 0.13906569
+v 0.00440342 0.04648743 0.14326669
+v 0.00823451 0.05736467 0.14326945
+v 0.00780480 0.05736467 0.14456857
+v 0.00561208 0.05736467 0.14812645
+v 0.00667923 0.06121624 0.14808965
+v 0.00563934 0.06133277 0.14801420
+v 0.00148239 0.06133277 0.14774095
+v 0.00563934 0.06556753 0.14771978
+v 0.00563934 0.06559518 0.14771702
+v 0.00563934 0.06602577 0.14761121
+v 0.00563934 0.06666177 0.14324829
+v 0.00667923 0.06132487 0.13956068
+v 0.00667923 0.06133277 0.14808137
+f 1 2 6
+f 1 6 3
+f 1 3 4
+f 1 4 11
+f 1 11 25
+f 1 25 29
+f 1 29 13
+f 1 13 5
+f 1 5 2
+f 2 5 6
+f 3 6 7
+f 3 7 8
+f 3 8 9
+f 3 9 4
+f 4 10 11
+f 4 9 12
+f 4 12 10
+f 5 13 14
+f 5 14 15
+f 5 15 16
+f 5 16 17
+f 5 17 18
+f 5 18 19
+f 5 19 6
+f 6 19 20
+f 6 20 21
+f 6 21 7
+f 7 21 22
+f 7 22 23
+f 7 23 8
+f 8 23 9
+f 9 23 12
+f 10 24 25
+f 10 25 11
+f 10 12 26
+f 10 26 27
+f 10 27 24
+f 12 23 28
+f 12 28 26
+f 13 29 30
+f 13 30 31
+f 13 31 16
+f 13 16 32
+f 13 32 14
+f 14 32 15
+f 15 32 16
+f 16 31 30
+f 16 30 17
+f 17 30 33
+f 17 33 34
+f 17 34 35
+f 17 35 18
+f 18 35 19
+f 19 35 20
+f 20 35 36
+f 20 36 37
+f 20 37 38
+f 20 38 21
+f 21 38 39
+f 21 39 22
+f 22 39 23
+f 23 39 28
+f 24 27 25
+f 25 27 40
+f 25 40 30
+f 25 30 29
+f 26 28 27
+f 27 28 40
+f 28 39 40
+f 30 40 39
+f 30 39 38
+f 30 38 41
+f 30 41 33
+f 33 41 36
+f 33 36 34
+f 34 36 35
+f 36 41 37
+f 37 41 38
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_85.obj b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_85.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ee3ef43443ce4c5689c81cc118f413016bca956
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_85.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.01453422 0.06133232 0.14326942
+v 0.00823585 0.05736634 0.14326942
+v 0.00667971 0.05736634 0.14186666
+v 0.00667971 0.06132494 0.13955980
+v 0.01136812 0.06133232 0.14195061
+v 0.01195244 0.06133232 0.14638133
+v 0.00667971 0.05736634 0.14639644
+v 0.00780760 0.05736634 0.14456892
+v 0.00667971 0.06133232 0.14337855
+v 0.00818280 0.06133232 0.14813499
+v 0.00667971 0.06082022 0.14811400
+v 0.00667971 0.06133232 0.14808294
+v 0.00714947 0.06133232 0.14811988
+v 0.00667971 0.06088118 0.14811400
+v 0.00667971 0.06090796 0.14811232
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 12
+f 1 12 13
+f 1 13 10
+f 1 10 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 8 7
+f 2 7 3
+f 3 7 11
+f 3 11 14
+f 3 14 15
+f 3 15 12
+f 3 12 9
+f 3 9 4
+f 4 9 5
+f 6 10 7
+f 7 10 11
+f 10 13 14
+f 10 14 11
+f 12 15 13
+f 13 15 14
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_86.obj b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_86.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35fe64bf21863bb0c550a517d772f1df4c6c2c66
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_86.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v 0.02905761 0.07661565 0.16983341
+v 0.02856193 0.08157233 0.16979176
+v 0.02798537 0.08173318 0.16977695
+v 0.02798537 0.07710878 0.16979823
+v 0.03556527 0.06952772 0.16980471
+v 0.02800392 0.08489302 0.16550615
+v 0.03556527 0.07568442 0.16972141
+v 0.03556527 0.07575214 0.16971956
+v 0.03287019 0.08044639 0.16960756
+v 0.02798537 0.08488878 0.16551725
+v 0.02798537 0.07434683 0.16557279
+v 0.03556527 0.06328848 0.16557279
+v 0.03186622 0.07191717 0.16952611
+v 0.02798537 0.08490783 0.16548208
+v 0.03367530 0.08116174 0.16557279
+v 0.03556527 0.07918076 0.16557279
+v 0.02798537 0.07436377 0.16495632
+v 0.03122733 0.07107483 0.16112520
+v 0.03556527 0.06463876 0.16325412
+v 0.03354916 0.08105804 0.16101227
+v 0.02798537 0.08360834 0.16072533
+v 0.03556527 0.07906860 0.16340500
+v 0.02798537 0.07649289 0.16044393
+v 0.03556527 0.06875522 0.16043468
+v 0.03556527 0.07701142 0.16062166
+v 0.03556527 0.07652887 0.16054483
+v 0.02800392 0.08358294 0.16071885
+v 0.02798537 0.08358294 0.16071792
+v 0.02798537 0.07692465 0.16037730
+v 0.03556527 0.06884200 0.16040877
+v 0.03556527 0.07611829 0.16052539
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 6 3
+f 2 5 7
+f 2 7 8
+f 2 8 9
+f 2 9 6
+f 3 6 10
+f 3 10 14
+f 3 14 21
+f 3 21 28
+f 3 28 29
+f 3 29 23
+f 3 23 17
+f 3 17 11
+f 3 11 4
+f 4 11 12
+f 4 12 13
+f 4 13 5
+f 5 12 19
+f 5 19 24
+f 5 24 30
+f 5 30 31
+f 5 31 26
+f 5 26 25
+f 5 25 22
+f 5 22 16
+f 5 16 8
+f 5 8 7
+f 5 13 12
+f 6 14 10
+f 6 9 15
+f 6 15 14
+f 8 16 9
+f 9 16 15
+f 11 17 12
+f 12 17 18
+f 12 18 19
+f 14 15 20
+f 14 20 21
+f 15 16 20
+f 16 22 20
+f 17 23 18
+f 18 24 19
+f 18 23 24
+f 20 22 25
+f 20 25 26
+f 20 26 27
+f 20 27 21
+f 21 27 28
+f 23 29 30
+f 23 30 24
+f 26 29 28
+f 26 28 27
+f 26 31 29
+f 29 31 30
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_87.obj b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_87.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f087a08819aeb1d8270628af31b7e94215462d6
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_87.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.03820770 0.00172113 0.13456127
+v -0.03615503 -0.00504339 0.13456127
+v -0.03911281 0.00055969 0.13081813
+v -0.04505531 0.00047899 0.13081813
+v -0.04546836 0.00151385 0.13456127
+v -0.03615503 -0.00570007 0.13456127
+v -0.03615503 -0.00553234 0.13443156
+v -0.03746780 -0.00556240 0.13081813
+v -0.04925943 -0.00567159 0.13081813
+v -0.05230162 -0.00554183 0.13456127
+v -0.04997239 -0.00217144 0.13456127
+v -0.03945043 -0.01164336 0.13456127
+v -0.04015261 -0.01072402 0.13081813
+v -0.04911217 -0.00742641 0.13081813
+v -0.05449975 -0.01255796 0.13456127
+v -0.04578264 -0.01373839 0.13456127
+v -0.04564256 -0.01138069 0.13081813
+v -0.04835431 -0.00987588 0.13081813
+v -0.05275238 -0.01444253 0.13456127
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 10
+f 1 10 15
+f 1 15 19
+f 1 19 16
+f 1 16 12
+f 1 12 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 3 8 13
+f 3 13 17
+f 3 17 18
+f 3 18 14
+f 3 14 9
+f 3 9 4
+f 4 9 10
+f 4 10 11
+f 4 11 5
+f 6 8 7
+f 6 12 13
+f 6 13 8
+f 9 14 15
+f 9 15 10
+f 12 16 13
+f 13 16 17
+f 14 18 15
+f 15 18 19
+f 16 19 17
+f 17 19 18
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_88.obj b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_88.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f87c331ed5671696e2df7e641d701dfd4d04abc6
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_88.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.03636322 0.05252225 0.13871762
+v 0.03711088 0.05252225 0.13871762
+v 0.03387797 0.05252225 0.14326026
+v 0.02600348 0.06048439 0.14326961
+v 0.03177779 0.05688990 0.13926184
+v 0.02964552 0.06048439 0.13885601
+v 0.03002897 0.06048439 0.13873725
+v 0.04088126 0.05252225 0.13873725
+v 0.03389562 0.05252225 0.14330421
+v 0.03149862 0.05650410 0.14747561
+v 0.02934549 0.06048439 0.14805631
+v 0.03624449 0.06048439 0.13885227
+v 0.04081548 0.05391579 0.13877279
+v 0.04121819 0.05252225 0.13961530
+v 0.03610330 0.05252225 0.14826857
+v 0.03581130 0.05398203 0.14824612
+v 0.03598618 0.06048439 0.14812550
+v 0.03682369 0.06048439 0.13893082
+v 0.04018173 0.05844398 0.13916833
+v 0.04225946 0.05391579 0.14326961
+v 0.04239262 0.05252225 0.14326961
+v 0.04122300 0.05252225 0.14822555
+v 0.04115722 0.05391579 0.14819376
+v 0.03741892 0.06048439 0.14796653
+v 0.03900088 0.06048439 0.14108151
+v 0.03948862 0.06048439 0.14326961
+v 0.04057802 0.05909944 0.14326961
+v 0.04039833 0.05877678 0.14766263
+f 1 2 8
+f 1 8 14
+f 1 14 21
+f 1 21 22
+f 1 22 15
+f 1 15 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 8
+f 3 9 10
+f 3 10 4
+f 4 11 17
+f 4 17 24
+f 4 24 26
+f 4 26 25
+f 4 25 18
+f 4 18 12
+f 4 12 7
+f 4 7 6
+f 4 6 5
+f 4 10 11
+f 7 12 8
+f 8 13 14
+f 8 12 13
+f 9 15 10
+f 10 15 11
+f 11 15 16
+f 11 16 17
+f 12 18 19
+f 12 19 13
+f 13 20 21
+f 13 21 14
+f 13 19 20
+f 15 22 16
+f 16 22 17
+f 17 22 23
+f 17 23 24
+f 18 25 19
+f 19 25 26
+f 19 26 27
+f 19 27 20
+f 20 23 21
+f 20 27 28
+f 20 28 23
+f 21 23 22
+f 23 28 24
+f 24 28 26
+f 26 28 27
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_89.obj b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_89.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a8a4bc1a481acec1353bffac2e51101bf9ed1ab
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_89.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v -0.05590583 -0.02586160 0.15622151
+v -0.05590583 -0.02583333 0.15554906
+v -0.05517363 -0.02588987 0.15622151
+v -0.05590583 -0.00952825 0.15622151
+v -0.05590583 -0.02581354 0.15513242
+v -0.05415385 -0.02588987 0.15622151
+v -0.05590583 -0.02576549 0.15441266
+v -0.05590583 -0.02565524 0.15277007
+v -0.05590583 -0.00906748 0.15277007
+v -0.05471677 -0.00547459 0.15622151
+v -0.05482078 -0.00526541 0.15277007
+v -0.05486158 -0.02565524 0.15277007
+v -0.04621380 -0.01878890 0.15277007
+v -0.03844304 -0.01253881 0.15277007
+v -0.04632190 -0.01948147 0.15622151
+v -0.05199802 -0.00168665 0.15622151
+v -0.05385199 -0.00391419 0.15277007
+v -0.03831659 -0.01258404 0.15622151
+v -0.03615465 -0.00713393 0.15277007
+v -0.03507164 -0.00556222 0.15622151
+v -0.05104146 -0.00044003 0.15622151
+v -0.05116996 -0.00042024 0.15277007
+v -0.03615465 -0.00353539 0.15277007
+v -0.03548363 -0.00556222 0.15292652
+v -0.03549179 -0.00558201 0.15292652
+v -0.03793723 0.00184687 0.15277007
+v -0.03793723 0.00184687 0.15622151
+v -0.04557949 0.00297759 0.15622151
+v -0.04550403 0.00298890 0.15277007
+f 1 2 3
+f 1 3 6
+f 1 6 15
+f 1 15 18
+f 1 18 20
+f 1 20 27
+f 1 27 28
+f 1 28 21
+f 1 21 16
+f 1 16 10
+f 1 10 4
+f 1 4 9
+f 1 9 8
+f 1 8 7
+f 1 7 5
+f 1 5 2
+f 2 5 3
+f 3 5 7
+f 3 7 8
+f 3 8 12
+f 3 12 6
+f 4 10 11
+f 4 11 9
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 8 9 11
+f 8 11 17
+f 8 17 22
+f 8 22 29
+f 8 29 26
+f 8 26 23
+f 8 23 19
+f 8 19 14
+f 8 14 13
+f 8 13 12
+f 10 16 17
+f 10 17 11
+f 14 18 15
+f 14 19 20
+f 14 20 18
+f 16 21 17
+f 17 21 22
+f 19 23 24
+f 19 24 25
+f 19 25 20
+f 20 25 24
+f 20 24 23
+f 20 23 26
+f 20 26 27
+f 21 28 22
+f 22 28 29
+f 26 29 27
+f 27 29 28
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_9.obj b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e48e4c9ccf064d18545ffb6409c3eb1e43aa2e2b
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_9.obj
@@ -0,0 +1,132 @@
+# https://github.com/mikedh/trimesh
+v -0.05703362 -0.03530245 -0.05911133
+v -0.05703362 -0.03249396 -0.05911331
+v -0.06065537 -0.03249396 -0.05911331
+v -0.06065537 -0.03530245 -0.05911331
+v -0.06065537 -0.04126722 -0.06014920
+v -0.05703362 -0.03836030 -0.05964414
+v -0.05703362 -0.03249396 -0.06950993
+v -0.06640538 -0.03249396 -0.06014920
+v -0.06640033 -0.03530245 -0.06014920
+v -0.06571841 -0.04052572 -0.06049384
+v -0.06065537 -0.04498453 -0.06301923
+v -0.05703362 -0.04316196 -0.06162085
+v -0.05703362 -0.04125573 -0.06014920
+v -0.05703362 -0.03477914 -0.07268894
+v -0.06023107 -0.03249396 -0.07307517
+v -0.07012310 -0.03249396 -0.06350846
+v -0.07011806 -0.03530245 -0.06352429
+v -0.07190452 -0.04655610 -0.06845224
+v -0.05703362 -0.04497305 -0.06304101
+v -0.06808914 -0.04691045 -0.06754113
+v -0.06065537 -0.04720245 -0.06673697
+v -0.05703362 -0.04719261 -0.06675876
+v -0.05703362 -0.03659187 -0.07432102
+v -0.06122448 -0.03249396 -0.07408135
+v -0.07236081 -0.03249396 -0.06722422
+v -0.07235408 -0.03530245 -0.06724205
+v -0.07215035 -0.04273544 -0.06781446
+v -0.07399742 -0.04273544 -0.07233637
+v -0.07279858 -0.04751578 -0.07233637
+v -0.06808914 -0.04892167 -0.07233637
+v -0.06065537 -0.04925304 -0.07233637
+v -0.05703362 -0.04923828 -0.07233637
+v -0.05703362 -0.04277153 -0.07801301
+v -0.06422324 -0.03249396 -0.07608384
+v -0.07423314 -0.03249396 -0.07233637
+v -0.07421967 -0.03530245 -0.07233637
+v -0.07365393 -0.04273544 -0.07799520
+v -0.07303094 -0.04776513 -0.07734355
+v -0.06808914 -0.04846397 -0.07803678
+v -0.06065537 -0.04850335 -0.07808432
+v -0.05703362 -0.04849842 -0.07808432
+v -0.06808914 -0.04273544 -0.07934602
+v -0.06763789 -0.03249396 -0.07792389
+v -0.07389134 -0.03249396 -0.07586398
+v -0.07367750 -0.03249396 -0.07800906
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 13
+f 1 13 12
+f 1 12 19
+f 1 19 22
+f 1 22 32
+f 1 32 41
+f 1 41 33
+f 1 33 23
+f 1 23 14
+f 1 14 7
+f 1 7 2
+f 2 7 15
+f 2 15 24
+f 2 24 34
+f 2 34 43
+f 2 43 45
+f 2 45 44
+f 2 44 35
+f 2 35 25
+f 2 25 16
+f 2 16 8
+f 2 8 3
+f 3 8 4
+f 4 8 9
+f 4 9 10
+f 4 10 5
+f 5 10 11
+f 5 11 12
+f 5 12 13
+f 5 13 6
+f 7 14 15
+f 8 16 9
+f 9 16 17
+f 9 17 10
+f 10 17 18
+f 10 18 11
+f 11 19 12
+f 11 18 20
+f 11 20 21
+f 11 21 22
+f 11 22 19
+f 14 23 24
+f 14 24 15
+f 16 25 17
+f 17 25 26
+f 17 26 27
+f 17 27 18
+f 18 27 28
+f 18 28 29
+f 18 29 30
+f 18 30 20
+f 20 30 21
+f 21 30 31
+f 21 31 32
+f 21 32 22
+f 23 33 34
+f 23 34 24
+f 25 35 26
+f 26 35 36
+f 26 36 28
+f 26 28 27
+f 28 36 37
+f 28 37 38
+f 28 38 29
+f 29 38 30
+f 30 38 39
+f 30 39 31
+f 31 39 40
+f 31 40 41
+f 31 41 32
+f 33 41 42
+f 33 42 43
+f 33 43 34
+f 35 44 37
+f 35 37 36
+f 37 45 42
+f 37 42 38
+f 37 44 45
+f 38 42 39
+f 39 42 40
+f 40 42 41
+f 42 45 43
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_90.obj b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_90.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5fb19450ee3e62397373dbe4f2ef1341c318dc58
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_90.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.00857868 0.03305230 0.17014951
+v -0.00857868 0.03789410 0.16963729
+v -0.00877920 0.03803205 0.16965592
+v -0.00916389 0.03803205 0.16971905
+v -0.00873655 0.03305230 0.17017538
+v -0.00857868 0.03305230 0.15964948
+v -0.00857868 0.03803205 0.16911162
+v -0.01554310 0.03803205 0.16980390
+v -0.01463581 0.03305230 0.16997877
+v -0.00866760 0.03305230 0.15963602
+v -0.00885632 0.03803205 0.16051767
+v -0.00857868 0.03803205 0.16056113
+v -0.01621632 0.03803205 0.16894605
+v -0.01740216 0.03305230 0.16645634
+v -0.01006756 0.03305230 0.15960395
+v -0.01484267 0.03803205 0.16038314
+v -0.01784673 0.03803205 0.16557263
+v -0.01784673 0.03305230 0.16553434
+v -0.01621178 0.03305230 0.16053319
+v -0.01509671 0.03803205 0.16037798
+v -0.01621178 0.03803205 0.16054665
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 14
+f 1 14 18
+f 1 18 19
+f 1 19 15
+f 1 15 10
+f 1 10 6
+f 1 6 12
+f 1 12 7
+f 1 7 2
+f 2 7 3
+f 3 7 12
+f 3 12 11
+f 3 11 16
+f 3 16 20
+f 3 20 21
+f 3 21 17
+f 3 17 13
+f 3 13 8
+f 3 8 4
+f 4 8 5
+f 5 8 9
+f 6 10 11
+f 6 11 12
+f 8 13 14
+f 8 14 9
+f 10 15 11
+f 11 15 16
+f 13 17 14
+f 14 17 18
+f 15 19 20
+f 15 20 16
+f 17 21 18
+f 18 21 19
+f 19 21 20
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_91.obj b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_91.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b04f09aed08437297f001a4e1fb3a54b78bf9ce
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_91.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v -0.02290594 0.00926310 0.14835739
+v -0.02290594 0.00911040 0.14833933
+v -0.01753782 0.01126487 0.14788583
+v -0.01627305 0.01538616 0.14819197
+v -0.01627305 0.02193422 0.14779646
+v -0.02290594 0.01620121 0.14788488
+v -0.02290594 0.00498359 0.14505170
+v -0.01627305 0.01194010 0.14659284
+v -0.01627305 0.01422337 0.14805887
+v -0.01627305 0.02203909 0.14775463
+v -0.01990828 0.02057824 0.14712619
+v -0.02290594 0.01622697 0.14786777
+v -0.02290594 0.00434516 0.14326907
+v -0.01627305 0.01101465 0.14326907
+v -0.01627305 0.02314116 0.14323009
+v -0.01990828 0.02057824 0.14567633
+v -0.02290594 0.01766758 0.14322819
+v -0.02290594 0.01766574 0.14329379
+v -0.02290594 0.00940845 0.13864471
+v -0.01795400 0.01159973 0.13888905
+v -0.01627305 0.01689116 0.13887193
+v -0.01627305 0.02272168 0.14244288
+v -0.01952392 0.02020291 0.14072111
+v -0.02290594 0.01737688 0.14269578
+v -0.02290594 0.01501818 0.13893278
+v -0.01627305 0.01692796 0.13887193
+v -0.01627305 0.01694452 0.13887859
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 12
+f 1 12 18
+f 1 18 17
+f 1 17 24
+f 1 24 25
+f 1 25 19
+f 1 19 13
+f 1 13 7
+f 1 7 2
+f 2 7 3
+f 3 7 8
+f 3 8 9
+f 3 9 4
+f 4 9 8
+f 4 8 14
+f 4 14 21
+f 4 21 26
+f 4 26 27
+f 4 27 22
+f 4 22 15
+f 4 15 10
+f 4 10 5
+f 5 10 6
+f 6 10 11
+f 6 11 12
+f 7 13 8
+f 8 13 14
+f 10 15 11
+f 11 15 16
+f 11 16 17
+f 11 17 18
+f 11 18 12
+f 13 19 20
+f 13 20 14
+f 14 20 21
+f 15 22 23
+f 15 23 16
+f 16 23 17
+f 17 23 24
+f 19 25 26
+f 19 26 21
+f 19 21 20
+f 22 27 23
+f 23 27 25
+f 23 25 24
+f 25 27 26
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_92.obj b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_92.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98210038d15a57d77a994ad5dbb64425303a65c7
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_92.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.02143833 0.05391544 0.16044044
+v -0.02233649 0.05391544 0.16557275
+v -0.02141189 0.05511722 0.16045531
+v -0.01682475 0.05391544 0.16044044
+v -0.01554598 0.04688923 0.16057609
+v -0.02099728 0.04688923 0.16074425
+v -0.02204277 0.05511722 0.16626307
+v -0.02228739 0.05511722 0.16557275
+v -0.02104639 0.04688923 0.16102577
+v -0.02152428 0.04688923 0.16557275
+v -0.02028990 0.04688923 0.16968492
+v -0.02066295 0.05391544 0.16993206
+v -0.01754442 0.05511722 0.16045531
+v -0.01664342 0.05511722 0.16047110
+v -0.01552898 0.04688923 0.16057795
+v -0.01554504 0.04689890 0.16057609
+v -0.02063934 0.05511722 0.16991720
+v -0.01624676 0.04688923 0.16973510
+v -0.01803930 0.05391544 0.16993206
+v -0.01491038 0.05511722 0.16562386
+v -0.01271645 0.04688923 0.16370528
+v -0.01795808 0.05511722 0.16991720
+v -0.01268906 0.04688923 0.16557275
+v -0.01738197 0.05511722 0.16929006
+f 1 2 3
+f 1 3 13
+f 1 13 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 7 8
+f 2 8 3
+f 2 6 9
+f 2 9 10
+f 2 10 11
+f 2 11 12
+f 2 12 7
+f 3 8 7
+f 3 7 17
+f 3 17 22
+f 3 22 24
+f 3 24 20
+f 3 20 14
+f 3 14 13
+f 4 13 14
+f 4 14 15
+f 4 15 16
+f 4 16 5
+f 5 16 15
+f 5 15 21
+f 5 21 23
+f 5 23 18
+f 5 18 11
+f 5 11 10
+f 5 10 9
+f 5 9 6
+f 7 12 17
+f 11 18 12
+f 12 18 19
+f 12 19 22
+f 12 22 17
+f 14 20 21
+f 14 21 15
+f 18 23 24
+f 18 24 22
+f 18 22 19
+f 20 23 21
+f 20 24 23
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_93.obj b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_93.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8332272dc3484fa25ebce62e3e02ced56f702b1c
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_93.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v -0.01598009 0.02523016 0.16985501
+v -0.01598009 0.02456769 0.16984492
+v -0.01598009 0.03014746 0.16933256
+v -0.02131059 0.02232532 0.16984401
+v -0.01822904 0.01860547 0.16984401
+v -0.01598009 0.02441517 0.16983485
+v -0.01598009 0.03305230 0.16826841
+v -0.02290594 0.02150804 0.16852047
+v -0.02290594 0.01780414 0.16983576
+v -0.01598009 0.01974601 0.16798335
+v -0.02290594 0.01674783 0.16983393
+v -0.02290594 0.01164614 0.16874595
+v -0.02040951 0.01364948 0.16793294
+v -0.01598009 0.03305230 0.16049765
+v -0.01740255 0.03305230 0.16645634
+v -0.01784800 0.03305230 0.16553518
+v -0.02290594 0.02382327 0.16552876
+v -0.01598009 0.01784512 0.16552325
+v -0.02290594 0.00982264 0.16557183
+v -0.02290594 0.00979532 0.16550309
+v -0.01621197 0.03305230 0.16053248
+v -0.01598009 0.03119466 0.16049215
+v -0.02290594 0.01730786 0.16053340
+v -0.02290594 0.02098672 0.16068280
+v -0.01998983 0.02841730 0.16165254
+v -0.02174790 0.02417613 0.16089544
+v -0.01598009 0.02166285 0.16057373
+v -0.01954438 0.01277757 0.16297700
+v -0.01954438 0.01277757 0.16163238
+v -0.01777071 0.01674328 0.16088079
+v -0.02290594 0.01057389 0.16097977
+v -0.01598009 0.02352960 0.16050590
+f 1 2 6
+f 1 6 10
+f 1 10 18
+f 1 18 27
+f 1 27 32
+f 1 32 22
+f 1 22 14
+f 1 14 7
+f 1 7 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 4
+f 4 8 9
+f 4 9 5
+f 4 7 8
+f 5 10 6
+f 5 9 11
+f 5 11 12
+f 5 12 13
+f 5 13 10
+f 7 14 21
+f 7 21 16
+f 7 16 15
+f 7 15 8
+f 8 15 16
+f 8 16 17
+f 8 17 24
+f 8 24 23
+f 8 23 31
+f 8 31 20
+f 8 20 19
+f 8 19 12
+f 8 12 11
+f 8 11 9
+f 10 13 18
+f 12 19 13
+f 13 19 20
+f 13 20 18
+f 14 22 23
+f 14 23 24
+f 14 24 21
+f 16 21 25
+f 16 25 17
+f 17 25 26
+f 17 26 24
+f 18 20 28
+f 18 28 29
+f 18 29 30
+f 18 30 27
+f 20 31 29
+f 20 29 28
+f 21 24 26
+f 21 26 25
+f 22 32 23
+f 23 32 27
+f 23 27 31
+f 27 30 31
+f 29 31 30
\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_94.obj b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_94.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79cc09376379a1d0c7fbd9cf0a13fe04cea62947
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_1/collision/model_normalized_collision_94.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v -0.00123902 0.03167287 0.13864813
+v -0.00087029 0.03391907 0.13867659
+v 0.00624165 0.03391907 0.13870996
+v 0.00625183 0.03211126 0.13869621
+v -0.00586352 0.02452987 0.13888758
+v -0.00804130 0.02452987 0.13888169
+v -0.00658062 0.02923550 0.13890426
+v -0.00188279 0.03391907 0.14000044
+v 0.00625183 0.03391907 0.13871584
+v 0.00625183 0.03389058 0.13870996
+v 0.00625183 0.02705823 0.13896805
+v -0.00145293 0.02452987 0.14066874
+v -0.01456041 0.02452987 0.14324382
+v -0.00346774 0.03391907 0.14326933
+v 0.00625183 0.03391907 0.14839495
+v 0.00625183 0.02585149 0.14326639
+v 0.00257669 0.02452987 0.14302007
+v -0.01380460 0.02452987 0.14559220
+v -0.00697787 0.02961415 0.14788955
+v -0.00146312 0.03391907 0.14824677
+v 0.00625183 0.03174547 0.14865894
+v 0.00616016 0.03391907 0.14842243
+v 0.00625183 0.02668325 0.14797591
+v 0.00159882 0.02452987 0.14493273
+v -0.00957329 0.02452987 0.14816826
+v -0.00911695 0.02469898 0.14819475
+v -0.00146312 0.03189988 0.14835275
+v 0.00625183 0.03160577 0.14867366
+v -0.00924326 0.02452987 0.14819475
+v -0.00184001 0.02452987 0.14793567
+v -0.00181352 0.02452987 0.14792586
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
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+f 2 20 22
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+f 2 15 9
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+f 4 23 16
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+f 4 11 5
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\ No newline at end of file
diff --git a/new_flask_clamp/new_flask_clamp_1/model.xml b/new_flask_clamp/new_flask_clamp_1/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..a7e6aab7bdc2e00bc5b665772970451c2a007dcb
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_1/model.xml
@@ -0,0 +1,204 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="new_flask_clamp_1">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <texture file="visual/image0.png" name="image0" type="2d" />
+    <material name="defaultMat.011" reflectance="0.5" texture="image0" specular="0.5" shininess="0.25" />
+    <mesh file="collision/model_normalized_collision_54.obj" name="model_normalized_collision_54._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_47.obj" name="model_normalized_collision_47._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_83.obj" name="model_normalized_collision_83._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_39.obj" name="model_normalized_collision_39._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_59.obj" name="model_normalized_collision_59._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_53.obj" name="model_normalized_collision_53._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_74.obj" name="model_normalized_collision_74._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_76.obj" name="model_normalized_collision_76._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_75.obj" name="model_normalized_collision_75._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_73.obj" name="model_normalized_collision_73._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_40.obj" name="model_normalized_collision_40._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_67.obj" name="model_normalized_collision_67._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_87.obj" name="model_normalized_collision_87._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_56.obj" name="model_normalized_collision_56._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_50.obj" name="model_normalized_collision_50._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_63.obj" name="model_normalized_collision_63._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_35.obj" name="model_normalized_collision_35._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_66.obj" name="model_normalized_collision_66._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_33.obj" name="model_normalized_collision_33._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_77.obj" name="model_normalized_collision_77._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
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+    <mesh file="collision/model_normalized_collision_34.obj" name="model_normalized_collision_34._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_60.obj" name="model_normalized_collision_60._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_69.obj" name="model_normalized_collision_69._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_92.obj" name="model_normalized_collision_92._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_82.obj" name="model_normalized_collision_82._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
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+    <mesh file="collision/model_normalized_collision_80.obj" name="model_normalized_collision_80._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
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diff --git a/new_flask_clamp/new_flask_clamp_1/visual/model_normalized_0.obj b/new_flask_clamp/new_flask_clamp_1/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2f59de13e555ebd3d7d3d87744dc7c46f4fc89a
--- /dev/null
+++ b/new_flask_clamp/new_flask_clamp_1/visual/model_normalized_0.obj
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diff --git a/new_hairbrush/new_hairbrush_0/collision/model_normalized_collision_0.obj b/new_hairbrush/new_hairbrush_0/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee12c76ab6c39bbd7907a95d8b624b56bbb2114c
--- /dev/null
+++ b/new_hairbrush/new_hairbrush_0/collision/model_normalized_collision_0.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v 0.00208136 0.00315580 0.00200787
+v 0.00208136 0.00318731 0.00200291
+v -0.01147242 0.00315580 0.00015694
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+v -0.01147242 -0.00541542 -0.00097078
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\ No newline at end of file
diff --git a/new_hairbrush/new_hairbrush_0/collision/model_normalized_collision_1.obj b/new_hairbrush/new_hairbrush_0/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f7f6f832256909dc240e26796ef36171ada6872
--- /dev/null
+++ b/new_hairbrush/new_hairbrush_0/collision/model_normalized_collision_1.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v -0.01147374 0.00935725 -0.00652916
+v -0.01147374 0.00846548 -0.00390741
+v -0.01147374 0.00777908 -0.01137236
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+v -0.04296100 0.00315625 -0.00060715
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+v -0.04296100 -0.00813598 -0.00577602
+v -0.01147374 -0.00742256 -0.00187867
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+f 4 16 21
+f 4 21 25
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+f 21 27 25
+f 22 28 23
+f 23 28 30
+f 23 30 29
+f 25 27 31
+f 27 32 30
+f 27 30 31
+f 29 30 32
\ No newline at end of file
diff --git a/new_hairbrush/new_hairbrush_0/collision/model_normalized_collision_2.obj b/new_hairbrush/new_hairbrush_0/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df038ec3b213392a184ad1254341d7c4b7b5ad68
--- /dev/null
+++ b/new_hairbrush/new_hairbrush_0/collision/model_normalized_collision_2.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v -0.12223557 0.01187184 -0.00652928
+v -0.12223557 0.00903479 -0.01201493
+v -0.12223557 0.01178921 -0.00635463
+v -0.07168658 0.00771496 -0.00205025
+v -0.07168658 0.00935155 -0.00652928
+v -0.07168658 0.00876394 -0.00832819
+v -0.07168658 0.00779300 -0.01116390
+v -0.12203270 0.00901184 -0.01202605
+v -0.12223557 0.00315640 -0.01466488
+v -0.12223557 0.00903020 -0.00106903
+v -0.07168658 0.00315640 -0.00028309
+v -0.12203270 0.00900495 -0.00105791
+v -0.12223557 0.00880984 -0.00096424
+v -0.12223557 0.00315640 0.00155075
+v -0.07168658 0.00600034 -0.01192761
+v -0.12223557 -0.00284365 -0.01466806
+v -0.07168658 0.00315640 -0.01312159
+v -0.07168658 -0.00284365 -0.01312636
+v -0.07168658 -0.00284365 -0.00027992
+v -0.12223557 -0.00284365 0.00155234
+v -0.12223557 -0.00851316 -0.01212449
+v -0.07168658 -0.00748484 -0.01116708
+v -0.07168658 -0.00564397 -0.00136276
+v -0.12223557 -0.00872663 -0.00106903
+v -0.12203270 -0.00870138 -0.00105791
+v -0.07168658 -0.00740910 -0.00204708
+v -0.12203270 -0.00870826 -0.01202922
+v -0.12223557 -0.00873122 -0.01201811
+v -0.07168658 -0.00905027 -0.00652928
+v -0.12223557 -0.01157745 -0.00652928
+v -0.12223557 -0.01149252 -0.00670393
+v -0.07168658 -0.00842823 -0.00479070
+f 1 2 9
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+f 20 24 25
+f 20 25 26
+f 20 26 23
+f 21 27 28
+f 21 22 27
+f 22 29 30
+f 22 30 31
+f 22 31 28
+f 22 28 27
+f 24 30 26
+f 24 26 25
+f 26 30 32
+f 29 32 30
\ No newline at end of file
diff --git a/new_hairbrush/new_hairbrush_0/collision/model_normalized_collision_3.obj b/new_hairbrush/new_hairbrush_0/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c167c6bedce9b47023df31eb05342a9ffaf13425
--- /dev/null
+++ b/new_hairbrush/new_hairbrush_0/collision/model_normalized_collision_3.obj
@@ -0,0 +1,360 @@
+# https://github.com/mikedh/trimesh
+v -0.14004134 0.01252959 -0.00652779
+v -0.14004134 0.01234289 -0.00991045
+v -0.14603678 0.01233562 -0.00989847
+v -0.14603678 0.01251989 -0.00652779
+v -0.14603678 0.01234047 -0.00314000
+v -0.14004134 0.01234532 -0.00313487
+v -0.13404126 0.01229198 -0.00324780
+v -0.13404126 0.01242775 -0.00652779
+v -0.13404126 0.01229198 -0.00980437
+v -0.14004134 0.00915696 -0.01268741
+v -0.14603678 0.00915696 -0.01267714
+v -0.15203686 0.00915696 -0.01251973
+v -0.15203686 0.01227015 -0.00976330
+v -0.15203686 0.01238896 -0.00652779
+v -0.15203686 0.01227500 -0.00327688
+v -0.15203686 0.00915696 -0.00044346
+v -0.14603678 0.00915696 -0.00030658
+v -0.14004134 0.00915696 -0.00032369
+v -0.13404126 0.00915696 -0.00051190
+v -0.12224020 0.00902846 -0.00106969
+v -0.12988381 0.01220954 -0.00341890
+v -0.12929584 0.01223621 -0.00652779
+v -0.12986529 0.01220954 -0.00963669
+v -0.12224020 0.00903573 -0.01201498
+v -0.13404126 0.00915696 -0.01252657
+v -0.13404126 0.00315607 -0.01508110
+v -0.14004134 0.00315607 -0.01519061
+v -0.14603678 0.00315607 -0.01519917
+v -0.15203686 0.00315607 -0.01518034
+v -0.15803693 0.00315607 -0.01480906
+v -0.15756008 0.00955702 -0.01160606
+v -0.15524060 0.01219014 -0.00959733
+v -0.15535172 0.01220954 -0.00652779
+v -0.15525912 0.01219257 -0.00344969
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+v -0.15803693 0.00315607 0.00194339
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+v -0.13404126 0.00315607 0.00205119
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+v -0.12804119 0.00315607 0.00179796
+v -0.12224020 0.00315607 0.00155157
+v -0.12224020 0.00881025 -0.00096360
+v -0.12224020 0.01178766 -0.00635498
+v -0.12224020 0.01187009 -0.00652779
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+v -0.14004134 -0.00284239 -0.01519403
+v -0.14603678 -0.00284239 -0.01520259
+v -0.15203686 -0.00284239 -0.01518376
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+v -0.16403700 -0.00284239 -0.01340945
+v -0.16403700 0.00315607 -0.01340261
+v -0.16403700 0.00791799 -0.01125188
+v -0.16764816 0.00683904 -0.01025607
+v -0.16403700 0.00970008 -0.00652779
+v -0.15835175 0.01166643 -0.00652779
+v -0.16766205 0.00685117 -0.00275503
+v -0.16403700 0.00793739 -0.00171816
+v -0.16403700 0.00315607 0.00054208
+v -0.16403700 -0.00284239 0.00054892
+v -0.15803693 -0.00284239 0.00194510
+v -0.15203686 -0.00284239 0.00227533
+v -0.14603678 -0.00284239 0.00225480
+v -0.14004134 -0.00284239 0.00220347
+v -0.13404126 -0.00284239 0.00205290
+v -0.12804119 -0.00284239 0.00179967
+v -0.12224020 -0.00284239 0.00155157
+v -0.12224020 -0.00264357 -0.01466704
+v -0.12804119 -0.00284239 -0.01487236
+v -0.13404126 -0.00884328 -0.01254711
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+v -0.15758322 -0.00924819 -0.01161803
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+v -0.16826854 -0.00284239 -0.01094047
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+v -0.16952318 0.00315607 -0.00652779
+v -0.16796299 0.00719061 -0.00652779
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+v -0.12974492 -0.01190313 -0.00964866
+v -0.13404126 -0.01213104 -0.00652779
+v -0.14004134 -0.01223530 -0.00652779
+v -0.12224020 -0.01149095 -0.00670403
+v -0.14603678 -0.01222560 -0.00652779
+v -0.15203686 -0.01209467 -0.00652779
+v -0.15541653 -0.01190555 -0.00652779
+v -0.15841657 -0.01136487 -0.00652779
+v -0.12610599 -0.01178432 -0.00652779
+v -0.12910602 -0.01193222 -0.00652779
+f 1 2 3
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+f 5 15 16
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+f 97 115 112
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+f 99 116 100
+f 100 117 101
+f 100 116 117
+f 101 117 118
+f 101 118 119
+f 101 119 102
+f 102 119 105
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+f 105 119 118
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+f 106 117 116
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+f 108 114 109
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+f 109 113 111
+f 110 111 120
+f 110 120 112
+f 110 112 115
+f 111 113 121
+f 111 121 120
+f 112 120 121
+f 112 121 113
\ No newline at end of file
diff --git a/new_hairbrush/new_hairbrush_0/collision/model_normalized_collision_4.obj b/new_hairbrush/new_hairbrush_0/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7b17e0b54545981290fcb37149ba1f08e7f3c3e
--- /dev/null
+++ b/new_hairbrush/new_hairbrush_0/collision/model_normalized_collision_4.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v -0.07168658 0.00935165 -0.00652819
+v -0.07168658 0.00876433 -0.00832904
+v -0.07168658 0.00771582 -0.00204996
+v -0.04296408 0.00736271 -0.00229016
+v -0.04296408 0.00867425 -0.00652819
+v -0.04296408 0.00846167 -0.00731921
+v -0.04296408 0.00746720 -0.01097750
+v -0.07168658 0.00779328 -0.01116362
+v -0.07168658 0.00315603 -0.00028181
+v -0.04296408 0.00315603 -0.00060626
+v -0.04296408 0.00670333 -0.01132962
+v -0.07168658 0.00600072 -0.01192697
+v -0.04296408 0.00315603 -0.01293051
+v -0.07168658 -0.00284321 -0.00027929
+v -0.04296408 -0.00284321 -0.00060375
+v -0.07168658 0.00315603 -0.01312292
+v -0.04296408 0.00209130 -0.01293177
+v -0.07168658 -0.00564466 -0.00136207
+v -0.04296408 -0.00630764 -0.00198457
+v -0.07168658 -0.00740840 -0.00204745
+v -0.07168658 -0.00284321 -0.01312669
+v -0.04296408 -0.00284321 -0.01293428
+v -0.04296408 -0.00705349 -0.00228890
+v -0.07168658 -0.00842809 -0.00479148
+v -0.07168658 -0.00748587 -0.01116739
+v -0.04296408 -0.00715798 -0.01098127
+v -0.04296408 -0.00813624 -0.00577616
+v -0.07168658 -0.00904963 -0.00652819
+v -0.04296408 -0.00836864 -0.00652819
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+f 1 18 14
+f 1 14 9
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+f 1 5 6
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+f 21 22 25
+f 22 26 25
+f 23 24 28
+f 23 28 27
+f 25 26 28
+f 26 29 28
+f 27 28 29
\ No newline at end of file
diff --git a/new_hairbrush/new_hairbrush_0/collision/model_normalized_collision_5.obj b/new_hairbrush/new_hairbrush_0/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae2885748389fa6a2b2f32ece30221d06deb68d3
--- /dev/null
+++ b/new_hairbrush/new_hairbrush_0/collision/model_normalized_collision_5.obj
@@ -0,0 +1,429 @@
+# https://github.com/mikedh/trimesh
+v 0.03997720 0.02619126 0.00549084
+v 0.03997720 0.02462174 0.01518086
+v 0.04595411 0.02594075 0.00549084
+v 0.03398077 0.02586406 0.00549084
+v 0.02798433 0.02453482 0.01495724
+v 0.03398077 0.02469842 0.01521883
+v 0.03997720 0.02115549 0.01703448
+v 0.04655246 0.02175365 0.01629612
+v 0.05197656 0.02056756 0.01657740
+v 0.04493953 0.02440701 0.01487848
+v 0.04893932 0.02414628 0.01443828
+v 0.05135220 0.02490292 0.00549084
+v 0.02796482 0.02499495 0.00549084
+v 0.02467394 0.02430988 0.01466049
+v 0.03398077 0.02115549 0.01678836
+v 0.02798433 0.02115549 0.01617799
+v 0.05197656 0.01515347 0.01881496
+v 0.05797950 0.01515347 0.01885856
+v 0.05797950 0.01939681 0.01629190
+v 0.06162158 0.01858393 0.01539744
+v 0.05771284 0.02245917 0.00549084
+v 0.05741367 0.02258187 0.00549084
+v 0.05424636 0.02384976 0.00549084
+v 0.05169690 0.02481601 0.00549084
+v 0.05156033 0.02486202 0.00549084
+v 0.02744453 0.02489781 0.00549084
+v 0.02467394 0.02430988 0.01247919
+v 0.02225456 0.02328227 0.00549084
+v 0.02197490 0.02312379 0.00549084
+v 0.01659632 0.02004609 0.00549084
+v 0.01692801 0.01968822 0.01147502
+v 0.01770195 0.01894691 0.01500365
+v 0.02240414 0.02103279 0.01531024
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diff --git a/new_hairbrush/new_hairbrush_0/collision/model_normalized_collision_6.obj b/new_hairbrush/new_hairbrush_0/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a150694d99d3a98946abf82d2790175bef1233e2
--- /dev/null
+++ b/new_hairbrush/new_hairbrush_0/collision/model_normalized_collision_6.obj
@@ -0,0 +1,657 @@
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diff --git a/new_hairbrush/new_hairbrush_0/collision/model_normalized_collision_7.obj b/new_hairbrush/new_hairbrush_0/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..075be8bafcdcfaf2f64a35e0166eaf178974b7e1
--- /dev/null
+++ b/new_hairbrush/new_hairbrush_0/collision/model_normalized_collision_7.obj
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diff --git a/new_hairbrush/new_hairbrush_0/model.xml b/new_hairbrush/new_hairbrush_0/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..75945509c95cd58595e86f9775c8f4e8861e1a14
--- /dev/null
+++ b/new_hairbrush/new_hairbrush_0/model.xml
@@ -0,0 +1,30 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="new_hairbrush_0">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <texture file="visual/image0.png" name="image0" type="2d" />
+    <material name="defaultMat.011" reflectance="0.5" texture="image0" specular="0.5" shininess="0.25" />
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
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+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+  </asset>
+  <worldbody>
+    <body pos="0.0 0.0 0.0" quat="1.0 0.0 0.0 0.0"><body name="object"><geom material="defaultMat.011" mesh="model_normalized_0_vis" pos="0.0 0.0 0.0" type="mesh" quat="1.0 0.0 0.0 0.0" contype="1" conaffinity="1" group="1" solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" />
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+      <geom mesh="model_normalized_collision_4._coll" type="mesh" pos="0.0 0.0 0.0" quat="1.0 0.0 0.0 0.0" group="0" rgba="0.8 0.8 0.8 0.0" solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" />
+      <geom mesh="model_normalized_collision_6._coll" type="mesh" pos="0.0 0.0 0.0" quat="1.0 0.0 0.0 0.0" group="0" rgba="0.8 0.8 0.8 0.0" solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" />
+      <geom mesh="model_normalized_collision_2._coll" type="mesh" pos="0.0 0.0 0.0" quat="1.0 0.0 0.0 0.0" group="0" rgba="0.8 0.8 0.8 0.0" solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" />
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+      <geom mesh="model_normalized_collision_0._coll" type="mesh" pos="0.0 0.0 0.0" quat="1.0 0.0 0.0 0.0" group="0" rgba="0.8 0.8 0.8 0.0" solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" />
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+      <geom mesh="model_normalized_collision_5._coll" type="mesh" pos="0.0 0.0 0.0" quat="1.0 0.0 0.0 0.0" group="0" rgba="0.8 0.8 0.8 0.0" solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" />
+      </body><site rgba="0 0 0 0" size="0.005" pos="0 0 -0.25" name="bottom_site" />
+      <site rgba="0 0 0 0" size="0.005" pos="0 0 0.06" name="top_site" />
+      <site rgba="0 0 0 0" size="0.005" pos="0.01 0.01 0" name="horizontal_radius_site" />
+    </body></worldbody>
+  </mujoco>
\ No newline at end of file
diff --git a/new_hairbrush/new_hairbrush_0/visual/model_normalized_0.obj b/new_hairbrush/new_hairbrush_0/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16b73cce5346daadac3ec9d988ee20771c5e3bc0
--- /dev/null
+++ b/new_hairbrush/new_hairbrush_0/visual/model_normalized_0.obj
@@ -0,0 +1,40014 @@
+mtllib materials.mtl
+usemtl bdylnb__base_link_vray
+o visuals
+
+v 0.039775438606739044 0.021389760076999664 0.001382739981636405
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